Fully autonomous driving race car and running method thereof
A technology of autonomous driving and small cars, applied in the direction of autonomous decision-making process, motor vehicles, transportation and packaging, etc., can solve the problems of low precision, weak environmental adaptability, poor stability, etc., achieve real-time acquisition, convenient interaction, and improve accuracy degree of effect
Inactive Publication Date: 2019-02-15
SOUTHEAST UNIV
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[0004] Purpose of the invention: The present invention provides a fully autonomous driving racing car and its operating method, which solves the problems of poor automatic driving stability, low precision, weak environmental adaptability and limited automatic driving of existing cars
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[0020] The present invention will be further described below in conjunction with the accompanying drawings.
[0021] like Figure 1-2 As shown, the fully autonomous driving racing car consists of car model 1, vehicle computing terminal 2, IMU module 3, laser radar 4, binocular camera 5, electronic speed controller 6, USB splitter 7 and shock absorber 8. The IMU module 3, the laser radar 4, and the binocular camera 5 are connected to the vehicle computing terminal 2 through a USB splitter 7. NvidiaJetson Tx2 platform is used for the vehicle platform; razor_imu_9dof is used for the IMU module; RPLidar lidar is used for the laser radar; Zed binocular camera is used for the binocular camera; Benjamin ESC is used for the electronic governor.
[0022] The device is composed of environment perception module, motion perception module, information fusion module, path planning module and behavior control module. The environment perception module refers to the car's ability to understa...
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The invention discloses a fully autonomous driving race car and a running method thereof. The fully autonomous driving race car includes a car model body. The car model body is equipped with an on-board computing terminal, an electronic governor, an IMU module, a piece of laser radar and a binocular camera. The IMU module, the laser radar and the binocular camera are connected with the on-board computing terminal through a USB deconcentrator. The method uses point cloud data based on geometric features, which greatly improves the accuracy of matching results. By combining a map building technology with a particle filter algorithm and an A* algorithm, the car can be accurately located, and the optimal path can be searched quickly. The car can realize autonomous driving functions such as obstacle avoidance based on environment perception, autonomous path planning, autonomous path following and automatic map building, and the status of the car can be dynamically adjusted according to theneeds of racing. In addition, by connecting the car with a mobile phone or a tablet computer, it is more convenient to interact with the car, and the speed and pose of the car can be acquired and controlled in real time. The fully autonomous driving race car is suitable for a racing scene.
Description
technical field [0001] The invention relates to a car and a running method, in particular to a fully autonomous driving racing car and a running method. Background technique [0002] Fully autonomous driving technology is a combination of automatic control, artificial intelligence, visual computing and many other technologies. It is a highly developed technology of computer science, pattern recognition and intelligent control technology. With the rapid development of modern science and technology, the intelligence of fully autonomous driving, the accuracy of movements, and the quickness of response surpass humans. Many advantages make fully autonomous driving have great application prospects in intelligent transportation, precision agriculture and other fields. Chinese patent CN207264195U discloses a kind of driverless car. The car mainly uses modules including satellite navigation module, inertial navigation module, and magnetic tape navigation module. Among them, the sa...
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IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0223G05D1/0248G05D1/0257G05D1/027G05D1/0272G05D1/0274
Inventor 晋帅周敬松何嘉颖李纾昶李煊鹏
Owner SOUTHEAST UNIV