摘要
利用车辆2个后轮轮速信号和方向盘转角信号,基于扩展卡尔曼滤波技术设计一种车辆位姿估计算法,并在veDYNA中仿真试验。仿真结果表明,算法的估计精度比较理想,可满足泊车系统对自身车辆定位的需求。以定位精度2 cm(1σ)的GPS信号为参考,实车试验结果表明,位置估计误差控制在3%以内,此精度的估计结果可以为泊车系统提供车辆定位信息,为增强泊车安全性奠定基础。
In this article,the signals of two rear-wheel speed sensors and a steering wheel sensor are used to design the position estimation algorithm of vehicle based on an extended Kalman filter technology,which is stimulated in the veDYNA test. The testing result shows that the estimation accuracy of the algorithm can reach an acceptable level and that the algorithm can meet the needs of vehicle location by its parking system. With reference to the GPS signal whose position accuracy reaches 2 cm（ 1σ）,the real car experiment result shows that the position estimation error can be controlled within 3% and the estimation result of accuracy can provide the vehicle location information for the parking system,laying the foundation for the safety of parking.
出处
《山东交通学院学报》
CAS
2013年第4期26-30,共5页
Journal of Shandong Jiaotong University
关键词
自动泊车系统
算法
扩展卡尔曼滤波器
位姿估计
parking assistance system
algorithm
extended Kalman filter
position estimation
