湖南大学学报（自然科学版）2016，Vol.43Issue(10)：1-7,7.
基于轨迹预测的车辆协同碰撞预警仿真研究∗
Research and Simulation on Cooperative Collision Warning Based on Traj ectory Prediction
摘要
Abstract
Aiming at the problem that the traj ectory prediction error in existing vehicle collision warning system (CWS)is relatively large,a DGPS and other vehicle sensors based vehicle traj ectory prediction was proposed.Real time vehicle position estimate was realized by using extended Kalman filter (EKF).Then,constant rate of acceleration change,constant yaw rate acceleration model for vehicle position prediction and V2X technology based cooperative col-lision warning system(CCWS)were proposed.Based on this,the longitudinal control simulation was realized by using fuzzy theory to validate the method.The simulation results show that the vehicle position prediction model based on constant rate of acceleration change,constant yaw rate acceleration model has lower error,and zCWS can get warnings or brake earlier.关键词
纵向控制/轨迹预测/扩展卡尔曼滤波/主动安全/协同碰撞预警系统Key words
longitudinal control/traj ectory prediction/extended Kalman filter(EKF)/active safety tech-nology/cooperative collision warning system(CCWS)分类
交通工程引用本文复制引用
宋晓琳,熊琦玮,曹昊天..基于轨迹预测的车辆协同碰撞预警仿真研究∗[J].湖南大学学报（自然科学版）,2016,43(10):1-7,7.基金项目
国家自然科学基金资助项目(51175159,51575169),National Natural Science Foundation of China(51175159,51575169) （51175159,51575169）
中华人民共和国人力资源和社会保障部留学人员科技活动项目资助 （）
