Method for tracking the position and the heading of a vehicle using dead reckoning and a tracking device for carrying out the method

摘要

Position (x_ref) and heading (H) of a vehicle are tracked using wheel tick numbers coming from wheel tick units at the front wheels only from which a velocity (v) and a heading rate (h) are calculated. The calculations are based on an intermediate wheel angle (δ). An exact solution δ_ex for the same depends on the velocities of the left front wheel v_l and the right front wheel v_r. An approximate solution δ_app is calculated according to a simpler formula and used wherever its deviation from the exact solution δ_ex is not significant, i.e., where the latter is not larger than a threshold wheel angle δ_thr. Only for δ_appδ_thr where the deviation is larger than a threshold, the wheel angle according to the exact solution δ_ex is used. The latter is determined by first establishing the approximate solution δ_app and reading the corresponding exact solution δ_ex from a look-up table.