一种智能驾驶汽车的航迹推演方法  

A Track Deduction Method for Intelligent Driving Vehicle

作　　者：陈海鸥 姜灏[1] 徐达学[1] 樊瑞[1] CHEN Hai-ou;JIANG Hao;XU Da-xue;FAN Rui(Automobile Engineering Technology Research and Development Institute of Chery Automobile Co.,Ltd.,Wuhu 241000,China)

机构地区：[1]奇瑞汽车股份有限公司汽车工程技术研发总院,安徽芜湖241000

出　　处：《汽车电器》2021年第7期1-3,共3页Auto Electric Parts

摘　　要：随着人工智能技术的发展,汽车智能驾驶技术日渐成熟和完善,高精定位、前视摄像头、毫米波雷达和高精地图可以高效地保障车辆安全可靠地行驶。但是在遇到高楼林立的城市路段、峡谷、隧道等路况,定位信号会变得薄弱甚至丢失;又如在迎着太阳行驶的路上,强光会导致前视摄像头过曝光而功能降低,导致无法分辨车道线、道路边界及障碍物等,智驾感知能力降低、安全风险增大。汽车自身多种冗余感知模块的应用可以较好解决上述这类问题,通过采集三轴六向加速度和航向角信息,融合离散系统方式和欧拉公式等算法,嫁接毫米波雷达测距和高精地图的全局坐标系位置,智驾系统可以在一定时间内推演航迹路线,鲁棒性强、安全性高。With the development of artificial intelligence technology,intelligent driving technology is becoming more and more mature and perfect.High precision positioning,forward-looking camera,millimeter wave radar and high-precision map can effectively guarantee the safe and reliable driving of vehicles.However,when encountering high-rise urban road sections,canyons,tunnels and other road conditions,the positioning signal will become weak or even lost;For another example,on the road facing the sun,the strong light will lead to the over exposure of the front-looking camera and reduce its function,resulting in the inability to distinguish the lane lines,road boundaries and obstacles,which will reduce the perception ability of intelligent driving and increase the safety risk.The application of a variety of redundant sensing modules in the car itself can better solve the above problems.By collecting the three-axis and six direction acceleration and heading angle information,fusing the discrete system mode and Euler formula and other algorithms,grafting the global coordinate system position of millimeter wave radar ranging and high-precision map,the intelligent driving system can deduce the track and route in a certain time,with strong robustness and high safety.

关 键 词：智能驾驶 离散系统 航迹推演 

分 类 号：U463.6[机械工程—车辆工程]