Bus arrival parking evaluation method based on improved Kalman filtering

Abstract

The invention discloses a bus arrival parking evaluation method based on improved Kalman filtering, and the method needs to install a set of high-performance double-antenna integrated navigation system on a measured object to collect basic parameter data required by evaluation, including position, speed, course angle, acceleration and the like. And the length and width of the measured bus, the relative position of the rear main antenna on the bus and the station position information need to be measured in advance. A relative position calculation method is adopted to deduce a track of a certain point on the measured bus to tracks of four angular points, and bus arrival completion degree evaluation is carried out; and processing the yaw velocity and the lateral acceleration data by adopting improved Kalman filtering, and evaluating the bus pull-in stability. The method is irrelevant to the implementation principle and technology of bus stop-in parking, carries out evaluation from the perspective of a third party, and has the characteristics of multiple evaluation indexes and accurate evaluation results.

Description

technical field [0001] The invention relates to an evaluation method for bus stop application, in particular to a bus stop evaluation method based on improved Kalman filtering, which belongs to the field of intelligent driving evaluation. Background technique [0002] According to the definition of "Vehicle Driving Automation Classification" officially implemented on January 1, 2021, the current self-driving bus (Self-driving bus) is divided into L3 (the system can continuously perform all dynamic driving tasks within its design operating conditions) and L4 level (the system can continuously perform all dynamic driving tasks and perform dynamic driving task takeover within its design operating conditions); in the driving task of self-driving buses, bus stop (BS, Bus Stop) Typical application scenarios. When the self-driving bus is parked at the station, it should meet certain safety regulations when driving to the platform or parking space; after the bus stops completely, i...

AI Technical Summary

Problems solved by technology

When the self-driving bus is parked at the station, it should meet certain safety regulations when driving to the platform or parking space; after the bus stops completely, it should also meet certain standards, but there is no complete evaluation system or evaluation system yet. equipment

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