Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by Compensation of Time Delays.
Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by Compensation of Time Delays.
复制标题
DOI：
10.3390/s151128807
复制
发表时间：
2015-11-13
期刊：
影响因子：
--
通讯作者：
Kang SW
中科院分区：
文献类型：
--
作者：
Byun YS;Jeong RG;Kang SW
实时识别道路网络上的绝对（或相对）位置和方向是全自动或辅助驾驶车辆的核心技术。本文提出了一种基于磁标记参考传感方法的自动驾驶汽车自定位系统的设计，实现和评估的实证调查。具体地，通过补偿在检测信号阵列中的垂直磁场（VMF）时的信号处理中的时间延迟，成功地提高了磁感测尺（MSR）在实际位置的最新估计中的估计精度。在这项研究中，信号处理方案的开发，以最大限度地减少测量信号的失真的影响时，估计的相对位置信息的基础上获得的磁信号使用MSR。换句话说，通过跟踪预定义的参考模型和测量的磁信号之间的误差来估计与磁标记的实际位置相对应的2D磁场轮廓图中的中心点。在这项研究中提出的算法进行了验证，实验测量使用的测试车辆上的试点网络的道路。从结果来看，在操作测试中发现定位误差平均小于0.04 m。
The real-time recognition of absolute (or relative) position and orientation on a network of roads is a core technology for fully automated or driving-assisted vehicles. This paper presents an empirical investigation of the design, implementation, and evaluation of a self-positioning system based on a magnetic marker reference sensing method for an autonomous vehicle. Specifically, the estimation accuracy of the magnetic sensing ruler (MSR) in the up-to-date estimation of the actual position was successfully enhanced by compensating for time delays in signal processing when detecting the vertical magnetic field (VMF) in an array of signals. In this study, the signal processing scheme was developed to minimize the effects of the distortion of measured signals when estimating the relative positional information based on magnetic signals obtained using the MSR. In other words, the center point in a 2D magnetic field contour plot corresponding to the actual position of magnetic markers was estimated by tracking the errors between pre-defined reference models and measured magnetic signals. The algorithm proposed in this study was validated by experimental measurements using a test vehicle on a pilot network of roads. From the results, the positioning error was found to be less than 0.04 m on average in an operational test.