Intelligent network connection automobile positioning disturbance early warning method based on multi-dimensional space-time twin control model

Abstract

The invention discloses an intelligent networked automobile positioning disturbance early warning method based on a multi-dimensional time-space twinborn control model, which is characterized in that in an intelligent networked automobile autonomous driving scene, a vehicle real-time positioning data stream is acquired through combined inertial navigation (GNSS + IMU), and the multi-dimensional time-space twinborn control model is established and utilized at an Internet of Vehicles cloud to realize online early warning of positioning disturbance. Comprising the following steps: 1, selecting position data reported by a vehicle in a certain time period to establish a discrete vehicle position time sequence; 2, a discrete vehicle position time sequence is recombined, and a vehicle positioning state matrix is determined; 3, establishing a multi-dimensional space-time twinborn control model at the Internet of Vehicles cloud; and 4, calculating a positioning disturbance deviation rate, and carrying out positioning disturbance early warning. According to the invention, vehicle positioning disturbance caused by various environmental noises can be monitored in real time, so that intelligent control of vehicle autonomous driving track deviation is realized, and powerful support is provided for constructing a high-reliability and high-safety intelligent networked vehicle advanced driving system.

Description

technical field [0001] The invention belongs to the field of automatic driving of intelligent networked vehicles, and specifically relates to a positioning disturbance early warning method for intelligent networked vehicles based on a multi-dimensional spatio-temporal twin control model; Background technique [0002] Intelligent network connection technology is a new technology developed with the development of society and technological progress. Due to its unique superiority and development, intelligent network connection technology is also gradually applied to cars, making cars more intelligent, interconnected, and energy saving. Intelligent networked vehicles refer to equipped with advanced on-board sensors, controllers, actuators and other devices, integrated with modern communication and network technologies, to realize intelligent information exchange and sharing among vehicles, roads, people, and clouds, with complex environment perception, intelligent decision-making...

AI Technical Summary

Problems solved by technology

At present, the traditional prediction model is generally based on the trajectory prediction of the manual model. The trajectory prediction is performed by combining the vehicle multi-degree-of-freedom dynamic model and the manually set features, which cannot make full use of the historical positioning data, resulting in the accuracy of long-term trajectory prediction. very low

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