Research on Zero-speed Detector Based on INS / Wheel speed and Vehicle gear

Abstract

The zero-speed detector is required for the correction of the positioning error and the initial static alignment of the autonomous vehicle. The zero-speed detector that only depends on the INS (Inertial Navigation System) has zero-speed misjudgment. The performance of the detector after the fusion of wheel speed has been improved, but the wheel speed is still not integrated in scenarios such as long periods of stationary, emergency stop and reverse. Because the wheel speed signal only outputs the vehicle speed when the vehicle reaches a certain speed, there is a long initial alignment time, and the wheel speed is not fused in the complex driving process. This paper proposes a Vehicle gear information added to the INS / wheel speed fusion zero speed detector to achieve a 10s increase in the initial alignment time, the effect of wheel speed fusion has been improved, and thus the zero speed The accuracy of detection.