應用卡爾曼濾波器於前方防撞警示系統之設計

Design of Front Collision Warning System Using Kalman Filter

余哲銘(Zhe-Ming Yu) ； 陳柏全(Bo-Chiuan Chen) ； 楊政傑(Cheng-Chieh Yang) ； 潘弘裕(Hong-Yu Pan)

《車輛工程學刊》 4期 (2007/05) Pp. 97-110

https://doi.org/10.30023/JVE.200705.0007

摘要

為了防止車輛與前方障礙物事故之發生，本研究將進行前撞警示系統之設計與分析，利用架設於車前之雷射雷達進行前方車輛或障礙物偵測，以得到相對距離。將相對距離微分後，即可得到相對速度。接著將相對距離除以相對速度，即可得到本車與前方車輛或障礙物之碰撞時間(Time-to-Collision, TTC)。但由於直接微分得到之相對速度會放大感知器雜訊，使得TTC有大幅跳動之現象，本研究將設計一個卡爾曼濾波器估測相對速度，以降低雜訊之影響。最後將利用偵測距離以及TTC定義不同之警示層級，在有危險的行車狀況下，發佈相關的警示訊號。

並列摘要

In order to prevent traffic accidents, a forward collision warning system is proposed in this paper. A laser radar is mounted in the front bumper of the vehicle to detect obstacle and obtain a relative distance between the vehicle and obstacle. The relative distance can further be differentiated for obtaining relative velocity. Thus relative distance divided by relative velocity can obtain Time-to-Collision (TTC). However, the effect of differential may enlarge the sensor noise, and results in incorrect TTC calculation. In order to solve this problem, a Kalman filter is proposed in this paper. It can be used to estimate relative velocity, and filter out the sensor noise. Finally, relative distance and TTC are used to define warning level for the forward collision warning system to issue warning.