|Table of Contents|

Multi-scale filtering synchronization method for vehicle-infrastructure cooperative twin-simulation testing(PDF)

《交通运输工程学报》[ISSN:1671-1637/CN:61-1369/U]

Issue:
2022年03期
Page:
199-209
Research Field:
交通信息工程及控制
Publishing date:

Info

Title:
Multi-scale filtering synchronization method for vehicle-infrastructure cooperative twin-simulation testing
Author(s):
QIU Wei-zhi1;  SHANGGUAN Wei1; 2;  CHAI Lin-guo1;  CHU Duan-feng3
(1. School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China; 2. State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China; 3. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, Hubei, China)
Keywords:
intelligent transportation;  vehicle-infrastructure cooperation;  twin-simulation testing;  synchronous mapping;  multi-scale filtering;  Kalman filtering;  asynchronous state
PACS:
U491.2
DOI:
10.19818/j.cnki.1671-1637.2022.03.016
Abstract:
To enhance the synchronization performance of the vehicle-infrastructure cooperative twin-simulation testing system, the operation mechanism of twin objects was clarified. Then the interference factors affecting the synchronization performance of the system were analyzed to establish the synchronous mapping model for the twin state. In view of the asynchronous clock problem in twin state sampling, a clock error estimation strategy was designed to correct the measurement time deviation of the twin-simulation testing system. On this basis, a multi-scale filtering updating mechanism was introduced by combining the principle of the Kalman filtering. Furthermore, a measurement noise model considering the synchronization sampling errors was established, and the multi-scale filtering synchronization optimization method was proposed. Finally, the vehicle trajectories from the NGSIM dataset were selected to carry out experiments in a constructed prototype system of twin-simulation testing. Research results show that the synchronization performance can be well maintained by the proposed multi-scale filtering synchronization optimization method under different vehicle speeds. In terms of synchronizing the lateral coordinate, the mean absolute error(MAE)is less than 1 mm, and 99.5% of absolute error(AE)can be controlled to within 8 mm. In terms of synchronizing the longitudinal coordinate, the MAE is less than 9 mm, and 99.5% of AE can be controlled to within 38 mm. In terms of synchronizing the speed, the MAE is less than 2.8 cm·s-1, and 99.5% of AE can be controlled to within 24 cm·s-1. In terms of synchronizing the yaw angle, the MAE is less than 1.1×10-3 rad, and 99.5% of AE can be controlled to within 1.1×10-2 rad. Compared with the dead reckoning method, the proposed method can improve the synchronization accuracy by an average of 30.0% in terms of lateral coordinate, longitudinal coordinate, speed, and yaw angle, solve the asynchronous state problem for twin objects effectively, and guarantee the real-time synchronization and accurate operation of the vehicle-infrastructure cooperative twin-simulation testing system. 3 tabs, 10 figs, 31 refs.

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Last Update: 2022-07-20