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

【摘要】：摘要：無(wú)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(lái)的研究熱點(diǎn)。無(wú)人駕駛車輛不僅可以避免車輛行駛過(guò)程中駕駛員情緒波動(dòng)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(lái),提高出行體驗(yàn)的舒適度。本論文以城市環(huán)境下的無(wú)人車研究為背景,給出了無(wú)人車駕駛平臺(tái)的一種設(shè)計(jì)方案,并且給出了一種基于制動(dòng)的安全控制策略,并對(duì)無(wú)人駕駛技術(shù)中的基于GPS/INS噴導(dǎo)系統(tǒng)的靜態(tài)和動(dòng)態(tài)路徑規(guī)劃展開(kāi)了研究,并對(duì)規(guī)劃后的路徑進(jìn)行擬合,給出了一種改進(jìn)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(diǎn)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(guò)實(shí)例仿真分析了各種方法的優(yōu)缺點(diǎn)。 2.研究了對(duì)無(wú)人車的平臺(tái)構(gòu)建,包括對(duì)雷達(dá)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(jī)構(gòu),剎車制動(dòng)裝置,并分別對(duì)其進(jìn)行實(shí)驗(yàn)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(dòng)的安全控制策略。最后搭建了一個(gè)能自主駕駛的汽車平臺(tái)。 3.簡(jiǎn)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(diǎn),將采集到的一系列路點(diǎn)加入到MapX電子地圖軟件里,進(jìn)行匹配,分別利用最短路徑A*算法和D*算法進(jìn)行靜態(tài)和動(dòng)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(duì)得到的最短路徑進(jìn)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(duì)三次樣條在初始點(diǎn)擬合的震蕩情況進(jìn)行了改進(jìn)和創(chuàng)新,避免車輛在起始點(diǎn)行駛時(shí)方向和車體的不平穩(wěn)。圖36幅,表5個(gè),參考文獻(xiàn)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(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：U495

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