The invention discloses a surrounding vehicle state estimation method in a complex environment, and belongs to the technical field of vehicle safety control. The invention aims to provide a surrounding vehicle state estimation method in a complex environment, which effectively combines a first-order pseudo-Bayesian algorithm and rolling time domain estimation according to an intention motion model, fully utilizes state information of a plurality of historical moments of a vehicle, and accurately estimates state information of a vehicle around an automatic driving vehicle and a driving intention in the complex environment. The method comprises the following steps: obtaining a vehicle model and a pedestrian model by using simulation software SCANeR studio, designing a motion model based on intention, and designing an estimator. According to the GPB1-MHE estimation method provided by the invention, the rolling time domain estimation is used for replacing Kalman filtering, so that the state information of the vehicle at multiple historical moments is fully utilized, the estimation precision is improved, and better convergence and interference resistance are achieved.

    一种复杂环境下周围车辆状态估计方法,属于车辆安全控制技术领域。本发明的目的是依据意图运动模型,将一阶伪贝叶斯算法和滚动时域估计有效结合,充分利用车辆的多个历史时刻状态信息,准确地估计出复杂环境中自动驾驶车辆周围车辆状态信息和驾驶意图的复杂环境下周围车辆状态估计方法。本发明步骤是利用仿真软件SCANeR studio得到车辆模型和行人模型,基于意图的运动模型设计,估计器设计。本发明提出的GPB1‑MHE估计方法因为用滚动时域估计代替了卡尔曼滤波,所以充分地利用了车辆多个历史时刻的状态信息,不仅实现了估计精度的提高,而且还具有更好的收敛性和抗扰性。


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    Title :

    Method for estimating state of surrounding vehicles in complex environment


    Additional title:

    复杂环境下周围车辆状态估计方法


    Contributors:
    WANG PING (author) / LU HAIKUAN (author) / YANG BOXIONG (author) / HU YUNFENG (author) / CHEN HONG (author)

    Publication date :

    2023-01-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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