基于车路协同的地下停车场车辆定位算法发散性研究

Divergence of cooperative vehicle localization in underground parking lots

针对GPS信号弱或不可用场景下(如隧道、地下停车场等)智能车辆的高精度定位服务问题,分析了一类基于车载网络通信(VANET)的无线定位算法,通过车辆—智能路基之间的信息交互,以解决现有车辆定位过程中有效精度低、抗干扰能力差等问题。但考虑到车辆移动造成的网络拓扑结构动态变化,车辆与智能路基之间的非对称通信时延往往被忽略,导致协同定位模型过于简化,造成车辆定位精度的损失。通过刻画车辆—智能路基之间的非对称通信模型,从数学角度分析验证了现有车辆协同定位算法的发散性。仿真结果表明,在不考虑非对称通信延迟的条件下,对车辆的定位误差会逐级收敛;但在考虑非对称延迟的条件下,则呈现指数级振荡发散。

Aiming at the problem of high-precision location service of intelligent vehicle in the situation of weak or unavailable GPS signal(such as tunnel,underground parking lot,etc.),this paper analyzed a kind of wireless positioning algorithm based on VANET,which used the information exchange between vehicles and intelligent subgrades to solve the problems of low effective accuracy and poor anti-interference ability in the existing vehicle positioning process.However,considering the dynamic changes of the network topology caused by vehicle movement,the existing researches often ignored the asymmetric communication delay between vehicles and intelligent subgrades,which led to the over-simplification of the cooperative positioning model and the loss of vehicle positioning accuracy.By describing the asymmetric communication model between vehicle and intelligent roadbed,it analyzed and verified the divergence of the existing vehicle cooperative positioning algorithm from a mathematical perspective.The simulation results show that the positioning error of the vehicle converges gradually without considering the asymmetric communication delay,but it shows exponential oscillation divergence with considering the asymmetric delay.