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| 自主车辆避碰规划中障碍物运动估计方法研究 | |
| 引用本文： | 王爱兵,鲁春艳,李锦,刘亚朋.自主车辆避碰规划中障碍物运动估计方法研究[J].拖拉机与农用运输车,2011,38(1):67-69. |
| 作者姓名： | 王爱兵 鲁春艳 李锦 刘亚朋 |
| 作者单位： | 1. 河北交通职业技术学院,石家庄,050091 2. 苏州市职业大学,江苏,苏州,215104 3. 上海工程技术大学,上海,201620 4. 河北省机电技工学校,石家庄,050081 |
| 基金项目： | 黑龙江省博士后科研启动金资助(LHK-04010) |
| 摘 要： | 从目标跟踪理论出发,建立目标加速运动模型。根据实时的目标静态特征信息,即目标跟踪理论中的观测量,采用卡尔曼滤波及其改进算法对目标的运动参数做出合理的估计,并对加速运动目标的动态参数估计进行了仿真,验证了算法的实时性和可靠性。 |
| 关 键 词： | 自主车辆 加速运动 参数估计 仿真 |
Estimation Method of Barrier Movement in Autonomous Vehicle Collision-avoidance Planning |
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| WANG Ai-bing,LU Chun-yan,LI Jin,LIU Ya-peng.Estimation Method of Barrier Movement in Autonomous Vehicle Collision-avoidance Planning[J].Tractor & Farm Transporter,2011,38(1):67-69. | |
| Authors: | WANG Ai-bing LU Chun-yan LI Jin LIU Ya-peng |
| Institution: | 1.Hebei Jiaotong Vocational & Technical College,Shijiazhuang 050091,China;2.Suzhou Vocational University,Suzhou 215104,China;3.Shanghai University of Engineering Science,Shanghai 201620,China;4.Hebei Mechanical-electrical School of Technology,Shijiazhuang 050081,China) |
| Abstract: | Starting from the target tracking theory,the accelerated movement model is built.According to the real-time target static character information,the observed quantity of the target tracking theory,the reasonable estimation for motion of the target is given by kallman filter and its improved algorithm,and the dynamic parameter estimation of the accelerated movement target is simulated.The real time quality and the reliability of the algorithm are verified. |
| Keywords: | Autonomous vehicle Acceleration movement Parameter estimation Simulation |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |