Sensor-layout Optimization of Autonomous Vehicle Based on Perceptual Area Coverage
Sensors are an important part of the sensing environment of autonomous vehicles. In order to improve the sensor sensing data quality, this paper proposed a sensor-layout optimization method. It takes weighted information coverage area as objective function of the optimization model, and sensor insta...
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| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Control and Information Technology
2020-01-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2020.02.004 |
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| Summary: | Sensors are an important part of the sensing environment of autonomous vehicles. In order to improve the sensor sensing data quality, this paper proposed a sensor-layout optimization method. It takes weighted information coverage area as objective function of the optimization model, and sensor installation location and installation angle as decision variables, and constructs a mathematical model for sensor layout optimization. In the model, computational geometry theory and DSM technology are introduced to realize the normalized modeling and perceptual object modeling of a multi-type sensor perceptual region, and the perceptual region determination is realized by using the idea of triangular mesh discretization. Finally, a particle swarm optimization algorithm was designed to solve the model, and the correctness of the model and the effectiveness of the optimization method were verified by computer experiment and simulation. |
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| ISSN: | 2096-5427 |