Design And Its Realization Of Autonomous Driving Systems Of A Scaled-down Intelligent Vehicle

The research and development of scaled-down intelligent vehicles meet the need of our nation’s fast development. In2011, the major research plan of the National Natural Science Foundation of China " Cognitive Computing of Visual and Auditory Information" proposed a fundamental fostering project-simulation of multiple scaled-down vehicles’ interaction in intelligent transportation systems. Therefore, the study and development of scaled-down intelligent vehicles have a great significance in both theory and application. The study that relates to the design and realization of autonomous driving systems of scaled-down intelligent vehicles is one of the fundamental and key problems to the autonomous driving of vehicles and the interaction between multi-vehicles. Related studies can be referred to the development of commercial intelligent vehicles; it can also urge and improve the domestic technical development in autonomous driving.Nowadays, there are two kinds of scales, such as1:12and1:10. Each research institute has designed the hardware and software platforms of scaled-down intelligent vehicles according to his own requirement. There is no common standard among various scaled-down intelligent vehicles; they have different functions and interfaces. There is no paper or report published in academic databases on1:5scaled-down intelligent vehicles. Actually, if we can develop such scaled-down intelligent vehicles, related research results will benefit the research of commercial intelligent vehicles. They can be running outside or inside, such as big parks, garden show parks, factories, and mines. Therefore, this thesis is on research of the design and realization of autonomous driving of1:5scaled-down intelligent vehicles. The main contents and originalities are as follows.Firstly, the author introduces the background and meaning of research of scaled-down intelligent vehicles. The current developments of intelligent vehicles and scaled-down intelligent vehicles are followed. Secondly, the whole autonomous system design has been considered. Its related contents concludes background, requirement, and infrastructure of the system. Thirdly, the hardware design of scaled-down intelligent vehicle are described, including the selection of vehicle model, architecture design of hardware and the selection of vehicle-mounted sensors. Fourthly, the software architecture of scaled-down intelligent vehicle are designed according to the basic function of autonomous driving, such as detection of lane-lines and obstacles, detection and cognition of traffic signals, etc. Finally, to check whether such a scale-down intelligent vehicle can work well, we realize the designed system function and have some test, consisting of mechanical reconstruction of vehicle model, design of control board, realization of lane-line detection algorithm and so on. In conclusion, the author summarizes the thesis and draw some prospects.