城市环境中无人车平台及局部路径规划和拟合技术研究

发布时间：2018-04-10 00:38

本文选题：无人驾驶车辆　切入点：组合导航　出处：《中南大学》2014年硕士论文

【摘要】：摘要：无人驾驶车辆作为智能交通系统的核心环节,更是近年来的研究热点。无人驾驶车辆不仅可以避免车辆行驶过程中驾驶员情绪波动及不良驾驶习惯的影响,更可以将人们从旅途中解放出来,提高出行体验的舒适度。本论文以城市环境下的无人车研究为背景,给出了无人车驾驶平台的一种设计方案,并且给出了一种基于制动的安全控制策略,并对无人驾驶技术中的基于GPS/INS喷导系统的静态和动态路径规划展开了研究,并对规划后的路径进行拟合,给出了一种改进后的三次样条拟合方法,并得到拟合的仿真结果。工作如下： 1.介绍了惯导组合导航系统GPS/INS和曲线拟合方法的基本原理和公式推理,重点分析了惯性组合导航系统的关键参数,分别介绍了最小二乘法、拉格朗日插值法、分段插值法、样条拟合中的三次样条插值拟合和B样条插值拟合等方法。并通过实例仿真分析了各种方法的优缺点。 2.研究了对无人车的平台构建,包括对雷达和摄像头等传感器的选择和安装策略,并改装车辆的转向机构,刹车制动装置,并分别对其进行实验校准,分别给出了连接电路和接口的定义和功能介绍,并且给出了一种基于制动的安全控制策略。最后搭建了一个能自主驾驶的汽车平台。 3.简要介绍MapX软件功能和如何利用GPS/INS惯性组合导航系统在中南大学新校区采集GPS路点,将采集到的一系列路点加入到MapX电子地图软件里,进行匹配,分别利用最短路径A*算法和D*算法进行静态和动态的路径规划,并得到规划的最短路径和仿真结果。最后利用三次样条拟合方法对得到的最短路径进行拟合,得到一条圆滑的曲线,供给车辆自驾仪跟踪行驶,使车辆行驶在转弯处更加平稳,并对三次样条在初始点拟合的震荡情况进行了改进和创新,避免车辆在起始点行驶时方向和车体的不平稳。图36幅,表5个,参考文献68篇。
[Abstract]:Abstract: as the core of Intelligent Transportation system (its), driverless vehicles (UAVs) have been the focus of research in recent years.Driverless vehicles can not only avoid the influence of drivers' emotional fluctuation and bad driving habits in the course of driving, but also liberate people from the journey and improve the comfort of the travel experience.In this paper, based on the research of unmanned vehicle in urban environment, a design scheme of driverless vehicle platform is given, and a kind of safety control strategy based on braking is given.The static and dynamic path planning based on GPS/INS spray guide system in driverless technology is studied, and the path fitting after planning is carried out. An improved cubic spline fitting method is presented, and the simulation results are obtained.The tasks are as follows:1.The basic principle and formula reasoning of inertial navigation integrated navigation system (GPS/INS) and curve fitting method are introduced. The key parameters of inertial integrated navigation system are analyzed, and the least square method, Lagrangian interpolation method and piecewise interpolation method are introduced respectively.Cubic spline fitting and B spline interpolation in spline fitting.The advantages and disadvantages of various methods are analyzed by simulation.2.This paper studies the platform construction of the unmanned vehicle, including the selection and installation strategy of sensors such as radar and camera, and refits the steering mechanism and brake brake device of the vehicle, and carries on the experimental calibration to them, respectively.The definition and function of connection circuit and interface are given respectively, and a kind of safety control strategy based on braking is given.Finally, a vehicle platform is built that can drive independently.3.This paper briefly introduces the functions of MapX software and how to use GPS/INS inertial integrated navigation system to collect GPS road points in the new campus of Central South University, and add a series of road points to the MapX electronic map software to match them.The shortest path A * algorithm and the D * algorithm are used for the static and dynamic path planning, respectively, and the shortest path and simulation results are obtained.Finally, the shortest path is fitted by cubic spline fitting method, and a smooth curve is obtained, which can be used to track the vehicle self-driving instrument and make the vehicle run more smoothly at the corner.The concussion of cubic spline fitting at the initial point is improved and innovated to avoid the unsteady direction and body of the vehicle at the starting point.There are 36 pictures, 5 tables and 68 references.
【学位授予单位】：中南大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495

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