基于GRI的多车协同定位研究
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摘要
为提高自动驾驶技术中的车辆定位精度,提出了一种基于GRI的多车协同定位方法。采用该方法时,一辆车依据GPS定位信息对本车位置进行估计,再通过车车通信接收周围车辆发来的根据其GPS测定的位置及其与该车相对位置而估计的该车位置。将这些位置信息进行融合,通过一定的修正,估算出该辆车更为精确的位置。最后应用MATLAB对所提出方法进行仿真,以模拟多车直行跟随和换道行驶场景。结果表明,该方法合理、可行,能有效提高车辆的定位精度,具有广阔的工程应用前景。
In order to enhance the vehicle positioning accuracy in automatic driving technology,a multi-vehicle cooperative positioning method based on GPS/radar integration( GRI) is proposed. A vehicle estimates its own location based on GPS and recieves information sent from surrounding vehicles by V2V communications about the location of that vehicle they estamate based on their own location and the relative location between them and that vehicle. These information are then fusioned and the more accurate location of that vehicle is reckoned through certain correction procrdures. Finally simulations are conducted on the method proposed with MATLAB under multi-vehicle moving scenarios of both straight line following and lane change. The results show that the method put forward is rational and feasible and can effectively enhance vehicle positioning accuracy with wide prospect in engineering application.
In order to enhance the vehicle positioning accuracy in automatic driving technology,a multi-vehicle cooperative positioning method based on GPS/radar integration( GRI) is proposed. A vehicle estimates its own location based on GPS and recieves information sent from surrounding vehicles by V2V communications about the location of that vehicle they estamate based on their own location and the relative location between them and that vehicle. These information are then fusioned and the more accurate location of that vehicle is reckoned through certain correction procrdures. Finally simulations are conducted on the method proposed with MATLAB under multi-vehicle moving scenarios of both straight line following and lane change. The results show that the method put forward is rational and feasible and can effectively enhance vehicle positioning accuracy with wide prospect in engineering application.
引文
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[2]ALAM N,DEMPSTER A.Cooperative positioning for vehicular networks:Facts and future[J].IEEE Transactions on Intelligent Transportation Systems,2013,14(4).
[3]EFATMANESHNIK M,ALAM N,KEALY A,et al.A fast multidimensional scaling filter for vehicular cooperative positioning[J].Journal of Navigation,2012,65(2):223-243.
[4]SHERER T P,MARTIN S M,et al.Radar probabilistic data association filter with GPS aiding for target selection and relative position determination[C].Proceedings of the ION 2017 Pacific PNT Meeting,Honolulu,Hawaii,2017:419-428.
[5]LIU K,LIM H B.Positioning accuracy improvement via distributed location estimate in cooperative vehicular networks[C].Conference Record-IEEE Conference on Intelligent Transportation Systems,2012:1549-1554.
[6]GOLESTAN K,SATTAR F,KARRAY F,et al.Localization in vehicular ad hoc networks using data fusion and V2V communication[J].Computer Communications,2015,71:61-72.
[7]刘江,蔡伯根,王云鹏.基于GNSS/DSRC融合的协同车辆定位方法[J].交通运输工程学报,2014(4):116-126.
[8]AKCAN H,EVRENDILEK C.GPS-free directional localization via dual wireless radios[J].Computer Communications,2012,35(9):1151-1163.
[9]YAN T,ZHANG W,WANG G.A grid-based on-road localization system in VANET with linear error propagation[J].IEEE Transactions on Wireless Communications,2014,13(2):861-875.
[10]BHAWIYUGA A,NGUYEN H H,JEONG H Y.An accurate vehicle positioning algorithm based on vehicle-to-vehicle(V2V)communications[C].IEEE International Conference on Vehicular Electronics and Safety,IEEE,2012:273-278.