共查询到18条相似文献,搜索用时 510 毫秒
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近年来,基于专用短程通信技术的车辆碰撞协同预警系统的研究受到广泛关注,高精度、低延迟、高可靠性的车辆定位和测距信息是实现车辆碰撞协同预警的前提。介绍了多种定位与测距技术的研究进展,对比分析了其应用于车辆碰撞协同预警系统的适用性与局限性,提出了相应的解决方法和发展方向。 相似文献
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<正>美国国家公路交通安全局将制定措施要求全美新上路的汽车和其它小型车辆安装车对车通信系统。这种车间通信技术将能预防多达80%的交通事故。"联网汽车"能够通过一种特殊的无线频率进行通信,即"专用短程通信(DSRC)"。虽然车对车(V2V)通信技术带来了许多道路安全优势,但这一技术仍然存在一些隐私安全的风险。 相似文献
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<正>故障现象:客户反映此车有时发动不着且发动机故障灯亮。故障诊断:接车后确认故障现象,发现发动机故障灯常亮,随即车辆开进车间进行检修。首先使用宝马专用诊断仪ISID进行检测,存有"曲轴位置传感器,信号不可信"故障码,故障当前不存在。删除故障之后启动车辆,发现一个异常情况,对比其他车辆,这辆车有着明显的启动延迟,并且启动之后 相似文献
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故障现象一辆2014款大众速腾NCS车,搭载EA111发动机,累计行驶里程约为3.6万km。据车主反映,车辆去检测站年检时,检测站的OBD诊断仪一直显示无法与车辆建立通信,于是将车辆开至维修站进行检修。故障诊断接车后,用专用故障检测仪(VAS6150B)检测,VAS 6150B可以与车辆建立通信,且系统无故障代码存储。 相似文献
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Today's urban road transport systems experience increasing congestion that threatens the environment and transport efficiency. Global Navigation Satellite System (GNSS)-based vehicle probe technology has been proposed as an effective means for monitoring the traffic situation and can be used for future city development. More specifically, lane-level traffic analysis is expected to provide an effective solution for traffic control. However, GNSS positioning technologies suffer from multipath and Non-Line-Of-Sight (NLOS) propagations in urban environments. The multipath and NLOS propagations severely degrade the accuracy of probe vehicle data. Recently, a three-dimensional (3D) city map became available on the market. We propose to use the 3D building map and differential correction information to simulate the reflecting path of satellite signal transmission and improve the results of the commercial GNSS single-frequency receiver, technically named 3D map-aided Differential GNSS (3D-DGNSS). In this paper, the innovative 3D-DGNSS is employed for the acquisition of precise probe vehicle data. In addition, this paper also utilizes accelerometer-based lane change detection to improve the positioning accuracy of probe vehicle data. By benefitting from the proposed method, the lane-level position, vehicle speed, and stop state of vehicles were estimated. Finally, a series of experiments and evaluations were conducted on probe data collected in one of the most challenging urban cities, Tokyo. The experimental results show that the proposed method has a correct lane localization rate of 87% and achieves sub-meter accuracy with respect to the position and speed error means. The accurate positioning data provided by the 3D-DGNSS result in a correct detection rate of the stop state of vehicles of 92%. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(9):1167-1181
A novel scheme for the fault detection and condition monitoring of vehicle suspensions is presented in this study. The new technique exploits the dynamic interactions between different vehicle modes caused by component failures in the system, leading to a simple but effective solution. Compared with many model-based fault detection techniques, the proposed technique does not require complex mathematical models of the system and it overcomes potential difficulties associated with nonlinearities and parameter variations in the system. The use of inexpensive inertial sensors and ease of tuning make the practical implementation of the proposed scheme straightforward. A conventional railway vehicle is used in the study to illustrate the basic ideas as well as the effectiveness of the novel fault detection method, although the general principle is applicable to other systems. 相似文献
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为了解决智能车动态组合定位过程中,因动力学模型与实际模型之间存在偏差导致滤波精度下降的问题,针对智能车全球导航卫星系统(GNSS)/惯性测量单元(IMU)组合定位系统,结合非线性预测滤波(NPF)和自适应滤波的优点,提出了一种考虑动力学模型系统误差实时估计和补偿的自适应非线性预测滤波(ANPF)算法。首先,根据NPF算法原理,通过最小化预测观测残差与系统误差的加权平方和,估计动力学模型系统误差;其次,结合自适应滤波原理,利用状态预测残差向量构造自适应因子,设计了一种自适应扩展卡尔曼滤波(AEKF)算法,用于估计系统状态向量,并通过自适应因子抑制动力学模型系统误差和线性化误差对系统状态估计精度的影响,克服NPF对系统状态估计精度有限的缺陷;再次,对动力学模型系统误差的估计误差和由动力学模型系统误差引起的系统噪声的等效协方差阵进行了分析和推导,以补偿动力学模型系统误差对系统状态估计的影响;最后,通过车载GNSS/IMU组合定位系统试验,从算法精度、鲁棒性和实时性方面对提出的算法和其他滤波算法的性能进行了验证和对比分析。研究结果表明:提出的自适应算法继承了NPF算法简易性和高实时性的优点,同时克服了NPF算法估计精度有限的缺陷,具有较好的滤波解算精度,水平定位精度小于1.0 m,算法单次平均执行时间约为0.013 9 ms,在精度和实时性的平衡方面显著优于其他滤波方法。 相似文献
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激光雷达(LiDAR)、全球导航卫星系统(GNSS)与惯性测量单元(IMU)之间的外部参数标定精度是影响多传感器融合及高精度地图的主要因素。基于此,提出一种适用于无人车的LiDAR与GNSS/IMU标定方法,该方法可实时提取标定板点云中心坐标,并利用点特征进行外部参数标定。首先,分析了LiDAR、GNSS、IMU及通用横墨卡托格网系(UTM)坐标系的变换关系;其次,基于IMU安装平面与地面平行的假设,通过车辆前方地面的法向量计算LiDAR俯仰角和滚转角的初值,并利用标定板中心偏移量计算偏航角初值;然后,假设车辆在平面上保持直线运动,采用恒定姿态运动将旋转角度的求解问题转化为最优化问题,并根据标定板UTM坐标不变的约束求解出平移参数;最后,通过分析算法误差、传感器测量误差以及中心点匹配误差验证了方案的可行性,并通过无人矿车采集LiDAR、GNSS和IMU的同步数据,对所提出的外部参数标定方法进行测试。试验结果表明:提出的方法只需要一定范围的平坦区域和标定板就可以解决3自由度运动估计6自由度外部参数的退化问题,且标定后的外部参数可以保证点云地图在20 m内的拼接误差小于20 cm。 相似文献
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为实现智能网联环境下低成本、高精度的车辆定位, 研究了基于自适应遗传Rao-Blackwellized粒子滤波的协同地图匹配算法。利用联网车辆的定位信息和道路约束条件消除公共偏差, 提高车辆定位精度。将自适应遗传算法引入到粒子滤波的重采样过程中, 增加粒子的多样性, 解决传统粒子滤波算法中容易出现的“粒子退化”和“粒子耗尽”问题。通过仿真实验与传统粒子滤波以及卡尔曼平滑粒子滤波下的定位结果进行了对比, 同时分析了不同联网车辆数目对定位精度的影响。通过实际测试验证了算法在实际应用中的定位效果。实测结果表明: 以典型十字路口为例, 在联网车辆数目为4的情况下, 协同地图匹配算法的定位误差范围为1.67 m, 分别为原始GNSS定位以及单车地图匹配定位结果的41.03%和56.80%。同时, 该算法的统计定位精度(CEP)达到1.06 m, 比GNSS原始定位精度提高了2.52 m, 具有较好的定位效果。 相似文献
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Hassan A. Karimi 《智能交通系统杂志
》2014,18(3):286-298
》2014,18(3):286-298
The positioning quality of global navigation satellite system (GNSS), or GNSS quality of service (QoS), is a major factor impacting real-time navigation performance. Commonly requested routes (i.e., shortest or fastest) may include areas with poor GNSS QoS, which can subsequently degrade navigation performance. To provide alternative routes with high or acceptable GNSS QoS along a route, a novel optimal routing for navigation systems/services based on GNSS QoS by utilizing integrated GNSS (iGNSS) QoS prediction is presented in this article. New routing criteria based on GNSS QoS are maximum availability, maximum accuracy, maximum continuity, and maximum reliability. Two experiments were conducted to compare GNSS QoS-based routes against shortest routes. In one experiment, routes were simulated, and in another, generated routes based on GNSS QoS were evaluated against GPS-based trajectories as ground truths. The results show that GNSS QoS-based routes provide routes with higher QoS, more than 50%, and longer, about 50%, than shortest routes. 相似文献
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全球车载通信DSRC标准发展及应用 总被引:1,自引:0,他引:1
研究了新一代车车、车路之间通信标准协议,即专用短程通信(Dedicated Short Range Communications,DSRC)和车载环境下的无线接入协议。调研了欧洲、日本、美国和中国车载通信标准的最新发展情况,阐述了DSRC系统架构、技术原理以及通信标准,重点分析了DSRC物理层和MAC层关键技术,比较了IEEE 802.11和IEEE 802.11p异同点,最后展望了DSRC技术在汽车工业、汽车通信上的发展前景。本文全面深入讲述DSRC技术特点,为下一步我国制定车载通信发展战略提供参考依据。 相似文献