基于卡尔曼滤波的车辆跟踪技术

Vehicle Following Technique Based on Kalman Filter

为了满足高速行驶下系统对目标的快速定位,介绍了如何运用卡尔曼滤波技术建立一个通用的物体运动模型,从而达到快速跟踪一个或多个运动目标的目的.着重介绍了动态噪声为有色噪声的卡尔曼滤波算法,针对具体对象构造了状态方程和测量方程,并给出了具体计算方法和实验结果.该跟踪技术在四川省高速公路上进行了反复实验,本车时速达到120km/h时,仍然可以实时跟踪定位前方车辆.

This paper describes the Kalman filter to establish a moving model. This model can be used to track one or more moving objects. We give the state equation and the measure equation for one object. And more, we describe the calculation ways and the experiment result. We have experimented the following technology at 120 km/h on highway in Sichuan Province of China. The result shows that the algorithms can work perfectly.