超高速公路虚拟轨道系统车辆坐标转换模型  

Vehicle coordinate conversion model of virtual rail system of superhighway

作　　者：何永明[1] 权聪 魏堃[2] 冯佳 万亚楠 陈世升 HE Yongming;QUAN Cong;WEI Kun;FENG Jia;WAN Yanan;CHEN Shisheng(School of Civil Engineering and Transportation,Northeast Forestry University,Harbin 150000,Heilongjiang,China;Key Laboratory of Road Structure and Material Transportation Industry(Chang'an University),Xi'an 710000,Shaanxi,China)

机构地区：[1]东北林业大学土木与交通学院,黑龙江哈尔滨150000 [2]道路结构与材料交通运输行业重点实验室(长安大学),陕西西安710000

出　　处：《山东大学学报（工学版）》2023年第4期56-64,共9页Journal of Shandong University（Engineering Science）

基　　金：道路结构与材料交通运输行业重点实验室(长安大学)开放基金资助项目(300102212504)。

摘　　要：为保障超高速公路行车安全,提高超高速公路车辆定位系统精度,对基于车路协同的超高速公路虚拟轨道系统车辆坐标转换进行研究。利用PreScan建立超高速公路虚拟轨道系统车辆坐标转换模型,研究车辆坐标转换方法的可行性。通过模型分析数学建模坐标转换方法和欧拉角坐标转换方法的不同,设置障碍物验证坐标转换方法的实用性和精确性。研究结果表明,欧拉旋转矩阵可以通过车辆横摆角、俯仰角和侧倾角的变化,实时显示障碍物在车辆坐标系下位置信息,进而保证超高速公路车辆坐标系的准确性,提高车辆定位系统精确度,验证欧拉坐标转换方法在超高速公路上的实用性和有效性。To ensure the driving safety and improve the precision of the superhighway vehicle positioning system,the vehicle coordi-nate conversion of the superhighway virtual rail system based on vehicle-road coordination was studied.PreScan was used to establish the vehicle coordinate conversion model of virtual rail system of superhighway to study the feasibility of the vehicle coordinate con-version method.The difference between the mathematical modeling coordinate transformation method and the Euler angular coordi-nate transformation method was analyzed by the model.Obstacles were set to verify the practicality and accuracy of the coordinate transformation method.The research results demonstrated that the Euler rotation matrix displayed the position information of obstacles in the vehicle coordinate system in real time through the changes of vehicle yaw angle,pitch angle and roll angle,which ensured the accuracy of the superhighway vehicle coordinate system and improved the accuracy of the vehicle positioning system.The practicability and effectiveness of Euler's coordinate transformation method for superhighways were verified.

关 键 词：超高速公路 欧拉角 坐标转换 定位系统 虚拟轨道 

分 类 号：U495[交通运输工程—交通运输规划与管理]