摘要
针对大众用户车载高精度导航中,现有的车辆状态(静止、直行、转弯)检测算法一般采用事先确定的固定阈值,不具有自适应性,其中转弯检测大多针对大角度转弯,对于小弧段变化以及变道则无法实现准确检测的问题,提出利用微机电系统-惯性测量系统(MEMS-IMU)检测车辆运动状态的自适应方法:利用滑动窗口内的加速度计数据在线确定零速探测阈值;根据速度建立自适应阈值进行转弯检测,以达到较高的零速探测成功率,可以检测出车辆行驶过程中绝大部分转弯、小弧段变化以及变道情况。实验结果表明,该方法具有较强的可行性。
Aiming at the problems that the existing vehicle state(stationary,straight and turning)detection algorithm generally adopts a fixed threshold determined in advance,which is not adaptive,and among them,the turning detection is mostly aimed at large angle turning,while it is unable to realize accurate detection for small arc change and lane change,the paper proposed an adaptive method to detect vehicle motion state by microelectromechanical systems-inertial measurement unit(MEMS-IMU):the zero speed detection threshold was determined online according to the added data in the sliding window;and an adaptive threshold related to speed for turning detection was established to achieve a high success rate of zero speed detection,and detect most of the turning,small arc change and lane change in the process of vehicle driving.Experimental result showed the feasibility of the proposed method.
作者
胡昊杰
朱锋
张小红
HU Haojie;ZHU Feng;ZHANG Xiaohong(School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China;Collaborative Innovation Center of Geospatial Technology,Wuhan 430079,China)
出处
《导航定位学报》
CSCD
2020年第5期11-18,共8页
Journal of Navigation and Positioning
关键词
车辆运动状态
零速探测
转弯检测
自适应阈值
微机电系统
vehicle motion state
zero velocity detection
turning detection
adaptive threshold
micro-electro-mechanical system
