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Vehicle motion parameter estimation method based on incomplete information measurement

A technology of motion parameters and information volume, which can be used in measuring devices, surveying and navigation, navigation through speed/acceleration measurement, etc., and can solve problems such as incomplete acquisition of measurement information

Active Publication Date: 2019-10-08
NANJING INST OF TECH
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AI Technical Summary

Problems solved by technology

[0004] In order to achieve accurate acquisition and reliable estimation of target vehicle motion parameters, the method proposed by the present invention establishes multiple Kalman filters for different typical working conditions of road traffic vehicles The model uses GPS, accelerometer and radar millimeter wave to collect target data at the same time, combined with on-board video, and takes into account the incomplete acquisition of measurement information

Method used

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  • Vehicle motion parameter estimation method based on incomplete information measurement
  • Vehicle motion parameter estimation method based on incomplete information measurement
  • Vehicle motion parameter estimation method based on incomplete information measurement

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Embodiment Construction

[0075] The present invention will be further described below. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.

[0076] The present invention provides a vehicle motion parameter estimation method based on incomplete information measurement. The specific steps include:

[0077] 1. Establish a model of typical vehicle motion conditions

[0078] Working condition 1: The relative speed of the front and rear cars is kept at a constant speed, and the model is established as a constant motion model;

[0079] Working condition 2: The front and rear cars travel at relatively uniform acceleration, and the model is established as a uniform acceleration movement model;

[0080] Working condition 3: The front and rear cars travel at a relatively uniform deceleration, and the model is established as a uniform deceleration movement model;

[0081] Since the thr...

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Abstract

The invention discloses a vehicle motion parameter estimation method based on incomplete information measurement. Different Kalman filtering system state models are established according to the relative movement condition of a vehicle; a global positioning system, vehicle communication information and millimeter wave radar information are taken as observed quantities, a video tracking system is combined, possible process interference and measurement data interference in the practical environment is considered in the operation process, and an interactive multi-model algorithm is used to obtainrelated parameters including speed and acceleration of vehicles in the same lane; and vehicle-mounted video tracking is combined to locate a vehicle target in the same lane under the condition that avideo image is interfered much. The method of the invention has the advantages of high positioning precision, reliability and adaptability.

Description

Technical field [0001] The invention discloses a vehicle motion parameter estimation method based on incomplete information measurement, and belongs to the technical field of vehicle tracking and monitoring. Background technique [0002] With the development of society and economy, the number of vehicles has grown rapidly, and the problem of road traffic safety has become increasingly prominent, which has become a global problem. Traffic accidents all over the world cause a large number of casualties and property losses every year. Vehicle accident statistics show that car rear-end collisions are the largest in road traffic and one of the most dangerous accidents during vehicle operation. 91% of rear-end collisions are caused by If the driver is not concentrating, if the driver is reminded 0.5s in advance, the rear-end collision avoidance rate can reach 90%. The main threat faced by drivers is mainly other vehicles on the road. The purpose of car assisted driving is to alert th...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/165G01C25/005G01C25/00
Inventor 陈素娟
Owner NANJING INST OF TECH
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