智能车辆磁定位技术研究（可复制）.pdf

上海交通大学硕士学位论文摘要
智能车辆磁定位技术研究
摘要
无人驾驶智能车辆作为解决当前交通问题的一个重要发展方向,
逐渐引起人们的重视,也产生了一系列的研究课题。磁定位是实现车
辆自主行驶的一种关键技术,本文主要研究了基于道路磁钉信号的车
辆定位技术,设计开发了无人驾驶智能车辆的磁定位系统。
本文以 CyberC3 智能车辆为研究平台,分析了磁定位系统的设计
要求,确定了整个系统的设计方案;设计了双排结构磁尺,选择两维
磁阻传感器来检测磁信号,完成了系统硬件电路设计;按照设计任务
分别进行了车辆底层 DSP 信号采集、处理及发送和上位机数据接收
及定位算法实现等软件设计;搭建了系统的静态实验平台,采集了磁
钉磁场信号,分析了磁钉磁场干扰情况,对定位算法进行了验证;利
用基于 Matlab 的仿真平台和实际环境实验对整个磁定位系统进行了
验证。
本文从磁钉的磁场分布模型出发,提出了横/纵向磁场匹配定位
算法,并针对该算法设计了具有双排传感器结构的磁尺,实现了车辆
局部精确的横/纵向定位。硬件电路中,针对所选磁阻传感器设计了
置位/复位电路,在系统应用中保证了关键传感器的可靠工作,避免
了其失效的发生。静态实验中,进行了大量的磁钉信号采集实验,对
磁定位算法进行了验证,并针对实验结果中出现的磁场干扰和定位算
法缺陷等问题提出了相应的处理方法。系统验证时,从地图环境容易
建立等优点出发首先完成了两种地图环境中的系统仿真实验,再建立
实际的地图环境验证了系统,结果均表明了系统方案的可行性,取得
了良好的运行结果。

关键词:智能车辆,磁钉,磁阻传感器,磁尺,磁定位
I
上海交通大学硕士学位论文 ABSTRACT
Research on ic Localization Technologies
for Intelligent Vehicle

ABSTRACT
As a solution to the current traffic problems in an important
direction of development, intelligent vehicle gradually arouse people's
attention, and have also produced a series of subjects for study. ic
localization technology is a key technology to help intelligent vehicle
achieve autonomous travelling. In this thesis, the research work aims at
the vehicle localization technology based on the ic marker on road,
and the ic localization system for intelligent vehicle is also
designed and realized.
Based on the CyberC3 Intelligent Vehicle research platform, this
thesis analyzed the design requirements of the ic localization
system, and finished the design work of the whole system. A ic
sensor ruler with dual structure, which can implement both the sequential
ic localization algorithm with threshold value and the
lateral&longitudinal localization ic field matching algorithm, is
designed. With the 2-axis oresistive sensor to detect ic
signals, the system hardware circuit is designed. Then the design tasks are
carried out in accordance with the DSP and PC software design in vehicle
II
上海交通大学硕士学位论文 ABSTRACT
sys