一种自动驾驶汽车系统架构开发与测试验证

Development and Test Validation of a Systematic Architecture for Autonomous Vehicle

针对现有自动驾驶汽车系统可拓展性和可升级性不强、对复杂多变的实际交通环境适应性差的问题,提出了一种功能可拓展、硬件可升级的自动驾驶汽车系统架构。采用模块化、层次化、封装化的设计思想,在不改动车辆原有结构的基础上,设计了开放式的硬件接入结构以及模块化、层次化的系统软件架构,使得功能拓展和部件升级更为便利,硬件更新和软件迭代易于实现。仿真和实车实验结果表明:自主设计的自动驾驶汽车系统架构具有良好的实用性和拓展性,便于完成各种智能驾驶算法测试,能在结构化道路中完成自动驾驶任务。

In view of the problems that current structure of most autonomous vehicle has limited expansibility and adaptability for complex traffic condition,an autonomous vehicle’s systematic architecture are presented in this paper.Its function of software can be expanded and hardware can be upgraded easily.The idea of modularization,hierarchy and encapsulation have been adopted in the architecture.On the premise of not invading the original vehicle,open hardware interface and modular,hierarchical software architecture are proposed.In this way,function expansion and component upgrading becomes more convenient.Thehardware updating and software iteration are easy to be implemented as well.The results of simulation and filed experiments show that the vehicle developed has excellent practicability and expansibility where autonomous driving algorithms can be easily validated.Finally,the tasks of autonomous driving have been finished in different structured roads scenarios.