基于无迹卡尔曼滤波的定位融合与校验算法研究

doi:10.19562/j.chinasae.qcgc.2021.06.005

Abstract

Abstract:

For the problem that the positioning accuracy of the sensor is greatly affected by the environment and it has great impact on the driving safety of autonomous vehicles， a positioning fusion and verification algorithm is proposed. The short?term short?range track calculation model is established for positioning prediction. And the UKF （Unscented Kalman Filter） is used to realize the nonlinear fusion between the predicted positioning result and the actual positioning result so as to improve the positioning accuracy. Whether the actual positioning has shifted can be judged by the positioning verification algorithm. And an active risk avoidance algorithm is studied to enable the vehicle to maintain the trajectory before positioning failure and continue to run until it stops， so as to improve the driving safety of the vehicle. Simulation and experimental results show that the algorithm can not only improve the positioning accuracy， but also effectively judge whether the positioning has offset， and ensure the vehicle to continue to run safely according to the saved reference trajectory after the positioning failure occurs at the same time.

Key words: autonomous driving, track calculation, positioning prediction, positioning verification, active collision avoidance control

Xingjia Li,Jianfen Li,Min Zhu,Nengling Peng,Shuai Zuo. Research on Positioning Fusion and Verification Algorithm Based on UKF[J].Automotive Engineering, 2021, 43(6): 825-832.

Figures/Tables 13

传感器定位数据状态

判断条件

正常

$(- 2 σ 1 ≤ x k + 1' - μ 1 ≤ 2 σ 1)$ 且

$(- 2 σ 2 ≤ y k + 1' - μ 2 ≤ 2 σ 2)$

突变偏移

$(4 σ 1 < x k + 1' - μ 1)$ 或 $(- 4 σ 1 > x k + 1' - μ 1)$ 或

$(4 σ 2 < y k + 1' - μ 2)$ 或 $(- 4 σ 2 > y k + 1' - μ 2)$

缓慢偏移

其他不满足正常或突变条件的情况

References 14

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参数	数值	参数	数值
最短固定预瞄距离L_{static_min}	2 m	最长预瞄时间t₂	1.2 s
最长固定预瞄距离L_{static_max}	8 m	周期Δt	0.08 s
预瞄点个数P	6	车辆宽度	2.5 m
最短预瞄时间t₁	0.3 s	车辆长度	10 m
积累帧数FN	5	车道宽度	3.5 m

定位失效时车速/（km·h^-1）	有效轨迹长度/m	安全减速度/（m·s^-2）	给定减速度/（m·s^-2）	最大制动距离/m	最小制动距离/m	平均制动距离/m	横向最大偏差/m	横向最小偏差/m	横向平均偏差/m
10	59.8	-0.06	-0.3	20.1	17.4	18.8	0.14	0.02	0.06
20	59.8	-0.26	-0.4	56.1	50.4	53.4	0.23	0.02	0.07
30	59.8	-0.58	-0.9	55.3	51.1	53.7	0.25	0.05	0.16
40	59.8	-1.03	-1.5	55.2	52.1	53.5	0.23	0.04	0.14
50	59.8	-1.61	-2.2	58.3	47.8	53.8	0.42	0.026	0.20

定位失效时车速/（km·h^-1）	有效轨迹长度/m	安全减速度/（m·s^-2）	给定减速度/（m·s^-2）	最大制动距离/m	最小制动距离/m	平均制动距离/m	横向最大偏差/m	横向最小偏差/m	横向平均偏差/m
10	57.0	-0.06	-0.3	19.3	15.7	17.1	0.49	0.25	0.38
15	59.8	-0.15	-0.45	30.9	24.8	28.1	0.57	0.43	0.51
20	59.8	-0.26	-0.4	59.0	45.4	50.6	0.66	0.49	0.61
25	58.0	-0.42	-0.6	55.7	35.5	43.4	0.79	0.47	0.64
30	44.3	-0.78	-1.0	54.9	38.9	39.7	0.80	0.51	0.69

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Research on Positioning Fusion and Verification Algorithm Based on UKF

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