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Position tracking method for autonomous vehicle

A technology for unmanned vehicles and vehicles, applied in the field of position tracking of unmanned vehicles, can solve problems such as the inability to give the precise position and speed information of the carrier, the hidden dangers of safe driving of unmanned vehicles, and the difficulty of precise positioning of the carrier, etc. Real-time tracking, filtering stability and convergence, high reliability

Inactive Publication Date: 2019-05-21
LANZHOU JIAOTONG UNIV +1
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AI Technical Summary

Problems solved by technology

The unmanned vehicle perception system is realized by the cooperation of various sensors, including intelligent network connection and automatic driving. The development of unmanned vehicles is now based on the fusion of multi-sensor information. Safe driving brings safety hazards
[0004] Commonly used navigation sources - the positioning information given by the GPS receiver is accurate enough when the number of satellites is sufficient and visible. If the signal is lost for some reason or blocked due to insufficient strength, the GPS will not be able to give the carrier's location. Accurate position and speed information bring technical difficulties to the precise positioning of the carrier

Method used

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  • Position tracking method for autonomous vehicle
  • Position tracking method for autonomous vehicle

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Embodiment Construction

[0050]The embodiment of the present invention provides a multi-model interactive intelligent filtering unmanned vehicle tracking system, including: IMU inertial navigation, vehicle-side antenna, altitude barometer, odometer, GIS electronic map, laser radar, data fusion module, and data output module . Among them, the IMU, antenna, barometer, odometer and laser radar as sensors are electrically connected to the data fusion module with the auxiliary means GIS electronic map, and the data fusion module is electrically connected to the data output module to lay the foundation for the decision-making and execution of unmanned vehicles. The whole system is powered by the on-board computer and communicates through the GPRS network. The system structure is shown as figure 1 shown.

[0051] The IMU inertial navigation and the vehicle-end antenna as the main modules providing integrated navigation information sources can complement each other. As a common civilian navigation method, in...

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Abstract

The invention provides a position tracking method for an autonomous vehicle. Data filtering is carried out by using a filter equation of the state of a nonlinear Gaussian system; and state predictionand state estimation are carried out by using nonlinear state function processing. Therefore, the target can be tracked continuously and the target motion model and the next motion state can be predicted. An effective tracking mode can be selected in the complex environment. A simple and feasible sampling point is substituted into the linear function to obtain a nonlinear function value point setso as to approximate the posterior distribution of the true value of the state from the perspective of the statistic amount, so that the accuracy is improved and the computational complexity is reduced.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to a position tracking method of an unmanned vehicle. Background technique [0002] Today, when vehicles have become the main means of transportation for people, the intelligent management of vehicles has gradually become a key issue in transportation. Repeated road network construction and other methods have long been unable to meet people's requirements for modern transportation construction. At the same time, there are still many remaining mature construction problems. From the overall urban planning to the construction of a specific road, it is unrealistic to carry out a major transformation. Therefore, under the limitation of this condition, the focus of solving the traffic problem is on the management of the road traffic system. [0003] Unmanned vehicles are a very good application in the intelligent transportation system (ITS). Not only can the vehicle positioning ...

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Application Information

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IPC IPC(8): G01C21/28G01S19/48G01S19/49
Inventor 陈光武张琳婧杨菊花程鉴皓
Owner LANZHOU JIAOTONG UNIV
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