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Unmanned formula car multi-sensor fusion sensing decision and tracking control method

A multi-sensor fusion, formula racing technology, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2021-03-30
ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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AI Technical Summary

Problems solved by technology

In order for the racing car to complete the corresponding competition events as quickly as possible, it is necessary to plan the driving path of the racing car in advance. However, when the speed of the car is 30-50km / h, it is difficult to meet the requirements only by relying on a single sensor (such as lidar, camera, etc.). this requirement

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  • Unmanned formula car multi-sensor fusion sensing decision and tracking control method
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  • Unmanned formula car multi-sensor fusion sensing decision and tracking control method

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Embodiment

[0121] Embodiment: the perception decision-making and tracking control method of multi-sensor fusion of unmanned formula racing car, such as figure 2 Shown, comprise unmanned formula racing car (hereinafter referred to as racing car), be provided with industrial computer, trajectory tracking controller and actuator in the racing car, described industrial computer is connected with lidar, monocular camera, GPS and IMU, described GPS It is a global positioning system GPS and an inertial sensor, and the IMU is an integrated multifunctional sensor. The GPS has a positioning function, and the inertial sensor IMU has the function of a sensor that detects acceleration and rotational motion. Since the GPS and IMU are existing conventional devices, the specific structure will not be repeated here. The trajectory tracking controller is connected with an execution control system, and the execution control system is connected with the executive mechanism; the industrial computer respecti...

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Abstract

The invention discloses an unmanned formula car multi-sensor fusion sensing decision and tracking control method. The unmanned formula car multi-sensor fusion sensing decision and tracking control method comprises the steps that: an industrial personal computer respectively receives point cloud of a conical barrel in front of a racing car collected by a laser radar, image information with the color and the position of the conical barrel collected by a monocular camera, and acceleration and course angle of the racing car collected by a GPS and an IMU, and fuses the data into a racing track map;and a reference track is planned according to the racing track map, the reference track is sent to a track tracking controller, the track tracking controller outputs a corresponding control command to an execution control system according to the reference track, the execution control system outputs a corresponding command to an execution mechanism, and therefore track tracking of the racing car is achieved. The unmanned formula car multi-sensor fusion sensing decision and tracking control method can be effectively applied to cone bucket identification and trajectory tracking of the event, andcan be expanded and applied to other similar scenes, so that the development efficiency of unmanned driving of the automobile is improved.

Description

technical field [0001] The invention relates to the technical field of automobile driving, in particular to an environment perception and track tracking method integrated with sensors of an unmanned formula racing car. Background technique [0002] The Chinese College Student Driverless Formula Contest (English test: FSAC) is a driverless car design and manufacturing competition participated by students from colleges and universities majoring in automotive engineering or automotive related majors. Various unmanned racing teams generally use multi-line lidar as an important sensor for unmanned driving environment perception systems. [0003] The participating unmanned racing cars need to complete dynamic competitions such as linear acceleration, 8-figure circling, and high-speed tracking. like figure 1 As shown, the tracks are marked by cones of fixed size (20*20*30cm) according to different track shapes. According to the requirements of the competition rules, the survey o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李强马瀚森
Owner ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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