Title:
INTELLIGENT-PARKING VEHICLE POSITIONING METHOD APPLIED TO VEHICLE
Document Type and Number:
WIPO Patent Application WO/2024/066943
Kind Code:
A1
Abstract:
An intelligent-parking vehicle positioning method applied to a vehicle. The intelligent-parking vehicle positioning method applied to a vehicle comprises: collecting a rear-wheel speed, a course angle and a front-wheel steering angle; determining a first vehicle state variable and a first system state equation; determining a first Jacobian matrix and a second Jacobian matrix; determining the current estimated value according to the rear-wheel speed, the course angle, the first Jacobian matrix and a historical estimated value; determining an estimated value of an error covariance matrix according to estimation process noise and the first Jacobian matrix; determining a Kalman filtering gain matrix; determining the current estimation error according to the second Jacobian matrix and a historical estimation error; determining an estimated value of a state variable and an error covariance matrix according to the current estimation error, the Kalman filtering gain matrix, the second Jacobian matrix, the current estimated value and the estimated value of the error covariance matrix; and adjusting control parameters to determine a parking location of a target vehicle.
Inventors:
JIANG HUI (CN)
DU JIANYU (CN)
LI CHAO (CN)
HUANG XIANQING (CN)
WANG HAONAN (CN)
WANG HENGKAI (CN)
LI JIAJUN (CN)
CAO TIANSHU (CN)
SONG XINLI (CN)
WU GANGGANG (CN)
DU JIANYU (CN)
LI CHAO (CN)
HUANG XIANQING (CN)
WANG HAONAN (CN)
WANG HENGKAI (CN)
LI JIAJUN (CN)
CAO TIANSHU (CN)
SONG XINLI (CN)
WU GANGGANG (CN)
Application Number:
PCT/CN2023/116862
Publication Date:
April 04, 2024
Filing Date:
September 05, 2023
Export Citation:
Assignee:
CHINA FAW CO LTD (CN)
International Classes:
G01C21/16; G01C21/26; G06F17/16; G08G1/123
Foreign References:
| CN115900695A | 2023-04-04 | |||
| CN110077392A | 2019-08-02 | |||
| CN109405837A | 2019-03-01 | |||
| CN114413934A | 2022-04-29 | |||
| JP2007263637A | 2007-10-11 |
Attorney, Agent or Firm:
BEIJING YZH IP FIRM (CN)
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