Architecture and tracking control method of an intelligent vehicle automatic driving system in a park

Abstract

The invention discloses an automatic driving system architecture and a tracking control method of an intelligent vehicle in a park. The architecture includes a switch, a computing platform, a bottom controller, a perception device, a positioning device, a communication device and a human-computer interaction platform. The communication device transmits information to the computing platform; when the power supply system is powered normally and the control system parameters are initialized, the switch exchanges information with the computing platform. Next, load the tracking map information, and then judge whether the analysis of the vehicle position and attitude information is accurate. After it is judged to be accurate, continue to judge whether the current position of the vehicle is on the desired tracking trajectory. Then, according to the expected tracking trajectory and the current position of the vehicle, the expected steering angle and the expected vehicle speed are calculated, and sent to the underlying controller through the serial port. The invention can realize the safe, reliable and low power consumption of the intelligent vehicle in the park to complete the automatic driving task.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to an automatic driving system architecture and tracking control method for intelligent vehicles in parks. Background technique [0002] The park scene has the characteristics of a relatively simple road environment, a high degree of structure, and a relatively fixed driving route. It is an important and least difficult landing application scene for smart car autonomous driving technology. At present, the autonomous driving technology in the park has been successfully applied to limited area scenarios such as sightseeing in scenic spots, warehousing and logistics distribution, sanitation cleaning in the park, etc., which has accelerated the landing and industrial application of autonomous driving technology. [0003] However, autonomous driving technology in parks also faces many challenges. In terms of the architecture of the autonomous driving system, scalabilit...

AI Technical Summary

Problems solved by technology

However, the intelligent vehicles in the park are limited by the requirements of vehicle volume and cruising range, and the maximum power supply power of the automatic driving system equipment will be restricted. raised a challenge

At the same time, the control algorithm needs to reduce the computing power requirements while completing the driving task, which poses a challenge to the realization of low-power autonomous driving in the park environment

[0004] The current automatic driving system can only be positioned through the global satellite navigation and positioning system, and the automatic driving scene in the park often has poor satellite positioning signals due to trees and other reasons

Or, for the lines without lane lines in the park, the automatic driving technology that the camera lane line detection will not be able to support will continue to maintain the tracking driving ability

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