Rear Vehicle Tracking on a Bicycle Using Active Sensor Orientation Control
Rear Vehicle Tracking on a Bicycle Using Active Sensor Orientation Control
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DOI：
10.1109/tits.2017.2764006
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发表时间：
2018-08-01
影响因子：
8.5
通讯作者：
Rajamani, Rajesh
中科院分区：
文献类型：
--
作者：
Jeon, Woongsun;Rajamani, Rajesh
本文着重于开发自行车的主动传感系统，以准确检测和跟踪后车辆。自行车上的碰撞检测传感器必须便宜，小且轻巧。符合这些约束的单个光束激光传感器安装在旋转控制平台上，以进行此传感任务。激光传感器的旋转方向需要实时积极控制，以便继续专注于后车辆，因为车辆的横向距离和纵向距离发生了变化。此跟踪问题需要控制激光传感器的实时角度位置，而不知道车辆的未来轨迹。挑战是使用一个新颖的后退视野框架来解决的，用于主动控制和一个相互作用的多个模型框架进行估计。首先使用仿真结果显示此主动传感系统的功能和好处。然后，使用仪器自行车提出了广泛的实验结果，以显示系统在直道和转动操作过程中检测和跟踪后车辆的性能。
This paper focuses on the development of an active sensing system for a bicycle to accurately detect and track rear vehicles. A collision detection sensor on a bicycle is required to be inexpensive, small, and lightweight. A single beam laser sensor that meets these constraints is mounted on a rotationally controlled platform for this sensing mission. The rotational orientation of the laser sensor needs to be actively controlled in real time in order to continue to focus on a rear vehicle, as the vehicle's lateral and longitudinal distances change. This tracking problem requires controlling the real-time angular position of the laser sensor without knowing the future trajectory of the vehicle. The challenge is addressed using a novel receding horizon framework for active control and an interacting multiple model framework for estimation. The features and benefits of this active sensing system are shown first using simulation results. Then, extensive experimental results are presented using an instrumented bicycle to show the performance of the system in detecting and tracking rear vehicles during both straight and turning maneuvers.