The invention relates to a park scene-oriented low-speed unmanned vehicle automatic driving system, which is applied to a structured scene and comprises a sensing module, an upper computer module and a lower computer module, the sensing module is connected with the upper computer module, the upper computer module is connected with the lower computer module, the sensing module is used for acquiring external information in real time, and the lower computer module is used for acquiring the external information in real time. Transmitting the data to the upper computer module; the upper computer module is used for performing fusion processing on external information and vehicle state information obtained from the lower computer module, outputting and obtaining a vehicle trajectory planning result, and transmitting the vehicle trajectory planning result to the lower computer module; the lower computer module correspondingly controls an accelerator, a brake and a steering wheel turning angle of the unmanned vehicle according to the received vehicle track planning result, and automatic driving of the unmanned vehicle is achieved. Compared with the prior art, by fusing vehicle positioning and visual information, the use of high-cost laser radar equipment is avoided, and a park scene-oriented low-speed unmanned vehicle automatic driving scheme with low cost and high reliability can be realized.

    本发明涉及一种面向园区场景的低速无人车自动驾驶系统,应用于结构化场景,包括传感模块、上位机模块和下位机模块,其中,传感模块与上位机模块相连接,上位机模块与下位机模块相互连接,传感模块用于实时采集外部信息,并传输至上位机模块;上位机模块用于融合处理外部信息以及从下位机模块获取的车辆状态信息,输出得到车辆轨迹规划结果,并传输至下位机模块;下位机模块根据接收的车辆轨迹规划结果,相应控制无人车的油门、刹车以及方向盘转角,实现无人车的自动驾驶。与现有技术相比,本发明通过融合车辆定位以及视觉信息,规避使用高成本的激光雷达设备,能够实现一种低成本、高可靠度的面向园区场景的低速无人车自动驾驶方案。


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    Title :

    Low-speed unmanned vehicle automatic driving system for park scene


    Additional title:

    一种面向园区场景的低速无人车自动驾驶系统


    Contributors:
    DU AIMIN (author) / ZHU HANYU (author) / HAN YEYANG (author) / ZHU ZHONGPAN (author)

    Publication date :

    2023-05-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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