|
|
Estimation method of vehicle position and attitude based on sensor information fusion |
1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, Jiangsu 212013, China |
|
|
Abstract To solve the problem of vehicle position and attitude estimation with low accuracy caused by single positioning method in automatic parking process, a method with fusing wheel speed sensor information and visual sensor information was proposed to estimate vehicle position and attitude. The track estimation algorithm for estimating vehicle position and attitude was investigated based on the wheel speed sensor information, and the cause of error was also analyzed. A vehicle positioning method was proposed based on the extended Kalman filter algorithm to fuse wheel speed sensor information and visual sensor information, and the system errors were reduced to realize the vehicle position and attitude estimation in the process of automatic parking. The algorithm was verified by Simulink modeling and simulation, and the track estimation algorithm was compared with the sensor information fusion method. The results show that the proposed vehicle position and attitude estimation method can effectively reduce the system positioning error and improve the estimation accuracy of vehicle position and attitude during parking.
|
Received: 21 April 2021
|
|
|
|
[1] |
LI C X, JIANG H B, MA S D, et al. Automatic par-king path planning and tracking control research for intelligent vehicles[J]. Applied Sciences-Basel, doi: 10.3390/app10249100.
|
[2] |
江浩斌, 李臣旭, 马世典, 等. 智能车辆自动泊车路径跟踪的非光滑控制策略[J].江苏大学学报(自然科学版),2017,38(5):497-502.
|
|
JIANG H B, LI C X, MA S D, et al. Path tracking control of automatic parking for intelligent vehicle based on non-smooth control strategy[J]. Journal of Jiangsu University(Natural Science Edition),2017,38(5):497-502.(in Chinese)
|
[3] |
吴昕慧, 蔡煊, 陶汉卿. 基于多传感器的列车里程计定位误差检测及校正方法[J]. 城市轨道交通研究, 2016, 19(5):19-25.
|
|
WU X H, CAI X, TAO H Q. Detection and correction method of train odometer positioning error based on multi-sensor system[J]. Urban Mass Transit, 2016, 19(5):19-25.(in Chinese)
|
[4] |
李博文, 姚丹亚. 低成本车载MEMS惯导导航定位方法[J]. 中国惯性技术学报, 2014, 22(6):719-723.
|
|
LI B W, YAO D Y.Low-cost MEMS IMU navigation positioning method for land vehicle[J]. Journal of Chinese Inertial of Technology, 2014, 22(6):719-723.(in Chinese)
|
[5] |
BORENSTEIN J. Measurement and correction of syste-matic odometry errors in mobile robots[J]. IEEE Tran-sactions on Robotics and Automation, 1996, 12(6):869-880.
|
[6] |
李力, 王耀南, 刘洪剑, 等. 旋翼飞行机器人视觉定位方法及系统[J]. 机器人, 2016, 38(1):8-16.
|
|
LI L, WANG Y N, LIU H J, et al. Visual positioning method and system for rotor flying robot[J]. Robot, 2016, 38(1):8-16.(in Chinese)
|
[7] |
丰俊丙. 基于视觉的移动机器人自定位及目标物位姿测量研究[D]. 济南:山东大学,2016.
|
[8] |
罗勇, 陈慧. 基于EKF的自动泊车系统位姿估计算法设计[J]. 山东交通学院学报, 2013, 21(4):26-30.
|
|
LUO Y, CHEN H.Design for position estimation algorithm of parking assistance system based on EKF[J]. Journal of Shandong Jiaotong University, 2013, 21(4):26-30.(in Chinese)
|
[9] |
PIAO C H, ZHANG J, CHANG K H, et al. Multi-sensor information ensemble-based automatic parking system for vehicle parallel/nonparallel initial state[J]. Sensors (Basel, Switzerland),doi: 10.3390/s21072261.
|
[10] |
CHAI R, TSOURDOS A, SAVVARIS A, et al. Design and implementation of deep neural network-based control for automatic parking maneuver process[J]. IEEE Transactions on Neural Networks and Learning Systems, 2020,33(4):1400-1413.
|
[11] |
江浩斌,叶浩,马世典, 等. 基于多传感器数据融合的自动泊车系统高精度辨识车位的方法[J].重庆理工大学学报(自然科学),2019,33(4):1-10.
|
|
JIANG H B, YE H, MA S D, et al. High precision identification of parking slot in automated parking system based on multi-sensor data fusion[J]. Journal of Chongqing University of Technology(Natural Science),2019,33(4):1-10.(in Chinese)
|
[12] |
江浩斌, 沈峥楠, 马世典, 等. 基于信息融合的自动泊车系统车位智能识别[J].机械工程学报,2017,53(22):125-133.
|
|
JIANG H B, SHEN Z N, MA S D, et al. Intelligent identification of automatic parking system based on information fusion[J]. Journal of Mechanical Engineering,2017,53(22):125-133.(in Chinese)
|
|
|
|