Research On Magnetic Localization Technologies For Intelligent Vehicle

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. Magnetic 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 magnetic marker on road, and the magnetic 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 magnetic localization system, and finished the design work of the whole system. A magnetic sensor ruler with dual structure, which can implement both the sequential magnetic localization algorithm with threshold value and the lateral&longitudinal localization magnetic field matching algorithm, is designed. With the 2-axis magnetoresistive sensor to detect magnetic 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 system. With the static experimental platform for the magnetic localization system, this thesis collected magnetic fields of the magnetic marker, analyzed the magnetic field interference, and verified the magnetic localization algorithm. Finally, the whole magnetic localization system is verified with the simulation system based on Matlab and experiments in the physical environment.In this thesis, a lateral&longitudinal localization magnetic field matching algorithm is introduced, then a magnetic sensor ruler with dual magnetoresistive sensor structure is designed for the algorithm, and get precise lateral and especially longitudinal localization measurement. A set/reset circuit is designed for the chosen magnetoresistive sensor, which guaranteed a reliable working status of the sensor and avoided the occurrence of its failure. With a great deal of static experiments, corresponding treatment is proposed for the magnetic interference and localization algorithm defects. To verify the magnetic localization system, the experiments in two different simulation environments and in a real actual environment are done. All experimental results show the feasibility of the system, and good operational results are achieved.