智能网联汽车传感器检测与定位技术

Research on path tracking control of intelligent networked vehicle

智能网联汽车驾驶系统存在非线性、时变特性和不确定性等问题,无法满足不同工况下的控制需求。传感器感知与定位作为无人驾驶汽车核心技术,通过车辆的环境感知与定位使得无人车沿着目标轨迹行驶。首先,进行智能网联汽车传感器检测与安装,并记录毫米波雷达数据;然后对组合导航安装测量,采集定位地图,包括组合导航定位模式和融合定位导航;最后进行自动驾驶实验,利用联合仿真平台进行智能网联汽车控制研究,考察环境感知与定位技术效果。结果表明,优化智能网联汽车系统提升了可靠的控制性能。

Intelligent networked vehicle driving system has problems of nonlinearity,time-varying characteristics and uncertainty,which cannot meet the control requirements under diff erent working conditions.Sensor sensing and localization,as the core technology of driverless car,makes the unmanned vehicle travel along the target trajectory through the vehicle's environment sensing and localization.Firstly,the sensor detection and installation of the smart connected vehicle is carried out and the millimeter wave radar data is recorded;then the combined navigation installation is measured and the positioning map is collected,including combined navigation and positioning mode and fusion positioning navigation;fi nally,the autonomous driving experiment is carried out and the control study of the smart connected vehicle is conducted using the joint simulation platform to examine the eff ect of environment sensing and positioning technology.The results show that the optimized smart connected vehicle system improves the reliable control performance.