TRAVELING PATH TRACKING ALGORITHM IN VIRTUAL COORDINATE SYSTEM FOR INTELLIGENT VEHICLE

摘要：

　　This paper proposes a real-time traveling path tracking algorithm for intelligent vehicle.Two encoders are installed on the left and right wheels to measure the rolling distances of the wheels.A virtual coordinate system fixed to the ground is constructed.The calculating algorithm of vehicle position and heading angle in the virtual coordinate system based on the recorded data from encoders is presented.The proposed algorithm is independent on external reference object or the global positioning system and unaffected by culverts,tall buildings,illumination,fog,rain etc.The experimental results show the efficiency of the proposed algorithm.

关键词： Traveling path tracking Vehicle positioning Virtual coordinate system Intelligent vehicle

作者: Mingxi Li Peng Jia Youchun Xu Yi Yuan

作者单位: Beijing Institute of Technology,Beijing 100081,China;Military Transportation University,Tianjin 3001 Military Transportation University,Tianjin 300161,China

会议类型: 国际会议

会议名称: 2012 2nd IEEE International Conference on Cloud Computing and Intelligence Systems (2012年第2届IEEE云计算与智能系统国际会议(IEEE CCIS2012))

会议地点: 杭州

会议语种:英文

页码: 1629-1633

在线出版日期: 2012-10-30（万方平台首次上网日期，不代表论文的发表时间）