Estimation method of vehicle position and attitude based on sensor information fusion
1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China； 2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, Jiangsu 212013, China
Abstract：To solve the problem of vehicle position and attitude estimation with low accuracy caused by single positioning method in automatic parking process, a method with fusing wheel speed sensor information and visual sensor information was proposed to estimate vehicle position and attitude. The track estimation algorithm for estimating vehicle position and attitude was investigated based on the wheel speed sensor information, and the cause of error was also analyzed. A vehicle positioning method was proposed based on the extended Kalman filter algorithm to fuse wheel speed sensor information and visual sensor information, and the system errors were reduced to realize the vehicle position and attitude estimation in the process of automatic parking. The algorithm was verified by Simulink modeling and simulation, and the track estimation algorithm was compared with the sensor information fusion method. The results show that the proposed vehicle position and attitude estimation method can effectively reduce the system positioning error and improve the estimation accuracy of vehicle position and attitude during parking.
李臣旭1， 江浩斌2， 王成雨1， 马世典2. 基于传感器信息融合的车辆位姿估算方法[J]. 江苏大学学报（自然科学版）, 2022, 43(6): 636-644.
LI Chenxu1, JIANG Haobin2, WANG Chengyu1, MA Shidian2. Estimation method of vehicle position and attitude based on sensor information fusion[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2022, 43(6): 636-644.
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2022, Vol. 43 
