CN110515041A - A kind of measuring vehicle distance control method and system based on Kalman filter technology - Google Patents
A kind of measuring vehicle distance control method and system based on Kalman filter technology Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000005516 engineering process Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 238000005259 measurement Methods 0.000 claims abstract description 32
- 230000000977 initiatory effect Effects 0.000 claims abstract description 20
- 238000001914 filtration Methods 0.000 claims abstract description 16
- 238000012217 deletion Methods 0.000 claims abstract description 7
- 230000037430 deletion Effects 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 3
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 4
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- 241001269238 Data Species 0.000 description 1
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Classifications
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
- G01S7/022—Road traffic radar detectors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Abstract
The invention discloses a kind of measuring vehicle distance control methods and system based on Kalman filter technology, include the following steps, track initiation module, and the stray data of detection module detection target carries out rejecting non-targeted data, initialized target track；Track update module, in a newest frame data, the detection module exports newest track in real time, and the targetpath having in the newest track and track center module, which is associated, to be matched, and is updated with kalman filtering algorithm to associated track to the data matched；Track is deleted, and is rejected module for the not associated track being matched to and is carried out deletion combing.Beneficial effects of the present invention: Kalman filter technology is applied to millimetre-wave radar data, and the shake of bring measurement data can be shaken to avoid vehicle, so that measurement data is close to true value, to improve the accuracy of millimetre-wave radar measurement.
Description
Technical field
The present invention relates to the technical fields for the Intellisense that field vehicle is perceived in automatic Pilot more particularly to one kind to be based on
The front vehicles range measurement control method and its corresponding control system of Kalman filter technology.
Background technique
Unmanned technology can be disassembled as the reason of " environment sensing and positioning-decision and planning-control and execution " process
The materialization of solution, learning and memory.Wherein, the input of environment sensing and positioning as Unmanned Systems, to whole system energy energy
No correct control executes vehicle and plays a crucial role.
Environment sensing and positioning system middle inhomogeneities more to video camera, millimetre-wave radar, Ridar and ultrasonic radar etc.
Type sensor integrated application perceives and rebuilds positioning target relative to the position of main vehicle, speed and other attributes.Due to sensor
The performance limitation and the shake of vehicle itself of itself, cause sensory perceptual system to cannot be directly used to the position measurement of target subsequent
Decision system, need to carry out further filtering processing to original measurement data.
Vehicle travels on road can be regarded as speed straight line model, we believe more concerned with the position of front vehicles target
Breath.It is perceived based on position of the millimetre-wave radar scheme to target vehicle, because of vehicle shake and the shadow of radar performance itself
It rings, the location information for the target vehicle that practical radar measures is inaccurate.
Summary of the invention
The purpose of this section is to summarize some aspects of the embodiment of the present invention and briefly introduce some preferable implementations
Example.It may do a little simplified or be omitted to avoid our department is made in this section and the description of the application and the title of the invention
Point, the purpose of abstract of description and denomination of invention it is fuzzy, and this simplification or omit and cannot be used for limiting the scope of the invention.
In view of above-mentioned existing problem, the present invention is proposed.
Therefore, the technical problem that the present invention solves is: solving measurement caused by vehicle shake in real vehicle driving procedure
The problem of data dithering, while the false target of radar surveying can be rejected, existing target is tracked.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of vehicle based on Kalman filter technology
Range measurement control method, includes the following steps, track initiation module, and the stray data of detection module detection target is picked
Unless target data, initialized target track；Track update module, in a newest frame data, the detection module is real-time
Newest track is exported, the targetpath having in the newest track and track center module, which is associated, to be matched, to matching
Data associated track is updated with kalman filtering algorithm；Track is deleted, and is rejected module and is matched to not associated
Track carries out deletion combing.
A kind of preferred side as the measuring vehicle distance control method of the present invention based on Kalman filter technology
Case, in which: the track initiation further includes, after detection module detects target stray data, if detection target is in continuous five frame
In all exist, then it is assumed that the detection target is true barrier, otherwise will assert the detection target be false target or
Non-targeted data, and false target or non-targeted data are deleted.
A kind of preferred side as the measuring vehicle distance control method of the present invention based on Kalman filter technology
Case, in which: further include data correlation and track maintenance, the track address in the track center module is exactly the number of detection module
According to address, in a new frame, the data address is matched with the track address, the data point if matching
With corresponding track association, and with kalman filtering algorithm to association track be updated, if do not matched, be input to track
Starting module carries out track initiation, executes circulation.
A kind of preferred side as the measuring vehicle distance control method of the present invention based on Kalman filter technology
Case, in which: the track deletion further includes, if the existing track in the track center module does not all have in continuous five frame
On associated, then it is assumed that the corresponding target of the track disappears in the visual field, deletes the track.
A kind of preferred side as the measuring vehicle distance control method of the present invention based on Kalman filter technology
Case, in which: the track update module exports in updated target data to decision-making module, and the decision-making module is according to
Target data controls vehicle accordingly.
A kind of preferred side as the measuring vehicle distance control method of the present invention based on Kalman filter technology
Case, in which: further include following steps in decision-making, user selects the control model of vehicle according to user mode selection layer choosing；It is described
Upper layer decision-making level according to the track update module export updated target data calculate under corresponding control model expectation speed
The data of degree, expectation acceleration and corresponding accelerator open degree or brake-pedal travel；Lower layer's execution level executes the upper layer and determines
The data that plan layer calculates adjust accelerator open degree or the practical control vehicle spacing of brake force, velocity and acceleration.
A kind of preferred side as the measuring vehicle distance control method of the present invention based on Kalman filter technology
Case, in which: the control model that the user mode selection layer choosing selects vehicle further includes cruise, low speed follow the bus and traffic congestion follow the bus
Mode.
A kind of preferred side as the measuring vehicle distance control method of the present invention based on Kalman filter technology
Case, in which: the detection module includes laser sensor, millimetre-wave radar and ultrasonic sensor, and the millimetre-wave radar
Measurement range be 0.5~200m, speed is that -200km/h~+200km/h and the millimetre-wave radar are being mounted on headstock just
The left-right position in front.
Another technical problem that the present invention solves is: providing a kind of measuring vehicle distance based on Kalman filter technology
Control system, above-mentioned control method can be applied in this system.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of vehicle based on Kalman filter technology
Range measurement control system, it is characterised in that: including track initiation module, track update module, track center module, reject
Module and decision-making module；The track initiation module is used for the detection of targetpath and initializes track；The track updates mould
Block is connect with the track initiation module, and the track for the track center module updates and exports the number after filtering processing
According to；The rejecting module is connect with the track center module, and the track for the track center module is deleted；The decision
The data that module receives the track update module output carry out corresponding Decision Control to vehicle.
A kind of preferred side as the measuring vehicle distance control system of the present invention based on Kalman filter technology
Case, in which: the decision-making module include be sequentially connected and be set in Vehicle Electronic Control Unit user mode selection layer, on
Layer decision-making level and lower layer's execution level.
Beneficial effects of the present invention: Kalman filter technology is applied to millimetre-wave radar data, can shake to avoid vehicle
The shake of bring measurement data, so that measurement data is close to true value, to improve the accuracy of millimetre-wave radar measurement；
It can reduce the white Gaussian noise of millimetre-wave radar data, smooth radar data reduces vehicle shake bring radar data
Fluctuation.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.Wherein:
Fig. 1 is the measuring vehicle distance control method based on Kalman filter technology described in the first embodiment of the invention
Overall flow schematic diagram；
Fig. 2 is the raw measurement data schematic diagram of millimetre-wave radar described in the first embodiment of the invention；
Fig. 3 is the parameter schematic diagram of millimetre-wave radar described in the first embodiment of the invention；
Fig. 4 is the theory structure schematic diagram of brake actuator described in the first embodiment of the invention；
Fig. 5 is the theory structure schematic diagram of electronic accelerator controller described in the first embodiment of the invention；
Fig. 6 is the measuring vehicle distance control system based on Kalman filter technology described in second of embodiment of the invention
Whole theory structure schematic diagram；
Fig. 7 is target trajectory schematic diagram to be detected of the present invention；
Fig. 8 is the distance measurement result schematic diagram that actual true value standard of the present invention is 3m；
Fig. 9 is the distance measurement result schematic diagram that actual true value standard of the present invention is 5m
Figure 10 is the distance measurement result schematic diagram that actual true value standard of the present invention is 9m
Figure 11 is the distance measurement result schematic diagram that actual true value standard of the present invention is 15m；
Figure 12 is Range finding experiments error result contrast schematic diagram of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, right with reference to the accompanying drawings of the specification
A specific embodiment of the invention is described in detail, it is clear that and described embodiment is a part of the embodiments of the present invention, and
It is not all of embodiment.Based on the embodiments of the present invention, ordinary people in the field is without making creative work
Every other embodiment obtained, all should belong to the range of protection of the invention.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by the specific embodiments disclosed below.
Secondly, " one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one realization side of the invention
A particular feature, structure, or characteristic in formula." in one embodiment " that different places occur in the present specification not refers both to
The same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiments.
Combination schematic diagram of the present invention is described in detail, when describing the embodiments of the present invention, for purposes of illustration only, indicating device
The sectional view of structure can disobey general proportion and make partial enlargement, and the schematic diagram is example, should not limit this herein
Invent the range of protection.In addition, the three-dimensional space of length, width and depth should be included in actual fabrication.
Simultaneously in the description of the present invention, it should be noted that the orientation of the instructions such as " upper and lower, inner and outer " in term
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
It is not considered as limiting the invention.In addition, term " first, second or third " is used for description purposes only, and cannot understand
For indication or suggestion relative importance.
In the present invention unless otherwise clearly defined and limited, term " installation is connected, connection " shall be understood in a broad sense, example
Such as: may be a fixed connection, be detachably connected or integral type connection；It equally can be mechanical connection, be electrically connected or be directly connected to,
Can also indirectly connected through an intermediary, the connection being also possible to inside two elements.For the ordinary skill people of this field
For member, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment 1
Signal referring to Fig.1 is illustrated as proposing that a kind of vehicle distances based on Kalman filter technology are surveyed in the present embodiment
The overall flow schematic diagram of amount control method, due to the intrinsic vibration characteristics of the irregularities and vehicle body on road surface, millimetre-wave radar
Or the data of laser sensor measurement often have biggish noise, usually will appear the of short duration of target can't detect or know mistake
Inspection brings very big trouble for the smooth control of vehicle, and referring to the signal of Fig. 2, original distance measurement data fluctuation is very
Greatly, due to the fluctuating on road surface and the vibration of vehicle itself, so that the relative velocity fluctuation surveyed is also very big.So if cannot close
Reason ground processing signal, then can not smoothly control vehicle.Therefore it includes following step that the method that the present embodiment proposes, which has,
Suddenly,
Track initiation module 100, the stray data that detection module 101 detects target carry out rejecting non-targeted data, initially
Change target trajectory；Track update module 200, in a newest frame data, detection module 101 exports newest track in real time, most
The targetpath having in new track and track center module 300, which is associated, to be matched, and is filtered to the data matched with kalman
Wave algorithm is updated associated track；Track is deleted, and is rejected module 400 for the not associated track being matched to and is carried out deletion comb
Reason.Track deletion further includes being associated if the existing track in track center module 300 is all no in continuous five frame,
Then think that the corresponding target of track disappears in the visual field, deletes track.Wherein detection module 101 includes laser sensor, millimeter
Wave radar and ultrasonic sensor, and the measurement range of millimetre-wave radar be 0.5~200m, speed be -200km/h~+
200km/h and millimetre-wave radar are mounted on the left-right position immediately ahead of headstock.
Track initiation further includes, after detection module 101 detects target stray data, if detection target is in continuous five frame
All exist, then it is assumed that detection target be true barrier, otherwise will assert detection target be false target or non-targeted data,
And false target or non-targeted data are deleted.
The present embodiment further includes data correlation and track maintenance, and the track address in track center module 300 is exactly to detect
The data address of module 101, in a new frame, data address is matched with track address, the number if matching
Strong point and corresponding track association, and association track is updated with kalman filtering algorithm, if do not matched, it is input to
Track initiation module 100 carries out track initiation, executes circulation.
Track update module 200 exports in updated target data to decision-making module 500, and decision-making module 500 is according to mesh
Mark data control vehicle accordingly.And further include following steps in decision-making, user selects layer 501 to select according to user mode
The control model of vehicle；Upper layer decision-making level 502 exports updated target data according to track update module 200 and calculates corresponding control
The data of desired speed, expectation acceleration and corresponding accelerator open degree or brake-pedal travel under molding formula；Lower layer's execution level 503
It executes the data that upper layer decision-making level 502 calculates and adjusts accelerator open degree or the practical control vehicle spacing of brake force, velocity and acceleration.
The control model of the user mode selection selection vehicle of layer 501 further includes the mode of cruise, low speed follow the bus and the follow the bus that blocks up.
The present embodiment should be noted that, using millimetre-wave radar sensor, working frequency 77GHz can be measured
Distance, speed, the direction of motion and the relative angle of target, have that small in size, high sensitivity, investigative range be wide, weather adapts to energy
The advantages that power is good.
Referring to the parameter signal for being illustrated as millimetre-wave radar of Fig. 3~5, such as before millimetre-wave radar is mounted on headstock just
Position at square logo, executing agency are mainly made of brake actuator (braking motor) and electronic accelerator controller.Braking
Motor drives brake pedal using the mechanical part traction bracing wire of similar power-assisted steering, imitates driver and gently steps on, slowly brakes, is urgent
The brake operatings such as brake, the position of braking distance by be mounted on the displacement sensor Real-time Feedback of brake pedal to vehicle from
Cruise control system is adapted to, brake actuator is instructed by bus network receiving host, just by adjusting governor driving motor
Reversion, realizes that the difference of brake pedal tramples intensity, releases the pedal.Electronic accelerator controller uses RS485 interface and main control
Device communication, while having a gpi signal, for quickly discharging E-Gas, improve the response speed of system.Display is adopted
With bus communication mode, the information such as real-time display leading vehicle distance, this vehicle speed, mode of operation are mounted in front of driver.
The present embodiment propose kalman filtering algorithm include the following steps,
Initially set up estimative process signal, count the state variable x ∈ R^n of discrete time process, thus by below from
Dissipate random difference equation description: xk=Axk-1+Buk-1+wk, observational variable z ∈ R^m is defined, obtains measurement equation: zk=Hxk+vk；
Random signal wkAnd vkProcedure activation noise and observation noise are respectively indicated, while being detected at random for detection module 101
Signal, i.e., above-mentioned stray data are first filtered by data according to certain mode, that is, determine possible target, and just
Beginningization target trajectory, input of the data that the non-targeted data of rejecting exclusion obtain as model.It can based on kalman filtering technique
To reduce the white Gaussian noise of millimetre-wave radar data, smooth radar data reduces the wave of vehicle shake bring radar data
It is dynamic.
Procedure activation noise covariance matrix and observation noise covariance matrix may change with each iterative calculation,
As control function uk-1Or procedure activation noise wk-1When being zero, n × n rank gain matrix A in difference equation is by last moment k-1
State be linearly mapped to the state of current time k.A may be changed over time in practice, but be assumed to be constant here.n×l
Rank matrix B represents the gain of optional control input u ∈ R^l.
The calculating prototype of filter: definitionThe priori shape walked for kth under the state status before known kth step
State estimation；
DefinitionFor known measurand ZkWhen kth step posteriority state estimation.Thus prior estimate mistake is defined
Difference and Posterior estimator error:
The covariance of prior estimate error are as follows:
The covariance of Posterior estimator error are as follows:
Construct the expression formula of Kalman filter: prior estimateWith the measurand Z of weightingkAnd its predictionIt
The linear combination of difference constitutes posteriority state estimationFinally
K is calculated by following steps:
When observation noise covariance R is smaller, remaining gain is bigger, and K is bigger.Particularly, R is intended to have when zero:
Update depend in known previous measurand ZkIn the case where XkPrior estimateProbability point
Cloth, filter status renewal equation are as follows:
Time update equation and measurement updaue equation are calculated, whole process repeats again, the posteriority that the last time is calculated
Estimation is by as the prior estimate calculated next time, and continuous recursion is gone down, therefore can be realized the estimation to discrete data
Tracking, so that the track data of acquisition is more accurate.
Scene one:
In order to verify the accuracy of filtering algorithm, the present embodiment carries out filtered target state estimator position and actual position
Error analysis, by comparing the castering action to verify this method to precision with single-sensor position data obtained,
Referring to the signal of Fig. 7, takes and constitute target trajectory as actual with vehicle axis system initial point distance 3m, 5m, 9m, 15m target point
This method is based on kalman filtering with traditional millimetre-wave radar, laser radar (single-sensor) respectively to 4 mesh by true value standard
Punctuate carries out the distance measurement result figure obtained after 5 detections.The present embodiment test 4 groups of experimental datas as a comparison, every group 5 times, obtain
To 4 groups of experimental results of such as Fig. 8~11.
Referring to being can be seen that in figure since internal and external environment factor influences, it is existing to there is fluctuation in data measured by single sensor
As.According to experimental data take this method propose based on kalman filtering technique complete Radar Data Fusion.
Figure 12 is the error value figure of five single radar sensor measurement data and this method.It can from figure
Out, measurement error proposed in this paper is stablized within 0.01m, and compared to millimetre-wave radar, the measurement error of 5 data reduces by hundred
Dividing than section is about 50%~400%, and laser radar is about 20%~150%, illustrates that the precision of this method is higher, closer to very
Real value.
Embodiment 2
Referring to the signal of Fig. 6, the present embodiment is illustrated as a kind of measuring vehicle distance control based on Kalman filter technology
System, the measuring vehicle distance control method of above-described embodiment can be applied to be realized in the system of the present embodiment, be upper
State the hardware components of embodiment.
Including track initiation module 100, track update module 200, track center module 300, reject module 400 and decision
Module 500；Track initiation module 100 is used for the detection of targetpath and initializes track；Track update module 200 and track rise
Beginning module 100 connects, and the track for track center module 300 updates and exports the data after filtering processing；Reject module 400
It is connect with track center module 300, the track for track center module 300 is deleted；Decision-making module 500 receives track and updates mould
The data that block 200 exports carry out corresponding Decision Control to vehicle.Decision-making module 500 includes being sequentially connected and being set to vehicle electrical
User mode selection layer 501, upper layer decision-making level 502 and lower layer's execution level 503 in sub-control unit.
Urgent collision avoidance function highest is braked: followed by when system determines that vehicle will be collided with maximum braking force
The control model according to selected by user enters corresponding braking and deceleration, if to close throttle defeated for system identification danger at this time
Out, acceleration behavior will not be executed driver fault misstepping on accelerator: under the premise of system determines safety, driver can pass through
It opens the throttle and is accelerated to enter driver's control model at this time to complete overtake other vehicles equal behaviors；Finally entered according to real-time road
Cruise, low speed, which are followed or blocked up, follows function.Driver can choose exits automatic cruising system at any time.
Track starting module 100, track update module 200, track center module 300 and rejecting module in the present embodiment
400 and decision-making module 500 be the data processing chip for being integrated in wiring board, connect with vehicle-mounted electronic control unit, i.e. vehicle-mounted ECU
Unit.Wherein track update module 200 using above-mentioned algorithm routine and is implanted into chip, is integrated in the circuit of vehicle-mounted control chip
Plate hardware module.
The complete solution approach that algorithm can be understood as basic operation and defined order of operation is constituted.Or it sees
At the designed limited exact sequence of calculation as requested, and such step and sequence can solve a kind of problem,
Algorithm is the finite sequence of some instructions, and program is the ordered set of computer instruction, is certain programming language of algorithm
Statement, be the specific implementation of algorithm on computers, algorithm is generally using the language of half formalization in description, and program is
It is the ordered set of computer instruction with the program that the computer language of formalization describes, algorithm is the step of solution；Journey
Sequence is that the code of algorithm is realized, and an algorithm can write out different programs with different programming languages.And it is program is embedding
Enter and constitute Embedded chip in chip, is to be transplanted to chip hardware to be realized, therefore implement in the present embodiment by above-mentioned
Algorithm be programmed and be transplanted on chip, carry out the chip of the implantation algorithm and onboard control circuit plate to be integrated to form circuit
The hardware of plate, referred to as Embedded exploitation.Similarly, control module 400 is the microprocessor with data processing, and the present embodiment exists
Application in vehicle-mounted, for example, ECU unit, electronic control unit, also known as " car running computer ", " vehicle-mounted computer " etc..From purposes
Say, be automobile specified microcomputerized controller, it as common computer, by microprocessor (MCU), memory (ROM, RAM),
The large scale integrated circuits composition such as input/output interface (I/O), analog-digital converter (A/D) and shaping, driving.With a letter
Exactly " brain that ECU is exactly automobile " is described if list.CPU is core in ECU, it has the function of operation and control
Can, at runtime, it acquires the signal of each sensor to engine, operation is carried out, and the result of operation is changed into control signal,
Control the work of controlled device.It is also carried out to memory (ROM/FLASH/EEPROM, RAM), input/output interface (I/O)
With the control of other external circuits；The program stored in memory ROM is by accurately calculating the data obtained with many experiments
Based on write out, this intrinsic program when the engine is working, the signal of each sensor constantly come with acquisition into
Row compares and calculates.And ECU is reequiped, exactly by changing the method (the ECU program originally set) of processing problem, to reach
To the purpose for changing engine operation.So-called " ECU program ", is exactly a set of algorithm in fact, it is stored in reservoir,
To the signal being transformed from input equipment via controller, processing generates corresponding command signal, transfers out from output equipment,
To realize to the control under the more driving status of vehicle.
Therefore it is realized by being electrically connected to integrate and be set in vehicle between each module board to vehicle in the present embodiment
The accurate measurement and tracking of surrounding objects distance, and kalman filtering technique is applied to millimetre-wave radar data, it is implanted into chip
The interior calculating and processing for carrying out data can shake the shake of bring measurement data to avoid vehicle, so that measurement data is close
True value provides more accurate data for Driving Decision-making system, improves certainly to improve the accuracy of millimetre-wave radar measurement
The safety of dynamic control loop.
It should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to preferable
Embodiment describes the invention in detail, those skilled in the art should understand that, it can be to technology of the invention
Scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered in this hair
In bright scope of the claims.
Claims (10)
1. a kind of measuring vehicle distance control method based on Kalman filter technology, it is characterised in that: include the following steps,
The stray data of track initiation module (100), detection module (101) detection target carries out rejecting non-targeted data, initially
Change target trajectory；
Track update module (200), in a newest frame data, the detection module (101) exports newest track, institute in real time
It states newest track and the interior targetpath having of track center module (300) is associated and matches, the data matched are used
Kalman filtering algorithm is updated associated track；
Track is deleted, and is rejected module (400) for the not associated track being matched to and is carried out deletion combing.
2. as described in claim 1 based on the measuring vehicle distance control method of Kalman filter technology, it is characterised in that: institute
Stating track initiation further includes,
After detection module (101) detects target stray data, if detection target all exists in continuous five frame, then it is assumed that described
Detecting target is true barrier, otherwise will assert that the detection target, and will be false for false target or non-targeted data
Target or non-targeted data are deleted.
3. as claimed in claim 1 or 2 based on the measuring vehicle distance control method of Kalman filter technology, feature exists
In: it further include that data correlation and track are safeguarded,
Track address in the track center module (300) is exactly the data address of detection module (101), in a new frame
In, the data address is matched with the track address, the data point and corresponding track association if matching,
And association track is updated with kalman filtering algorithm, if do not matched, it is input to track initiation module (100) progress
Track initiation executes circulation.
4. as claimed in claim 3 based on the measuring vehicle distance control method of Kalman filter technology, it is characterised in that: institute
Stating track deletion further includes, if the existing track in the track center module (300) is not all closed in continuous five frame
On connection, then it is assumed that the corresponding target of the track disappears in the visual field, deletes the track.
5. as claimed in claim 4 based on the measuring vehicle distance control method of Kalman filter technology, it is characterised in that: institute
It states track update module (200) to export in updated target data to decision-making module (500), decision-making module (500) root
Vehicle is controlled accordingly according to the target data.
6. as claimed in claim 5 based on the measuring vehicle distance control method of Kalman filter technology, it is characterised in that: also
Including following steps in decision-making,
User selects the control model of layer (501) selection vehicle according to the user mode；
The upper layer decision-making level (502) exports updated target data according to the track update module (200) and calculates accordingly
The data of desired speed, expectation acceleration and corresponding accelerator open degree or brake-pedal travel under control model；
Lower layer's execution level (503) executes the data that the upper layer decision-making level (502) calculates and adjusts accelerator open degree or brake force
Practical control vehicle spacing, velocity and acceleration.
7. as claimed in claim 6 based on the measuring vehicle distance control method of Kalman filter technology, it is characterised in that: institute
The control model for stating user mode selection layer (501) selection vehicle further includes the mould of cruise, low speed follow the bus and the follow the bus that blocks up
Formula.
8. the measuring vehicle distance control method based on Kalman filter technology as described in claim 4~7 is any, feature
Be: the detection module (101) includes laser sensor, millimetre-wave radar and ultrasonic sensor, and the millimeter wave thunder
The measurement range reached is 0.5~200m, and speed is that -200km/h~+200km/h and the millimetre-wave radar are mounted on headstock
The left-right position in front.
9. a kind of measuring vehicle distance control system based on Kalman filter technology, it is characterised in that: including track initiation mould
Block (100), track center module (300), rejects module (400) and decision-making module (500) at track update module (200)；
The track initiation module (100) is used for the detection of targetpath and initializes track；
The track update module (200) connect with the track initiation module (100), is used for the track center module
(300) track updates and exports the data after filtering processing；
The rejecting module (400) connect with the track center module (300), for the track center module (300)
Track is deleted；
The data that the decision-making module (500) receives track update module (200) output carry out corresponding decision to vehicle
Control.
10. as claimed in claim 9 based on the measuring vehicle distance control system of Kalman filter technology, it is characterised in that:
The decision-making module (500) include be sequentially connected and be set in Vehicle Electronic Control Unit user mode selection layer (501),
Upper layer decision-making level (502) and lower layer's execution level (503).
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