Automatic driving method based on visible light communication and ROS and driving system thereof

Abstract

The invention discloses an automatic driving method based on visible light communication and ROS and a driving system thereof, wherein the driving system comprises a ROS subsystem, an LED array illumination subsystem and an image acquisition subsystem. According to a message delivery mechanism, the ROS subsystem is divided into modules by different functions. Respective modules are associated by reading and distributing messages, thereby effectively managing software and hardware resources. The LED array illumination subsystem includes a 5*10 LED array, a ROS illumination control node, and anLED driving circuit. The image acquisition subsystem includes a CMOS image sensor and a ROS image processing node. The automatic driving method combines visible light communication and the ROS system,effectively manages various modules of an automatic driving system, and shares processed resource information to make automatic driving safer.

Description

technical field [0001] The present invention relates to the technical field of visible light communication and unmanned driving, in particular to an automatic driving method based on visible light communication and ROS and a driving system thereof. Background technique [0002] In recent years, the semiconductor device LED known as "green lighting" has developed rapidly. Compared with traditional incandescent lighting sources, LED has the characteristics of low energy consumption, long life, and environmental protection. At the same time, LED also has the advantages of good modulation performance, high response sensitivity, and no electromagnetic interference. It can transmit signals at high frequencies that cannot be recognized by human eyes, and the optical frequency band emitted by LEDs does not require license authorization, which can achieve low-cost and high-bandwidth And wireless communication with high transmission rate has given birth to a technology that can realiz...

AI Technical Summary

Problems solved by technology

When the amount of data increases, allocating system resources becomes a difficult problem

At the same time, the existing unmanned driving system lacks effective vehicle-vehicle interaction. Traditional unmanned driving uses images collected by cameras and combined with other sensors to identify other vehicles. Calculating distance and predicting motion requires a lot of complex calculations. When multiple unmanned vehicles drive through the same location at the same time, they can identify the basically the same environment independently of the surrounding environment, and the utilization rate of information is not high

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