Automatic driving system applied to road sweeping vehicle and control method and device thereof

Abstract

The invention discloses an automatic driving system applied to a road sweeping vehicle and a control method and device thereof, which belongs to the technical field of automatic driving. The system comprises a positioning module, a number of radars, a visual acquisition and analysis module, a control module and an underlying execution module. A lidar detects obstacles in front of the driving vehicle and on both sides of the front of the driving vehicle and detects road edges on both sides of the front of the driving vehicle. An ultrasonic radar detects obstacles on both sides of the vehicle. Amillimeter wave radar detects the type of obstacles in front of the driving vehicle, behind the driving vehicle and on both sides behind the driving vehicle, calculates the distance and relative speed between a dynamic obstacle and the vehicle. The visual acquisition and analysis module detects a travelable area in front of the driving vehicle, a road stop line in front of the driving vehicle, obstacles and traffic lights in front of the driving vehicle, and the distance between the front wheels of the vehicle and lane lines on both sides of a driving lane. The control module determines the driving road and driving policy of the vehicle based on detection information. The vehicle is controlled to drive on the driving road according to the driving policy.

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