基于传感器信息融合的车辆位姿估算方法  

Estimation method of vehicle position and attitude based on sensor information fusion

作　　者：李臣旭 江浩斌[2] 王成雨 马世典[2] LI Chenxu;JIANG Haobin;WANG Chengyu;MA Shidian(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang,Jiangsu 212013,China;Automotive Engineering Research Institute,Jiangsu University,Zhenjiang,Jiangsu 212013,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013 [2]江苏大学汽车工程研究院,江苏镇江212013

出　　处：《江苏大学学报（自然科学版）》2022年第6期636-644,共9页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51675235);江苏省高校自然科学基金资助项目(16KJA58000);江苏省产学研前瞻性联合创新项目(BY2012173)。

摘　　要：针对自动泊车过程中基于单一定位方法导致的车辆位姿估算精度较低等问题,提出了一种融合轮速传感器信息与视觉传感器信息对车辆位姿进行估算的方法.首先研究了利用轮速传感器信息对车辆进行位姿估算的航迹推算法,分析了误差产生的原因;然后提出了基于扩展卡尔曼滤波算法对轮速传感器与视觉传感器进行信息融合的车辆定位方法,减小系统误差,实现自动泊车过程中的车辆位姿估算;最后利用Simulink仿真对模型和位姿估算算法进行验证,并将航迹推算法与传感器信息融合方法进行比较.结果表明:本研究提出的车辆位姿估算方法能够有效降低系统定位误差,提高泊车过程中车辆位姿的估算精度.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.

关 键 词：自动泊车 车辆位姿估算 传感器信息融合 航迹推算法 扩展卡尔曼滤波算法 

分 类 号：U463.6[机械工程—车辆工程]