CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to Chinese patent application No. 202010700376.9, filed on Jul. 20, 2020, which is hereby incorporated by reference in its entirety.

TECHNICAL FIELD

The present application relates to the field of vehicles, in particular to the fields of vehicle control, intelligent driving and automatic driving.

BACKGROUND

A dead reckoning system for a vehicle mostly includes an inertial measurement unit (IMU) and a vehicle speed sensor. Firstly, three-axis gyroscope and three-axis acceleration information of the IMU are integrated to obtain apriori predictions of the attitude, speed and position of a vehicle. Then, a speed state of the vehicle is corrected by adopting a Kalman filtering model, to obtain a posteriori position and attitude estimation.

SUMMARY

The present application provides a dead reckoning method and apparatus for a vehicle, a device and a storage medium.

According to one aspect of the present application, the present application provides a dead reckoning method for a vehicle, which may include:

obtaining a position and attitude increment of the vehicle on the basis of wheel speed information of the vehicle; and

performing dead reckoning on a position and attitude of the vehicle at a current moment, on the basis of the position and attitude increment of the vehicle and the position and attitude of the vehicle at a previous moment.

According to another aspect of the present application, there is provided a dead reckoning apparatus for a vehicle, which may include:

an increment module configured for obtaining a position and attitude increment of the vehicle on the basis of wheel speed information of the vehicle; and

a reckoning module configured for performing dead reckoning on a position and attitude of the vehicle at a current moment, on the basis of the position and attitude increment of the vehicle and the position and attitude of the vehicle at a previous moment.

It should be understood that the content described in this section is intended neither to identify the key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will be easily understood from the following description.

