考虑路面病害条件的通用自动驾驶原型系统设计

Design of the Universal Autonomous Driving Prototype System Under the Pavement Disease Conditions

高速公路路面开裂、坑槽等病害会严重影响行车舒适性和安全性,现有研究虽在路面病害的自动化检测方面已经取得了丰硕的成果,但却未将其应用在自动驾驶领域,而仍仅考虑理想道路条件,存在一定的安全隐患。鉴于此,设计了一种考虑路面病害条件的通用自动驾驶原型系统(PaveNet-AVS)以丰富自动驾驶的应用。该系统旨在完成3项主要任务:1)通用自动驾驶原型系统的软硬件框架设计;2)路面状况自动检测算法设计;3)基于路面条件的自动驾驶调整策略设计。在该原型系统中,对原有Neo硬件框架的散热系统和Openpilot软件框架的传输系统进行了部分改进,一定程度上提升了系统性能。同时,该原型系统考虑了路面病害条件的影响并设计了针对性的调整策略,在一定程度上增强了自动驾驶的应用条件和范围。

Cracking and pit troughs of highway pavement will seriously affect driving comfort and safety.Although the existing research has achieved fruitful results in the automatic testing of road diseases,it has not been applied to the field of autonomous driving and still considered the ideal road conditions.There are certain hidden dangers.In view of this,a universal autonomous driving prototype system of(PaveNet-AVS)is designed to enrich the application of autonomous driving under the pavement disease conditions.There are three main design tasks of the software and hardware framework of the general autonomous driving system,the pavement automatic detection algorithm and the autonomous driving adjustment strategies based on pavement conditions in the system.The cooling system of the original Neo hardware framework and the transmission system of the Openpilot software framework transmission sys-tem have been improved in the prototype system,which improves the system performance to a certain extent.The pavement disease has been considered to design the adjusting strategies,which have enhanced the application con-ditions and scope of autonomous driving.