Achieving accurate navigation information by integrating multiple sensors is key to the safe operation of land vehicles in global navigation satellite system(GNSS)-denied environment.However,current multi-sensor fusio...Achieving accurate navigation information by integrating multiple sensors is key to the safe operation of land vehicles in global navigation satellite system(GNSS)-denied environment.However,current multi-sensor fusion methods are based on stovepipe architecture,which is optimized with custom fusion strategy for specific sensors.Seeking to develop adaptable navigation that allows rapid integration of any combination of sensors to obtain robust and high-precision navigation solutions in GNSS-denied environment,we propose a generic plug-and-play fusion strategy to estimate land vehicle states.The proposed strategy can handle different sensors in a plug-and-play manner as sensors are abstracted and represented by generic models,which allows rapid reconfiguration whenever a sensor signal is additional or lost during operation.Relative estimations are fused with absolute sensors based on improved factor graph,which includes sensors’error parameters in the non-linear optimization process to conduct sensor online calibration.We evaluate the performance of our approach using a land vehicle equipped with a global positioning system(GPS)receiver as well as inertial measurement unit(IMU),camera,wireless sensor and odometer.GPS is not integrated into the system but treated as ground truth.Results are compared with the most common filtering-based fusion algorithm.It shows that our strategy can process low-quality input sources in a plug-and-play and robust manner and its performance outperforms filtering-based method in GNSS-denied environment.展开更多
自动驾驶车辆的普及是城市交通发展的重要趋势,然而以交通灯为代表的现有调度方案难以指导这些车辆高效通过十字路口.为此,本文设计了一种基于顺序选择的无交通灯十字路口调度方案以提高自动驾驶车辆通行效率.首先根据车辆的物理性能对...自动驾驶车辆的普及是城市交通发展的重要趋势,然而以交通灯为代表的现有调度方案难以指导这些车辆高效通过十字路口.为此,本文设计了一种基于顺序选择的无交通灯十字路口调度方案以提高自动驾驶车辆通行效率.首先根据车辆的物理性能对其到达路口的最早时间点进行估算,然后在此基础上寻找车辆可行的计划到达时间点,最终根据计划到达时间为每辆车制定到达路口的行驶计划.在SUMO(Simulation of Urban MObility)平台上进行的大量仿真实验验证了本文提出方案的有效性.从实验结果可以看出,本文所提出的方案使自动驾驶车辆在调度区平均行驶时间等指标上均优于对比方案;特别是在路口面临高压力车流时,本文所提出方案的优势更加明显.展开更多
HENRY Kissinger’s latest book, On China, an ambitious combination of his memoirs as a professional diplomat and his understanding of Chinese politics, culture and history, attempts to f it Chinese leaders’ strategic...HENRY Kissinger’s latest book, On China, an ambitious combination of his memoirs as a professional diplomat and his understanding of Chinese politics, culture and history, attempts to f it Chinese leaders’ strategic intentions and diplomatic approaches into a historical and cultural framework. Opening with a look into the deep past, the book discusses the important in uence of展开更多
基金partially supported by the National Natural Science Foundation of China(No. 61703207)the Jiangsu Provincial Natural Science Founda- tion of China(No. BK20170801)+2 种基金the Aeronautical Science Foundation of China(No. 2017ZC52017)the Jiangsu Provincial SixTalent Peaks(No. 2015-XXRJ-005)the Jiangsu Province Qing Lan Project
文摘Achieving accurate navigation information by integrating multiple sensors is key to the safe operation of land vehicles in global navigation satellite system(GNSS)-denied environment.However,current multi-sensor fusion methods are based on stovepipe architecture,which is optimized with custom fusion strategy for specific sensors.Seeking to develop adaptable navigation that allows rapid integration of any combination of sensors to obtain robust and high-precision navigation solutions in GNSS-denied environment,we propose a generic plug-and-play fusion strategy to estimate land vehicle states.The proposed strategy can handle different sensors in a plug-and-play manner as sensors are abstracted and represented by generic models,which allows rapid reconfiguration whenever a sensor signal is additional or lost during operation.Relative estimations are fused with absolute sensors based on improved factor graph,which includes sensors’error parameters in the non-linear optimization process to conduct sensor online calibration.We evaluate the performance of our approach using a land vehicle equipped with a global positioning system(GPS)receiver as well as inertial measurement unit(IMU),camera,wireless sensor and odometer.GPS is not integrated into the system but treated as ground truth.Results are compared with the most common filtering-based fusion algorithm.It shows that our strategy can process low-quality input sources in a plug-and-play and robust manner and its performance outperforms filtering-based method in GNSS-denied environment.
文摘自动驾驶车辆的普及是城市交通发展的重要趋势,然而以交通灯为代表的现有调度方案难以指导这些车辆高效通过十字路口.为此,本文设计了一种基于顺序选择的无交通灯十字路口调度方案以提高自动驾驶车辆通行效率.首先根据车辆的物理性能对其到达路口的最早时间点进行估算,然后在此基础上寻找车辆可行的计划到达时间点,最终根据计划到达时间为每辆车制定到达路口的行驶计划.在SUMO(Simulation of Urban MObility)平台上进行的大量仿真实验验证了本文提出方案的有效性.从实验结果可以看出,本文所提出的方案使自动驾驶车辆在调度区平均行驶时间等指标上均优于对比方案;特别是在路口面临高压力车流时,本文所提出方案的优势更加明显.
文摘HENRY Kissinger’s latest book, On China, an ambitious combination of his memoirs as a professional diplomat and his understanding of Chinese politics, culture and history, attempts to f it Chinese leaders’ strategic intentions and diplomatic approaches into a historical and cultural framework. Opening with a look into the deep past, the book discusses the important in uence of
