车辆间多传感器协同驾驶技术

Multi-sensor Collaboration Technology Between Vehicles

针对目前在车辆导航领域中多传感器配准算法未考虑传感器配准和融合之间的相互影响问题,提出一种多传感器融合的车辆协同驾驶技术。将这些传感器及其子系统有机地组合起来,对多传感器及其子系统进行有效地管理、控制、决策、故障诊断,提高整个导航系统的综合性能。在前期的研究工作基础上,将车载多传感器的配准和融合作为一个整体进行研究,基于最大期望算法提出一种联合估计配准参数与车辆位置速度等状态的信息融合算法。在未来工作中,将对搭建好的实验平台进行可行性和性能的测试。

Aiming at the current multi-sensor registration algorithm in the field of vehicle navigation that does not consider the mutual influence between sensor registration and fusion, this paper proposes a multi-sensor fusion vehicle cooperative driving technology. Combine these sensors and their subsystems organically to effectively manage, control,make decisions, and diagnose faults for multiple sensors and their subsystems to improve the overall performance of the entire navigation system. Based on the previous research work, the registration and fusion of vehicle-mounted multi-sensors are studied as a whole. Based on the maximum expectation algorithm, an information fusion algorithm for joint estimation of registration parameters and vehicle position and speed is proposed. In the future work, the feasibility and performance of the scheme will be tested on the built experimental platform.