自主车辆避碰规划中障碍物运动估计方法研究

Estimation Method of Barrier Movement in Autonomous Vehicle Collision-avoidance Planning

从目标跟踪理论出发,建立目标加速运动模型。根据实时的目标静态特征信息,即目标跟踪理论中的观测量,采用卡尔曼滤波及其改进算法对目标的运动参数做出合理的估计,并对加速运动目标的动态参数估计进行了仿真,验证了算法的实时性和可靠性。

Starting from the target tracking theory, the accelerated movement model is built. According to the real-time target static character information, the observed quantity of the target tracking theory, the reasonable estimation for motion of the target is given by kallman filter and its improved algorithm, and the dynamic parameter estimation of the accelerated movement target is simulated. The real time quality and the reliability of the algorithm are verified.