论文标题
使用主动悬架系统的基于地形的车辆定位
Terrain-based vehicle localization using an active suspension system
论文作者
论文摘要
本文首次使用主动悬架系统中的传感器数据提出了一种基于地形的本地化方法。贡献是四倍。首先，可以表明，可以从主动悬架系统的传感器数据创建依赖位置的道路高度轮廓。其次，开发了一种算法，以从道路高度剖面数据中提取音高。理想的音高轮廓是无关的，仅取决于道路。从板载计算机生成的这个音高配置文件与已知的地形图相匹配，以实现实时定位。第三，开发了一种众筹的地图创建算法，以创建和改善包含音高轮廓的地形图。第四，已经进行了实验，以验证所提出的定位方法的准确性和鲁棒性。
This paper, for the first time, presents a terrain-based localization approach using sensor data from an active suspension system. The contribution is four-fold. First, it is shown that a location dependent road height profile can be created from sensor data of the active suspension system. Second, an algorithm is developed to extract a pitch profile from the road height profile data. The ideal pitch profile is vehicle-independent and only depends on the road. This pitch profile generated from an on-board computer is matched with a known terrain map to achieve real-time positioning. Third, a crowd-sourced map creation algorithm is developed to create and improve the terrain map that contains pitch profile. Fourth, experiments have been conducted to validate the accuracy and robustness of the proposed localization approach.
