CN101799992B - 组合的车辆到车辆通信和目标检测感测 - Google Patents
组合的车辆到车辆通信和目标检测感测 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G01S2013/9323—Alternative operation using light waves
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Abstract
本发明涉及组合的车辆到车辆通信和目标检测感测,具体而言提供一种用于监测相对于本车的远程车辆的车辆察觉系统。所述车辆察觉系统包括:至少一个目标感测装置和车辆到车辆通信装置。设置数据收集模块,以便获得传感器目标数据地图和车辆到车辆目标数据地图。融合模块合并所述传感器目标数据地图和车辆到车辆目标数据地图,以便产生累积的目标数据地图。跟踪模块估计远程车辆对于本车的相对位置。
Description
技术领域
本发明总体涉及远程车辆察觉监测。
背景技术
车辆到车辆(V2V)系统涉及基于双向通信的用于车辆的协作通信,以便实时交互。这些系统优选地指向交通管理、碰撞警示和碰撞避免。除了接近于本车的邻近车辆发生的任何安全有关的事件之外,通过提供有关交通状态的相关信息,这些系统可扩大对本车的周围环境状况的察觉范围。
V2V通信系统提高由本车接收到的信息的质量和可靠性。然而,由于提供给本车的数据的不准确性或者定位障碍(例如高大建筑物林立的城市引起与GPS数据或车辆之间通信的通信干扰)从远程车辆接收到的信息的可靠性仍然不确定。因此,希望本车能够准确地得到自己相对于周围车辆的车辆定位和状况。
发明内容
本发明的实施例的优点是对远程车辆相对于本车的察觉并定位。此外,由于融合来自V2V通信系统和目标感测装置的数据,放大了围绕车辆的所监视区域的范围。此外,由于来自V2V通信系统和目标感测装置的融合数据,车辆的感测装置中的误差可得到校正或补偿。
实施例构思增强相对于远程车辆的本车察觉系统的方法。本车包括用于感测远离本车的远程目标的至少一个目标感测装置。本车还包括用于以车辆到车辆消息的形式在远程车辆和所述本车之间交换车辆数据的车辆到车辆通信系统。响应于所感测到目标产生传感器目标数据地图。响应于车辆到车辆消息产生车辆到车辆目标数据地图。所述车辆到车辆目标数据地图和所述传感器目标数据地图被合并以共同地确定远程车辆对于所述本车的相对位置。使用所合并的数据地图估计远程车辆对于所述本车的相对位置。将跟踪数据输出到安全相关应用,以便识别对所述本车的威胁评价。
实施例构思用于相对于本车监测远程车辆的车辆察觉系统。所述车辆察觉系统包括至少一个目标感测装置和车辆到车辆通信装置。设置数据收集模块用于获得传感器目标数据地图和车辆到车辆目标数据地图。融合模块合并所述传感器目标数据地图和车辆到车辆目标数据地图,以便产生累积的目标数据地图。跟踪模块估计远程车辆对于本车的相对位置。
本发明公开了一种增强相对于远程车辆的本车察觉系统的方法,所述本车包括感测远离所述本车的目标的至少一个目标感测装置,所述本车还包括车辆到车辆通信系统,以便以车辆到车辆消息的形式在远程车辆和所述本车之间交换车辆数据,所述方法包括如下步骤:
响应于感测到的目标产生传感器目标数据地图;
响应于车辆到车辆消息产生车辆到车辆目标数据地图;
将所述车辆到车辆目标数据地图和所述传感器目标数据地图合并以共同地确定远程车辆对于所述本车的相对位置;
使用所合并的数据地图估计远程车辆对于所述本车的相对位置;以及
将跟踪数据输出到安全相关应用,以便识别对所述本车的威胁评价。
根据上述方法,还包括估计远程车辆的相对位置包括产生反馈数据,以便改进所述至少一个目标感测装置的精确性。
根据上述方法,还包括响应于估计远程车辆的相对位置产生周围车辆的跟踪列表的步骤,所述跟踪列表包括远程车辆的车辆位置、速度、和横摆率。
根据上述方法,还包括提供所述跟踪列表作为反馈,以便连续地确定远程车辆对于本车的相对位置。
根据上述方法,还包括输出所述跟踪列表作为输出到安全相关应用的跟踪数据的一部分。
根据上述方法,还包括收集所述本车的车辆动态信息以便估计所述本车对于远程车辆的相对定位的步骤。
根据上述方法,还包括从GPS和无线通信装置获得所述车辆到车辆目标数据地图。
根据上述方法,还包括确定所述车辆到车辆目标数据地图和所述传感器目标数据地图之间的误差,其中基于车辆的当前定位将优先权给予所述车辆到车辆目标数据地图或所述传感器目标数据地图。
根据上述方法,还包括如果所述本车位于具有GPS障碍的类城市位置中,则将优先权给予传感器目标数据地图。
根据上述方法,还包括所述安全相关应用使用远程车辆的定位和远程车辆定向来致动驾驶员察觉通知。
根据上述方法,还包括所述合并所述车辆到车辆目标数据地图和所述传感器目标数据地图的步骤包括远程车辆和本车的联合定址和跟踪。
根据上述方法,还包括所述本车的定址通过融合来自全球定位系统的数据和来自车内目标检测传感器的数据来表征,并且被表示为:
其中gH是本车的GPS测量值,mh是本车车辆速度和横摆率测量值的向量,XH是本车的状态,CH g是GPS测量值矩阵,CH m是车内传感器测量值矩阵,以及vH g和vH m是噪声因子。
根据上述方法,还包括所述远程车辆的跟踪通过融合来自车辆到车辆传感器的数据和来自车内目标检测传感器的数据来表征,并且被表示为:
根据上述方法,还包括产生稀疏矩阵的步骤,所述稀疏矩阵表示为:
根据上述方法,还包括确定系统动态方程的步骤,所述系统动态方程表示为:
X(t+1)=f(X,w)
其中X(t+1)是联合状态的预测,以及w是表示无模型过程噪声的随机变量。
根据上述方法,还包括所述系统动态方程的线性化表示为:
X(t+1)=ΦX+Gw+u2
Φ是函数f相对于X的Jacobian矩阵,G是函数f相对于w的Jacobian矩阵,而非线性项u2由公式:
u2=f(X*,w*)-ΦX*-Gw*来表示。
本发明还公开了一种用于监测相对于本车的远程车辆的车辆察觉系统,所述车辆察觉系统包括:
至少一个目标感测装置;
车辆到车辆通信装置;
用于获得传感器目标数据地图和车辆到车辆目标数据地图的数据收集模块;
用于合并所述传感器目标数据地图和车辆到车辆目标数据地图的融合模块,以便产生累积的目标数据地图;以及
用于估计远程车辆对于本车的相对位置的跟踪模块。
根据上述系统,其中所述至少一个目标感测装置包括基于雷达的感测装置。
根据上述系统,其中所述至少一个目标感测装置包括基于视觉的感测装置。
根据上述系统,其中所述至少一个目标感测装置包括基于光的感测装置。
根据上述系统,其中所述车辆到车辆通信装置至少包括GPS装置和在车辆之间传送车辆信息的无线通信模块。
根据上述系统,其中所述跟踪装置模块包括Kalman过滤器。
根据上述系统,其中所述跟踪装置模块包括平方根信息过滤器。
根据上述系统,其中所述跟踪装置模块产生跟踪列表,该列表包括远程车辆的车辆位置、速度和横摆率。
根据上述系统,其中还包括耦接在跟踪装置模块与数据收集模块之间的反馈回路,以便产生反馈数据,从而改善所述至少一个目标感测装置的精确性。
根据上述系统,其中还包括至少一个车辆动态感测装置,其提供本车的车辆动态数据,以便估计本车对于远程车辆的相对定位。
根据上述系统,其中还包括至少一个安全相关应用,以便评价远程车辆对于本车的威胁以及以便致动安全响应。
附图说明
图1是交通流图示的例子。
图2是用于数据融合系统的系统架构的框图。
图3是数据融合系统的框流程图示。
图4是融合目标地图数据和V2V数据的方法的流程图。
图5是用于对定址和跟踪解耦的方法的流程图。
图6是用于联合远程车辆和本车定址的相关性矩阵的图示。
图7是用于正则化逆协方差的Cholesky因子的矩阵图示。
图8是用于联合定址和跟踪的方法的流程图。
具体实施方式
图1中总体示出表示本车10和多个远程车辆12的交通流图示。远程车辆12包括多个移动车辆,其中一些车辆具有与本车10通信的能力,这公知为车辆到车辆(V2V)通信。本车10和具有通信能力的那些相应远程车辆12在相应的车辆间通信网络上彼此定期地播送无线消息,所述车辆间通信网络例如但不限于如本领域所公知的专用短程通信协议(DSRC)。
可将在车辆之间传送的车辆到车辆(V2V)无线消息作为标准定期信标消息来传输。无线消息包括有关环境察觉状况的数据,这些环境察觉状况涉及由每个相应车辆感测到的车辆位置、车辆运动学/动态参数、交通或道路事件。这些环境察觉状况在车辆之间被传送,从而预警其他车辆驾驶员某种类型的安全情形、交通延迟、事故、或对驾驶员潜在重要的其他当前情形。其中一个目的是给邻近车辆提供状况的提前警示,以便提供额外时间来对该状况做出反应。用于环境察觉状况的这些警示可包括但不限于交通拥堵、事故、传送车辆中有效的前方碰撞警示(FCW)、侧碰撞警示(LCW)、车道偏离警示(LDW)、前方车辆缓慢/停止、紧急电子制动灯(EEBL)激活、尾部中心高置停止灯(CHMSL)激活、交叉路口碰撞警示/避免、十字交叉道路、工作区警示、盲点/并线和行人/骑车人的可见性增强。此外,视线目标跟踪、非视线跟踪和道路预测可通过V2V通信来确定。从多个车辆源接收信息的潜在冗余改善跟踪准确性和可靠性,从而降低错误检测。还可传送健康状态信息(这涉及由车辆装置、软件和硬件模块、和其他车辆子系统获得的信息的可靠性和准确性)。
图2示出用于本车10和相应远程车辆12的系统架构。本车10和相应远程车辆12(例如,多个远程车辆)每个都配备有无线广播13,无线广播13包括发送器和接收器(或收发器)以便经天线14播送并且接收无线消息。本车10和相应远程车辆12还包括相应的处理单元15,以便处理在无线消息或其他传送装置例如全球定位系统(GPS)接收器16中接收到的数据。可替换地,无线广播也可用作GPS接收器。每个车辆还包括目标检测模块17,以便收集从目标检测传感器接收到的数据。系统还可包括车辆接口装置18,以便收集包括但不限于速度、制动、横摆率、加速和方向盘角度的信息。
GPS使用传送信号的多个卫星,这能使车辆的GPS接收器16确定其方位、速度、方向和时间。用于V2V通信网络的相应车辆的GPS数据作为无线消息的一部分被播送,以便识别传送车辆的方位。这允许本车10的相应处理单元15根据远程车辆的位置评估消息内容,以便评价相应状况与本车10的相关性。
目标检测模块17从目标检测装置接收数据,这些目标检测装置包括但不限于基于雷达的检测装置、基于视觉的检测装置、和基于光的检测装置。这些装置的例子可包括雷达检测器(例如,远程和短程雷达)、照相机、和激光雷达装置、立体视觉。每个相应感测系统检测或捕获相应传感器视场中的图像。视场依赖于目标检测传感器被定向的方向。通过V 2V通信获得的某些数据可能不能通过目标检测装置来获得,并且反之亦然。通过组合从两个系统获得的数据,除了校正使用每个感测系统通常发生的误差之外,可获得对车辆周围环境的全面察觉。
再次参考图1,本车10配备有V2V通信系统和目标检测感测装置。这里讨论具有目标检测传感器和/或V2V通信的优点。远程车辆22和24被本车10的目标检测传感器检测到,如所示。本车前向所感测的区域的视场总体示出为25。远程车辆24配备有V2V通信装置并且与本车10通信。远程车辆24还可与处于本车10的播送范围之外的远程车辆24之前的车辆通信。由远程车辆24获得的V2V消息信息被传送给本车10,这提供正在发生的更多详细信息,这些信息超出仅由本车目标检测感测装置可获得到的信息。另外,来自远程车辆24的在数据通信内所包含的是远程车辆GPS位置。从远程车辆24所接收到的信息,连同由本车10所感测到的数据,允许本车10确定误差是否可能出现在本车GPS数据或从远程车辆24接收到的GPS数据中。如果误差出现,则这些误差可被补偿或被校正。
图1中示出远程车辆26,其位于本车检测传感器的视场外。虽然远程车辆26因远程车辆位置而不能被本车目标检测传感器检测到,但是远程车辆26包括能将其GPS位置传送到本车10的V2V通信系统。
在图1中还示出远程车辆28。远程车辆28没有配备V2V通信系统或目标检测感测装置,并因此不能提供包括其相对于本车10的方位的任何信息,并且因此,远程车辆28的方位对于本车10将是未知的。然而,远程车辆30包括V2V通信和目标检测感测装置。远程车辆30使用其目标检查传感器检测远程车辆28并且将所估计的远程车辆30的位置和其自身的GPS位置经V2V通信系统传送给本车10。因此,将V2V通信数据和由本车10检测到的目标融合可构建围绕本车10的360度车辆目标地图。
图3示出协作的通信和目标感测系统的框流程图示40。传感器和无线模块42接收来自传感器目标数据地图44和V2V目标数据地图46的输入。使用由目标检测传感器提供的输入来构建传感器目标数据地图44。由目标检测传感器检测的目标可包括但不限于远程车辆、建筑物、护栏和目标检测装置的视场中的其他目标。使用从其他车辆传送的包括GPS数据的数据来构建V2V目标数据地图46。响应于从传感器目标数据地图44和V2V目标数据地图46确定出的数据,传感器和无线模块42构建观测形势地图。每个相应观测形势地图包括但不限于相应目标的距离、距离变化率和方位角。因此,可基于来自各种源的数据生成相应目标的多个观测形势地图。如果确定出两个数据地图之间的误差,则可以基于当前车辆位置将优先权给予V2V目标数据地图或传感器目标数据地图。例如,如果本车行进在引起GPS障碍的具有高大建筑物的类城市区域中,则优先权给予传感器目标数据地图。相反,如果车辆行进在误差可能出现在传感器目标数据地图的乡村中,则优先权给予V2V目标数据地图,因为车辆与GPS数据之间的通信是无障碍的。
将每个相应观测形势地图提供给数据联合与合并模块48,在该模块48中,数据被融合进合并目标观测地图中。即,将从各种源收集到的多种数据融合进单个聚合地图,该聚合地图提供相应车辆的所确定距离、距离变化率和方位角。将检测到的每个车辆的数据融合进合并目标观测地图。合并目标观测地图提供包含全部检测到的车辆的综合地图。
将合并目标观测地图提供给包括但不限于Kalman过滤器跟踪器的过滤器跟踪器50。此外,将本车GPS位置、车辆动态信息(例如,速度、速率、横摆率)和驾驶员意向信息(例如,转向信号、转向模式)提供给过滤器跟踪器。过滤器跟踪器50不断更新对目标车辆相对于本车的位置、速度和定向的跟踪,以便确定预测性的行进道路。这允许本车监测本车的周围车辆,以便确定对远程车辆的感性察觉。可将来自过滤器跟踪器50的跟踪反馈数据52提供给传感器和无线模块42,以便改进从感测装置所获得的数据的精确性。随后将进一步详细讨论融合和跟踪程序。
通过过滤器跟踪器50来产生360度目标跟踪列表54,包括本车位置、速度、定向和每个远程车辆的位置、速度和定向,用于本车安全性察觉评估。此外,可将跟踪列表作为反馈提供给数据联合与合并模块48以连续地确定周围车辆关于本车10的相对位置。
然后将跟踪列表54提供给车辆的各种安全应用56(例如,目标选择模块),以便评价是否应该致动安全通知。例如,前方碰撞警示(FCW)模块评价车辆前方的碰撞的威胁。当车辆行进道路处于通向碰撞的路径时,发出FCW警告。如果目标车辆未处于行进车道中或行进在不同定向中,则FCW模块将在其评价中对该目标没有反应。如果相应的安全应用模块识别出潜在威胁,则该威胁将被评价并且警示可被致动以便识别潜在的安全问题。每个目标选择模块都接收跟踪列表54并且确定其自己的威胁评价,以便响应于该威胁评价发出警示通知或致动安全对策。
图4是用于融合目标感测地图数据和V2V地图数据的方法的流程图。在步骤60中,从至少一个目标感测装置收集数据。目标感测装置典型地监测车辆可检测目标的相应远程区域。在步骤61中,响应于感测到的目标产生传感器目标数据地图。
在步骤62中,从V2V通信消息收集数据。从V2V消息收集到的数据可包括远程车辆的GPS信息、来自另一远程车辆的目标传感器信息、来自远程车辆的车辆动态信息、由远程车辆接收到的警告警示和远程车辆的有限的驾驶员意向信息。在步骤63中,响应于包含在V2V通信消息中的数据产生V2V目标数据地图。在步骤64中,目标数据地图和V2V数据地图被融合用于产生合并目标观测地图。
在步骤65中,经融合的数据被提供给过滤器跟踪器,例如Kalman过滤器跟踪器,以便跟踪围绕本车的远程车辆。Kalman过滤器是递归估计器。Kalman过滤要求仅需要来自在先时间步骤的估计状态和当前测量值以确定当前状态的估计。跟踪过滤器跟踪远程车辆相对于本车位置的路径并且可在与目标检测装置或V2V通信失去通信的情况下基于接收到的数据产生预测性路径。
在步骤66中,产生跟踪列表。跟踪列表识别本车周围的远程车辆的位置。此外,列出每个远程车辆的车速、横摆率和定向。
在步骤67中,将跟踪数据输出到安全应用以便进行威胁评价。跟踪数据被提供给各种安全系统,其中,对于相应的安全应用,信息被处理,并且相对于每个远程车辆以及其可对本车具有的影响做出威胁评价。
在此将描述早前述及的融合和跟踪程序的实施例。应当明白,在此描述的程序是可用于融合和跟踪的多种程序中的其中一种,并且应当理解,本发明不被限制到在此所述的程序。为了执行融合和跟踪,首先我们设X1,X2,...,Xk为通信区域中的K个车辆。设Xi为第i个车辆的状态,包括关于基坐标的北向位移、东向位移、航向(相对于北向的角度)、角速度和速度。设XH为本车的状态,而gi为Xi的GPS测量值,分别包括北向位移、东向位移、航向和速度。mi是第i个车辆的车辆速度和横摆率测量值的矢量,而oi j是在第i个车辆上的感测装置所测量到的第j个车辆的测量值(即,距离、距离变化率和方位角)。目标是从测量值{gm,mi|i=1,...,K}和{oj|i=1,...,K,j=1,...,Li}中复原车辆的状态{Xi|i=1,...,K},其中Li是由在第i个车辆中的感测装置返回的目标的数目。
在下面的推导中,高斯分布由信息阵列来表示。例如,随机变量x~N(μ,Q)可被表示为x~[R,z],其中Q=R-TR-1和z=Rμ。我们注意每个车辆具有其自己的系统动态方程为:
Xi(t+1)=fi(Xi,wi) (1)
其中项wi~[Rwi,zwi]是表示过程噪声的随机变量。式(1)在邻域[Xi *,wi *]中的线性近似可表示为:
Xi(t+1)=ΦiXi+Giwj+ui2 (2)
其中Φi和Gi分别是方程(1)的函数f关于变量Xi和wi的Jacobian矩阵;并且将非线性项表示为:
由GPS接收器、车内传感器和目标检测传感器所做的测量由下面的方程来表示。对于GPS接收器的测量值方程可写为:
其中噪声向量vH g~[RH g,0]是零均值随机变量。对于车轮速度和横摆率传感器的测量值方程可写为:
其中噪声向量vH m是零均值随机变量,由vH m~[RH m,0]来表示。每个车辆保持车辆的状态的估计{Xi|i=1,...,K}。在时刻t,目标感测装置测量目标的列表其中κl是确定第l个目标是来自第κl个车辆的数据联合变量;而LH是由感测装置所测量的目标的个数。因此,来自传感器的第l个目标的方程可写为:
式(6)在邻域中的线性近似可表示为:
在每一时刻t,本车中的无线广播模块从通信区域内的远程车辆接收广播包。第i个广播包包含第i个车辆的状态xi的估计,其可被视为测量值:
xi=Xi+vi (9)
其中噪声项vi~[Ri,0]表示状态估计的不确定性。
先前述及的融合和跟踪程序的第一实施例如下。假定本车XH的状态和远程车辆{Xi|i=1,...,K}互相不相关。因此,可使用扩展的Kalman过滤器来分别估计状态变量。
本车XH的定址可通过融合GPS和车内传感器来表示。下面方程可写成
下面根据图5来描述如上所示的解耦程序中的关键步骤。在步骤70中,开始程序。在步骤71中,给定本车和远程车辆在时刻t-1处的在先估计,确定时刻t是否得到新数据。这些数据可从系统动态方程(2)和测量值方程(10)和(11)得到更新。
在步骤74中,基于GPS和车内运动数据更新本车状态估计。基于系统动态方程(2)和测量值方程(10)应用扩展的Kalman过滤器或类似过滤器推导时刻t处本车的状态的估计。输出更新的估计和协方差矩阵
在步骤75中,对于l=1,...,LH的第l个传感器目标oH l计算联合变量κ1。这使传感器目标和V2V数据与在先远程车辆估计相联合。
在步骤76中,确定远程车辆的全部状态是否得到更新。如果全部状态已经得到更新,则返回到步骤71以确定是否得到新数据。如果并非全部状态得到更新,则在步骤77中检索第i个远程车辆的状态的在先估计和协方差矩阵
在步骤78中,基于V2V和目标地图数据更新远程车辆状态估计。分别基于系统动态方程(2)和测量值方程(10)应用扩展的Kalman过滤器或类似过滤器推导时刻t处第i个远程车辆的状态的估计。输出更新的估计和协方差矩阵返回到步骤76确定全部状态是否得到更新。如果并非全部状态得到更新,则重复步骤77到78,直到全部状态得到更新。否则返回到步骤71以核查得到新数据。
图6和7示出对于10个车辆的联合定址和跟踪的结果。联合状态的正则化协方差呈现在图6中。加黑项表示强相关。可清楚地看到,不仅轨迹XT和本车XH相关,而且XT中的每一对轨迹是互相相关的。联合协方差矩阵的棋盘格图案证实上面的陈述。因此,忽略非对角线相关项的解耦近似不是渐近最优的。
图7示出逆协方差矩阵(也称为为信息矩阵)的Cholesky因子,其被正则化成类似相关性矩阵,以便验证图6中所示的方法的结果。该矩阵中的项可认为是远程车辆和本车的状态之间的约束或连接。图7中所示的项越黑,状态之间的连接越强。如图7中所表示,Cholesky因子R不仅显得稀疏,而且有良好的结构。该矩阵仅由远程车辆的状态内的项或者远程车辆与本车状态之间的项所主导。
在此将描述在先述及的融合和跟踪程序的第二实施例。在整个计算中第二实施例使用并保持这个结构。此外,存储稀疏因子矩阵需要线性空间。更重要地,可在相对于系统中跟踪数目的线性时间内执行更新。
通过组合上面推导得到的测量值方程(4)、(5)、(7)和(9),我们得到:
或被不同地表示为:
X(t+1)=ΦX+Gw+u2 (14)
其中
G=diag[G1...GK GH] (16)
w~[Rw,zw] (19)
因此,损失函数被定义为:
图8示出用于联合定址和跟踪程序的方法。在步骤80中,开始程序。在步骤81中,给定联合状态X在时刻t处的预测或先验知识,确定时刻t是否得到新数据。这些数据可从系统动态方程(14)和测量值方程(12)得到更新。
在步骤84中,对于l=1,...,LH的第l个传感器目标oH l计算联合变量κl。
其中ò是反映模型和测量值之间的偏差的残差。
在步骤88中,计算在方程(14)中所表示的Φ、G和u2。更新的信息阵列Rw、Φ、G被插入到矩阵B:
虽然已经详细地描述了本发明的某些实施例,但是,本领域技术人员将意识到用于实施由随附权利要求所限定的本发明的各种替代设计和实施例。
Claims (26)
1.一种增强相对于远程车辆的本车察觉系统的方法,所述本车包括感测远离所述本车的目标的至少一个目标感测装置,所述本车还包括车辆到车辆通信系统,以便以车辆到车辆消息的形式在远程车辆和所述本车之间交换车辆数据,所述方法包括如下步骤:
响应于感测到的目标产生传感器目标数据地图;
响应于车辆到车辆消息产生车辆到车辆目标数据地图;
将所述车辆到车辆目标数据地图的数据和所述传感器目标数据地图的数据合并以共同地确定远程车辆对于所述本车的相对位置,其中将所述车辆到车辆目标数据地图的数据和所述传感器目标数据地图的数据合并包括将这些数据融合进合并目标观测地图;如果确定出所述车辆到车辆目标数据地图和所述传感器目标数据地图之间的误差,则基于当前车辆位置将优先权给予所述车辆到车辆目标数据地图或所述传感器目标数据地图;
使用所述合并目标观测地图估计远程车辆对于所述本车的相对位置;以及
将所述相对位置的数据输出到安全相关应用,以便识别对所述本车的威胁评价。
2.如权利要求1所述的方法,其特征在于,估计远程车辆的相对位置包括产生反馈数据,以便改进所述至少一个目标感测装置的精确性。
3.如权利要求1所述的方法,其特征在于,还包括响应于估计远程车辆的相对位置产生周围车辆的跟踪列表的步骤,所述跟踪列表包括远程车辆的车辆位置、速度、和横摆率。
4.如权利要求3所述的方法,其特征在于,提供所述跟踪列表作为反馈,以便连续地确定远程车辆对于本车的相对位置。
5.如权利要求3所述的方法,其特征在于,输出所述跟踪列表作为输出到安全相关应用的跟踪数据的一部分。
6.如权利要求1所述的方法,其特征在于,还包括收集所述本车的车辆动态信息以便估计所述本车对于远程车辆的相对定位的步骤。
7.如权利要求1所述的方法,其特征在于,从GPS和无线通信装置获得所述车辆到车辆目标数据地图。
8.如权利要求1所述的方法,其特征在于,如果所述本车位于具有GPS障碍的类城市位置中,则将优先权给予传感器目标数据地图。
9.如权利要求1所述的方法,其特征在于,所述安全相关应用使用远程车辆的定位和远程车辆定向来致动驾驶员察觉通知。
10.如权利要求1所述的方法,其特征在于,所述合并所述车辆到车辆目标数据地图和所述传感器目标数据地图的步骤包括远程车辆和本车的联合定址和跟踪。
14.如权利要求12所述的方法,其特征在于,还包括确定系统动态方程的步骤,所述系统动态方程表示为:
X(t+1)=f(X,w)
其中X(t+1)是联合状态的预测,以及w是表示无模型过程噪声的随机变量。
15.如权利要求12所述的方法,其特征在于,所述系统动态方程的线性化表示为:
X(t+1)=ΦX+Gw+u2
Φ是函数f相对于X的Jacobian矩阵,G是函数f相对于w的Jacobian矩阵,而非线性项ll2由公式:
u2=f(X*,w*)-ΦX*-Gw*来表示。
16.一种用于监测相对于本车的远程车辆的车辆察觉系统,所述车辆察觉系统包括:
至少一个目标感测装置;
车辆到车辆通信装置;
用于获得传感器目标数据地图和车辆到车辆目标数据地图的数据收集模块;
用于合并所述传感器目标数据地图的数据和车辆到车辆目标数据地图的数据的融合模块,以便产生累积的目标数据地图,其中合并所述车辆到车辆目标数据地图的数据和所述传感器目标数据地图的数据包括将这些数据融合进合并目标观测地图;如果确定出所述车辆到车辆目标数据地图和所述传感器目标数据地图之间的误差,则基于当前车辆位置将优先权给予所述车辆到车辆目标数据地图或所述传感器目标数据地图;以及
用于使用所述合并目标观测地图估计远程车辆对于本车的相对位置的跟踪模块。
17.如权利要求16所述的系统,其特征在于,所述至少一个目标感测装置包括基于雷达的感测装置。
18.如权利要求16所述的系统,其特征在于,所述至少一个目标感测装置包括基于视觉的感测装置。
19.如权利要求16所述的系统,其特征在于,所述至少一个目标感测装置包括基于光的感测装置。
20.如权利要求16所述的系统,其特征在于,所述车辆到车辆通信装置至少包括GPS装置和在车辆之间传送车辆信息的无线通信模块。
21.如权利要求16所述的系统,其特征在于,所述跟踪装置模块包括Kalman过滤器。
22.如权利要求16所述的系统,其特征在于,所述跟踪装置模块包括平方根信息过滤器。
23.如权利要求16所述的系统,其特征在于,所述跟踪装置模块产生跟踪列表,该列表包括远程车辆的车辆位置、速度和横摆率。
24.如权利要求16所述的系统,其特征在于,还包括耦接在跟踪装置模块与数据收集模块之间的反馈回路,所述跟踪装置模块产生反馈数据,从而改善所述至少一个目标感测装置的精确性。
25.如权利要求16所述的系统,其特征在于,还包括至少一个车辆动态感测装置,其提供本车的车辆动态数据,以便估计本车对于远程车辆的相对定位。
26.如权利要求16所述的系统,其特征在于,还包括至少一个安全相关应用,以便评价远程车辆对于本车的威胁以及以便致动安全响应。
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US20100198513A1 (en) | 2010-08-05 |
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