Relative motion parameter estimation method for intelligent vehicle formation driving evaluation
An intelligent vehicle, relative motion technology, applied in combustion engines, internal combustion piston engines, two-dimensional position/channel control, etc., can solve the problems of frequent traffic accidents, complex traffic conditions, affecting economic development and social stability, etc. The effect of improving estimation accuracy
Pending Publication Date: 2022-08-09
SOUTHEAST UNIV
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Problems solved by technology
[0002] With the continuous increase of the total mileage of highways and the number of cars in our country, the current traffic control capabilities cannot meet the rapidly expanding traffic volume. In addition, the traffic conditions in our country are complicated, and traffic accidents occur frequently, causing casualties and seriously affecting economic development. and social stability
And at its root, improper human operation is the direct cause of most traffic accidents.
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[0077] With the continuous increase of the total number of highway mileage and the number of cars in my country, the current traffic management and control capabilities cannot meet the status quo of the rapidly expanding traffic volume. In addition, my country's traffic conditions are complex and traffic accidents occur frequently, causing casualties and seriously affecting economic development. and social stability. At the root, improper human operation is the direct cause of most traffic accidents. In this context, intelligent driving technology uses electronic information technology to assist car driving behavior to reduce the unsafe operation of drivers and reduce the occurrence of traffic accidents, which is a research hotspot today.
[0078] Intelligent vehicle formation is an important research direction in the vehicle-road coordination system and an important part of intelligent driving technology. Through formation control, road utilization can be greatly improved, tra...
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The invention discloses a relative motion parameter estimation method for intelligent vehicle formation driving evaluation. Firstly, a nonlinear dynamic model is constructed according to motion characteristics of a vehicle formation driving process; then, motion state parameters such as the relative speed, the relative distance, the relative yaw velocity and the relative yaw angle of the formation vehicles are accurately estimated through a particle filtering algorithm; according to the method provided by the invention, comprehensive and accurate measurement of the vehicle motion state parameters can be realized, the relative motion state of the formation driving vehicles can be directly estimated, and the estimation precision of parameters required by intelligent vehicle formation driving evaluation is improved to a certain extent.
Description
technical field [0001] The invention belongs to the technical field of road test and evaluation of intelligent driving vehicles, and in particular relates to a relative motion parameter estimation method for intelligent vehicle formation driving evaluation. Background technique [0002] With the continuous increase of the total number of highway mileage and the number of cars in my country, the current traffic management and control capabilities cannot meet the status quo of the rapidly expanding traffic volume. In addition, my country's traffic conditions are complex and traffic accidents occur frequently, causing casualties and seriously affecting economic development. and social stability. At the root, improper human operation is the direct cause of most traffic accidents. In this context, intelligent driving technology uses electronic information technology to assist car driving behavior to reduce the unsafe operation of drivers and reduce the occurrence of traffic accid...
Claims
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Patent Timeline
Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0289G05D1/0293G05D1/0276Y02T10/40
Inventor 徐启敏尉雪珂
Owner SOUTHEAST UNIV