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高速公路汽车追尾碰撞预警关键参数估计

DOI: 10.3969/j.issn.1006-7043.201404090

Keywords: 追尾碰撞, 参数估计, 交互多模型, 卡尔曼滤波, 车车通信, 全球定位系统, 毫米波雷达, 传感器失效容忍, 距离碰撞时间

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Abstract:

为准确、可靠获取高速公路汽车追尾预警算法的关键参数,提出一种基于车辆相对运动典型工况的估计方法。根据高速公路车辆不同的相对运动典型工况建立多个卡尔曼滤波系统状态模型,以全球定位系统与车车通信信息结合雷达信息作为观测量,并在运行过程中检测、容忍传感器信息的不准确甚至失效,利用交互多模型算法,实时、准确、可靠的获取两车相对距离、速度、加速度以及碰撞时间等关键参数。仿真及实车试验结果表明,估计方法具有精度高、鲁棒性和适应性好的优点,且在传感器失效的情况下依然能取得较好的估计效果。

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