Research And Verification Of Intelligent Vehicle Tracking Algorithm Based On GPS And Autonomous Positioning

The wave of change is sweeping every link in the global automotive industry.Cars are gradually changing from vehicles to mobile intelligent terminals.With the popularization of "intelligent,networked,electric,and shared",unmanned driving technology is in full swing.This article mainly studies the trajectory generation and algorithm control related issues in the tracking process of intelligent driving vehicles.Tracking is the core technology of intelligent driving and the basis for achieving unmanned driving.Therefore,based on the multi-information fusion intelligent driving test vehicle platform of Anhui Polytechnic University,this paper uses GPS and autonomous positioning system on the platform to carry out autonomous tracking research.The main research contents of this article are as follows:(1)The GPS and autonomous positioning system are used to locate the vehicle,which overcomes the problems of the GPS system's satellite signal being easily blocked and the position drifting in the autonomous positioning system in a single system.Moreover,the accuracy and locking of navigation and positioning are greatly improved by the application of loose combination,indirect filtering and feedback correction mode.(2)Collect the navigation data through the Lab VIEW software serial port tool,design the program to collect the position and attitude information of the carrier,store it after the coordinate conversion,and obtain the vehicle state information database,which will lay a good foundation for the next step of tracking(3)Based on the preview following model,this paper focuses on the analysis of the related problems of the horizontal and vertical control,finds out the target of the horizontal control,calculates the actual steering wheel angle through the preview deviation yaw;the vertical control adopts the way of dividing the area to control the speed,thus the tracking control scheme is formulated.Use the AGSO algorithm to set PID parameters and optimize them,design the AGSO algorithm controller,build a joint simulation model in MATLAB and CarSim software,and verify the feasibility of the AGSO algorithm controller.(4)Carry out the actual vehicle tracking experiment on the platform of multi-information fusion intelligent driving test vehicle.The track database obtained in the early stage is used as the expected path to expand the tracking.Comp are the tracking path and the expected path to verify the effectiveness and stability of the tracking controller in this paper.