Sanitation vehicle automatic driving system and control method thereof

Abstract

The invention discloses a sanitation vehicle automatic driving system and a control method thereof, and relates to the field of automatic driving, and the automatic driving system comprises a positioning subsystem which is used for updating the pose information of a vehicle in real time and selecting a pre-recorded cleaning route and also used for automatically switching the positioning modes in real time according to the signal intensity; a sensing subsystem which is used for generating an information situation map according to the cleaning route; a decision subsystem which is used for generating a driving situation map so as to generate a transverse control command and a longitudinal control command, wherein the driving situation map comprises path planning of a traveling path; a controlsubsystem which is further used for receiving and executing the transverse control command and the longitudinal control command and synchronously executing a preset cleaning task; and an HMI subsystem which is used for man-machine interaction. According to the automatic driving system, a high-precision map does not need to be collected, the positioning precision requirement of automatic driving of the sanitation vehicle in different scene environments can be met, and automatic driving and sweeping operation of the sanitation vehicle is completed.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to an automatic driving system for a sanitation vehicle and a control method thereof. Background technique [0002] Automated driving technology has always been a research hotspot in the automotive field, striving to make vehicle driving easier and more humanized. In order to improve driving safety, many vehicles are equipped with automatic driving systems. However, existing automatic driving systems rely on high-precision maps, and path planning can only be achieved in areas covered by high-precision maps. [0003] The sanitation vehicle is a special vehicle used for urban tidying and cleaning. Its operating scene is complex and is greatly constrained by factors such as the road environment. The existing automatic driving system cannot meet the automatic driving conditions of the sanitation vehicle. On the one hand, the existing high-precision maps have a small coverage area and ...

AI Technical Summary

Problems solved by technology

However, the existing automatic driving system relies on high-precision maps, and path planning can only be achieved in areas covered by high-precision maps.

[0003] The sanitation vehicle is a special vehicle used for urban tidying and cleaning. Its operating scene is complex and is greatly constrained by factors such as the road environment. The existing automatic driving system cannot meet the automatic driving conditions of the sanitation vehicle.

On the one hand, the existing high-precision maps have a small coverage area and high acquisition and maintenance costs. On the other hand, under viaducts, tunnels or other scenarios with weak GPS signals, the positioning accuracy of the Sanitation Office cannot meet the needs of automatic driving. There are certain safety hazards, and the safety and reliability of automatic driving cannot be guaranteed

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