The Application Of Ultra Wide Band Radar In Autonomous Vehicle Following Technology

Leader following technology is now a pretty hot topic for the autonomous vehicles.The leader following technology based on camera,laser radar or radio communication for sharing information of each other has been widely used in the field of scientific research.In this paper,we put focus on the application of the Ultra Wide Band radar in the leader following technology of autonomous vehicles.An on-board system for estimating the position of the moving target is formulated,which gives support to the design of the leader following vehicle's controller.The main achievements and innovations are listed as follows.1.The ranging and communication operating mode of the Ultra Wide Band radar and corresponding localization method are discussed firstly.Combined with the Least Square,we build the optimization model for the dispose of the reference nodes.Then the Genetic Algorithm is applied to solve this optimization problem.2.The digital filtering manner for the data measured by the Ultra Wide Band modules is also discussed.Considering the position of reference nodes,a geometric constraint in triangle is introduced to get a better filtering result.After that,a Extended Kalman filter system is formulated to provide a stable estimation of the moving target's position according to the kinematic model of the vehicle and the target.The subsequent experiments executed on the 6 × 6 all terrain vehicle have demonstrated that this tracking result is available for the vehicle control.