Research on Intelligent Vehicle Following Technology Based on UWB

Abstract

Considering the communication interference and occlusion for close following, this paper proposes an intelligent vehicle following method based on Ultra-Wideband (UWB). Based on the characteristics of UWB ranging, we proposed four ranging schemes by combining different base station placement methods and positioning algorithms. We obtained the best method by collecting a large number of distance data from vehicle to beacon and angle data away from the front of the vehicle. Taking the characteristics of vehicle following into account, the deviation between the distance from the vehicle to the beacon and the safety distance is used to control the linear velocity, the angle away from the front of the vehicle is used to control the angular velocity. Finally, in order to test the following method, we carried out tracking experiment, and it is verified that it has good tracing effect under linear, V-shaped and S-shaped tracks.