The invention provides an unmanned vehicle track estimation method and system, computer equipment and a storage medium, and belongs to the field of unmanned vehicle system simulation and estimation, and the method comprises the steps: initializing the related parameters of an unmanned vehicle, and enabling the parameters to meet the ellipsoid constraint conditions; and setting the maximum simulation time length, and determining an estimator gain matrix at the kth moment by utilizing an optimization problem based on related parameters. And constructing a dynamic model of the unmanned vehicle system at the (k + 1) th moment, and obtaining a non-fragile ellipsoid set membership estimator at the (k + 1) th moment together with the gain matrix. And related parameters at the (k + 1) th moment are obtained through non-fragile ellipsoid set membership estimation at the (k + 1) th moment, and the non-fragile ellipsoid set membership estimator is iteratively updated according to a judgment condition, so that the track estimation accuracy of the unmanned vehicle is improved.
本发明提供了一种无人车轨迹估计方法、系统、计算机设备和存储介质,属于无人车系统仿真及估计领域,将无人车相关参数初始化,使其满足椭球约束条件。设置最大仿真时长,基于相关参数,利用优化问题,确定第k时刻的估计器增益矩阵。构建第k+1时刻的无人车系统的动态模型,与增益矩阵共同得到第k+1时刻的非脆弱椭球集员估计器。通过第k+1时刻的非脆弱椭球集员估计得到第k+1时刻的相关参数,依据判断条件迭代更新非脆弱椭球集员估计器,提高了无人车的轨迹估计准确率。
Unmanned vehicle track estimation method and system, computer equipment and storage medium
一种无人车轨迹估计方法、系统、计算机设备和存储介质
2025-02-21
Patent
Electronic Resource
Chinese
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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