Design Of An Intelligent Vehicle Autonomous Navigation System Based On Multi-sensor Fusion

In recent years,5G,big data,cloud computing,machine learning,artificial intelligence,and other technologies have proliferated,which laid a good foundation for the research of automatic driving intelligent vehicle,and made it possible for commercialization.With the development of intelligent vehicle,more and more universities and enterprises begin to focus on this field,it's leading a new wave of development of relevant industries.Automatic driving intelligent vehicle is an interdisciplinary technology.So far,automatic driving intelligent vehicle is not yet universal due to technical and cost factors.The research objective is to design an intelligent vehicle autonomous navigation system,which can make intelligent vehicle automatic driving in simple and structured road.This system has some advantages,such as low cost,high reliability,multi-sensor information fusion and so on.Hardware platform of this system consists of both a computer and an electronic control system which is a dual core architecture.Computer is in charge of the environmental perception,planning and decision-making work.Electronic control system is in charge of the sensor data collection and vehicle control work under orders.In software platform,machine vision technology based on feature fusion is used for lane detection,ultrasonic sensor technology is used for road edge and obstacle detection,bimodule GNSS technology is used for obtaining geographic coordinates and map web API is used for global route planning.What's more,in order to achieve local route planning,data fusion of global route planning results and environmental perception data are done by this system.Under the technical schemes,based on FZ-01 platform,a series of tests of this system is carried out.There are three items in these tests,including hardware test,software test and whole system test.Some problems in the system are identified and solved through the tests.The result shows that this system includes full function details,which is running well.As to simple and structured road,this system meets the requirements of design performance index.