本文選題：無人駕駛車輛　切入點：組合導(dǎo)航　出處：《中南大學(xué)》2014年碩士論文

【摘要】：摘要：無人駕駛車輛作為智能交通系統(tǒng)的核心環(huán)節(jié),更是近年來的研究熱點。無人駕駛車輛不僅可以避免車輛行駛過程中駕駛員情緒波動及不良駕駛習(xí)慣的影響,更可以將人們從旅途中解放出來,提高出行體驗的舒適度。本論文以城市環(huán)境下的無人車研究為背景,給出了無人車駕駛平臺的一種設(shè)計方案,并且給出了一種基于制動的安全控制策略,并對無人駕駛技術(shù)中的基于GPS/INS噴導(dǎo)系統(tǒng)的靜態(tài)和動態(tài)路徑規(guī)劃展開了研究,并對規(guī)劃后的路徑進行擬合,給出了一種改進后的三次樣條擬合方法,并得到擬合的仿真結(jié)果。工作如下： 1.介紹了慣導(dǎo)組合導(dǎo)航系統(tǒng)GPS/INS和曲線擬合方法的基本原理和公式推理,重點分析了慣性組合導(dǎo)航系統(tǒng)的關(guān)鍵參數(shù),分別介紹了最小二乘法、拉格朗日插值法、分段插值法、樣條擬合中的三次樣條插值擬合和B樣條插值擬合等方法。并通過實例仿真分析了各種方法的優(yōu)缺點。 2.研究了對無人車的平臺構(gòu)建,包括對雷達和攝像頭等傳感器的選擇和安裝策略,并改裝車輛的轉(zhuǎn)向機構(gòu),剎車制動裝置,并分別對其進行實驗校準(zhǔn),分別給出了連接電路和接口的定義和功能介紹,并且給出了一種基于制動的安全控制策略。最后搭建了一個能自主駕駛的汽車平臺。 3.簡要介紹MapX軟件功能和如何利用GPS/INS慣性組合導(dǎo)航系統(tǒng)在中南大學(xué)新校區(qū)采集GPS路點,將采集到的一系列路點加入到MapX電子地圖軟件里,進行匹配,分別利用最短路徑A*算法和D*算法進行靜態(tài)和動態(tài)的路徑規(guī)劃,并得到規(guī)劃的最短路徑和仿真結(jié)果。最后利用三次樣條擬合方法對得到的最短路徑進行擬合,得到一條圓滑的曲線,供給車輛自駕儀跟蹤行駛,使車輛行駛在轉(zhuǎn)彎處更加平穩(wěn),并對三次樣條在初始點擬合的震蕩情況進行了改進和創(chuàng)新,避免車輛在起始點行駛時方向和車體的不平穩(wěn)。圖36幅,表5個,參考文獻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.
【學(xué)位授予單位】：中南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：U495

【參考文獻】

相關(guān)期刊論文 前10條

1 何樹林;;淺談智能汽車及其相關(guān)問題[J];汽車工業(yè)研究;2010年09期

2 王榮本,李斌,儲江偉,郭克友;世界智能車輛行駛安全保障技術(shù)的研究進展[J];公路交通科技;2002年02期

3 李瑞敏,陸化普,史其信;綜合交通信息平臺發(fā)展?fàn)顩r與趨勢研究[J];公路交通科技;2005年04期

4 秦開懷,賓鴻贊;圓弧樣條曲線擬合的線性化方法[J];華中理工大學(xué)學(xué)報;1990年05期

5 周欣,黃席樾,樊友平,劉濤;汽車智能輔助駕駛系統(tǒng)中的單目視覺導(dǎo)航技術(shù)[J];機器人;2003年04期

6 王宏,何克忠,張鈸;智能車輛的自主駕駛與輔助導(dǎo)航[J];機器人;1997年02期

7 程玉民;;移動最小二乘法研究進展與述評[J];計算機輔助工程;2009年02期

8 韓仁輝;趙祥君;于坤炎;王賢章;;外軍無人車發(fā)展現(xiàn)狀及啟示[J];軍事交通學(xué)院學(xué)報;2010年05期

9 張偉麗;江春華;魏勁超;;MySQL復(fù)制技術(shù)的研究及應(yīng)用[J];計算機科學(xué);2012年S3期

10 楊殿閣;連小珉;張濤;耿華;;基于北斗衛(wèi)星的車輛組合導(dǎo)航系統(tǒng)開發(fā)[J];清華大學(xué)學(xué)報(自然科學(xué)版);2008年05期

相關(guān)博士學(xué)位論文 前1條

1 何玉宏;城市綠色交通論[D];南京林業(yè)大學(xué);2009年

，

本文編號：1728914