复杂道路下车辆轨迹智能跟踪定位方法研究

Research on intelligent tracking and positioning method of vehicle track under complex road

针对原有复杂道路下车辆轨迹跟踪定位方法对于车辆的跟踪定位精度较差的问题,设计复杂道路下车辆轨迹智能跟踪定位方法。采用栅格法完成道路环境模型的构建,以此控制车辆行驶中的环境因素。引用预瞄型的轨迹跟踪控制器获取预瞄曲线的临界值控制车辆的轨迹,采用车辆速度控制算法提升对车辆速度的控制能力,得到车辆横向驱动模型。将上述部分相结合,完成车辆的跟踪定位。在车辆中增加无线传感器,使用REID与GPS技术得到车辆在行驶中的数据。使用此数据结合人工智能技术构建定位平台,实现定位跟踪的智能化。至此,复杂道路下车辆轨迹智能跟踪定位方法设计完成。构建仿真测试环节,与原有定位方法相比,此方法定位精度更好。原有方法定位的误差率为此方法的1.5倍。综上所述,此方法对于车辆的跟踪定位效果更佳。

In view of the poor tracking and positioning accuracy of the original tracking and positioning method for vehicles on complex roads,an intelligent tracking and positioning method for vehicles on complex roads is designed.The grid method is used to complete the construction of road environment model,so as to control the environmental factors in vehicle driving.The trajectory tracking controller of preview type is used to obtain the critical value of preview curve to control the trajectory of the vehicle.The vehicle speed control algorithm is used to improve the control ability of vehicle speed,and the vehicle lateral driving model is obtained.Combine the above parts to complete the vehicle tracking and positioning.Add wireless sensor in the vehicle,use Reid and GPS technology to get the data of the vehicle in driving.Using this data and artificial intelligence technology to build a positioning platform to realize the intelligent positioning and tracking.So far,the design of intelligent tracking and positioning method for vehicle trajectory under complex road is completed.Compared with the original positioning method,the positioning accuracy of this method is better.The error rate of the original method is 1.5 times of this method.In conclusion,this method is more effective for vehicle tracking and positioning.