A partially flexible virtual trailer link model for vehicle-following systems

作者：Chen Weihai; Zhao Changchen^*; Dai Guanxiong; Zhao Zhiwen

来源：TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2015, 37(2): 273-281.

DOI：10.1177/0142331214539990

• Partially flexible link
• vehicle following
• information fusion
• computer vision

Vehicle-following systems are one of the most important parts of advanced driver assistance in intelligent transportation systems. While tracking performance has attracted many researchers' attention, improving the tracking accuracy remains challenging. This paper proposes a partially flexible virtual trailer link model to address the problem. We assume that the follower vehicle is guided by a towing bar that is partially flexible. Whether a slice of the link is flexible or rigid is associated with whether its curvature changes or not. It becomes flexible whenever its curvature changes and remains rigid otherwise. A video-laser-based leader-pose detection algorithm is also proposed to guarantee the overall tracking accuracy. The simulation and experiment results have shown that the proposed method can achieve better tracking accuracy while meeting the real-time requirement.

• 出版日期2015-2
• 单位北京航空航天大学