汽车防撞系统对前方道路的几何估计

Geometrical Estimation of Vehicle Anti-collision System to Forward Road

文章提出一种新的模型和方法来准确估计汽车前方道路的几何特征。通过用两段有不同几何特征的、比邻的回旋曲线来模拟前方的几何特征,并保证其过渡位置的曲率连续。相比以前的方法,这种方法在模拟不同道路的几何特征上的可行性和准确性都更胜一筹。不仅不会带来计算成本的提高,也不会增加对噪声的敏感。这种更高的准确性尤其适合用在汽车自动巡航和防碰撞上。

The article advances a new model and method to evaluate forward road＇s geometrical characters. Two pieces of neighbouring clothoid curve with different geometrical characters are used to simulate forward road＇s geometrical characters, whose curvature across the transition point should be continuous. The feasibility and accuracy of the method in simulating the geometrical characters of different path is better than that of the old one. Neither can this method increase calculating cost, nor the noise sensitivity. The enhanced accuracy is especially suitable to the application of vehicle＇s automatic cruise and anti - collision.