Research In Urban Environment Unmanned Vehicle Platform And Local Path Planning And Fitting Technique

Abstract:Unmanned vehicle for the intelligent transportation systems is the key ring section, a research hot spot in recent years. Unmanned vehicles not only to refrain from driver’s bad mood and bad driving habits, more people can be liberated from the driving to improve comfort during the journey.This thesis study on autonomous vehicles under urban environments as the background, autonomous driving is given a design platform and a safety control strategy based on braking, and unmanned technologies based on GPS/INS inertial navigation system for static and dynamic path planning study was conducted, and fitting the planning path, to a cubic spline fitting methods improved, and simulation results by fitting. Concrete work is as follows:1. GPS/INS inertial integrated navigation system is introduced and fundamentals and formula of curve fitting method of reasoning, focusing on key parameters for analysis of inertial navigation systems, respectively introduced the least squares method, Lagrange interpolation method, piecewise interpolation, spline-fitting fitting of cubic spline interpolation and fitting of b-spline interpolation method. And case simulation analysis of the advantages and disadvantages of various methods2. Study on construction of platform for unmanned vehicles, including the choice of sensors such as radars and cameras and installation policy and steering mechanism of modification of vehicles, braking device and experimental calibration for their respectively given connection and interface definition, and function, and a safety control strategy based on braking. Last it built an autonomous driving vehicle platform.3. Brief MapX software features and how to use the GPS/INS inertial navigation system in the new campus of collecting GPS way points, joining the points, collected a series of road to MapX map software, matches, respectively, using the shortest path A*and D*algorithms for static and dynamic path planning, and supported by the shortest path planning and simulation results. Using cubic spline fitting method for fitting the shortest path to get to get a smooth curve, supplying cars drive autopilot track, greyhounds vehicles are made more smoothly, and cubic spline fitting at the initial point of the shocks situation were improved and innovation, avoid the vehicle body and direction unbalanced while driving his vehicle at the starting point.