Research Of Trolleybus Lane Keeping Technology Based On Satellite Positioning

Lane keeping plays a significant role in driving assistance system of trolleybus,which provides drivers with timely vehicle and lane information as well as lane keeping information to keep the trolleybus safe.Given that trolleybus have exclusive right of way and relatively inflexible lanes,to keep the vehicles in lane by the use of GPS positioning technique and map matching technique can fulfill the demands of a trolleybus driving assistance system.In this paper,integrated positioning and steering attitude were estimated by getting vehicle motion state information.On the basis of the above,this paper made a research on the method of lane keeping deviation decision-making.Firstly,this paper introduced the research status at home and abroad on the vehicle lane keeping technology.According to the position of the vehicle state acquisition method and lane deviation decision method,we went to summary and analysis on it,and combining with the characteristics of trolleybus,we discussed the key problems of the trolleybus lane keeping scheme based on satellite positioning and map matching.Then,in this paper,aiming at the positioning problem of trolleybus,the GPS/SINS vehicle positioning was realized.Moreover,we realized steering parameter estimation based on vehicle dynamics model by building the motion model of the trolleybus.On the basis of the above,this paper made use of the data of the vehicle motion state,the positioning data of the trolleybus and the lane map data,and studies a method based on TLC lane keeping deviation of trajectory prediction.Lastly,in this paper,according to the operation characteristics of the trolleybus,we simulated the running condition of the vehicle though the TruckSim simulation software,and the method of lane keeping departure decision-making was verified by simulation condition.In order to further verify it,this paper designed and implemented the real vehicle’s experiment verification platform of the lane keeping system,and carried out the operation verification of the car.Experimental results showed that the proposed scheme of this paper could provide reliable vehicle location information and vehicle motion state information,and achieved the vehicle lane to keep away from the decision-making,and provided timely and accurate lane warning information for the driver.