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针对车辆行驶在城市道路中时GPS定位性能受限的问题,提出了一种基于车路协同定位(CP)与高度约束模型的紧耦合定位方法。基于短程通信协议(DSRC)实现交叉口车路共享车辆状态信息,提出了一种车车(V2V)/车路(V2I)信息协同交互的交叉口车辆冲突检测方法。为了验证GPS/CP车辆定位与交叉口车辆冲突检测方法的效能,搭建了基于场景的仿真环境,进行组合定位仿真验证与多场景交叉口冲突检测仿真验证。仿真结果表明:在可见卫星数量下降的情况下车辆定位误差保持在3m以内;在交叉口车辆为20veh,且无定位误差的情况下,车辆冲突数和冲突率减少,车辆通过数略有下降;要实现交叉口冲突检测,车辆定位误差应小于6m。综合利用GPS/CP车辆定位方法较高的定位精度和基于V2V/V2I的交叉口冲突检测方法较高的安全性,能获得较低的交叉口车辆冲突率和较高的交叉口车辆通过数。
Aiming at the problem that the GPS positioning performance is limited when the vehicle is driving in the urban road, a tightly coupled positioning method based on the CP and height constraint model is proposed. Based on DSRC, vehicle state information of intersection vehicles is proposed. A vehicle collision detection method based on V2V / V2I is proposed. In order to verify the effectiveness of the vehicle collision detection method at GPS / CP vehicle location and intersection, a scene-based simulation environment was set up to simulate the conflict between combined location simulation and multi-scene intersection detection. The simulation results show that the vehicle positioning error remains within 3m when the number of visible satellites decreases and the vehicle collision number and collision rate decrease when the vehicle at the intersection is 20veh with no positioning error. To achieve intersection conflict detection, vehicle positioning error should be less than 6m. The higher positioning accuracy of the GPS / CP vehicle positioning method and the higher safety of the intersection detection method based on V2V / V2I can obtain a lower intersection collision rate and a higher intersection vehicle passage number.