Design And Research Of Autonomous Tracking System Of Intelligent Driving Vehicle Based On High-precision GPS

Intelligent driving vehicle path tracking and tracing system is a key link in the research of intelligent driving technology,and it is also the basis for the further development of intelligent driving technology,which is of great significance to the development of unmanned driving technology.Based on the high-precision integrated navigation equipment,this paper designs and researches the autonomous tracking system of smart cars,completes the design of hardware structure and software system of the tracking system,and conducts real-vehicle experiments to verify the feasibility of the system.The three steps of "perception-decision-execution" is the only way to realize intelligent driving,and it is also the basis for building a hardware structure of an intelligent driving system.In this paper,the integrated navigation device INS-550 D,which combines differential RTK positioning technology and inertial positioning technology,is selected as the sensing device.Advantech industrial computer MIC-7700 was selected as the decision-making equipment,ROS(Robot Operating System)system was installed,and the software layer of the entire system was built.In addition,the wire-controlled chassis is selected as the actuator,and the communication method between the decision-making equipment and the actuator is determined according to the CAN protocol in the DBC file.This paper designs the entire software system according to the idea of "data acquisitioncoordinate conversion-preview tracking algorithm".First,design the data receiving and analysis module of the integrated navigation device,analyze the received data according to the GPS data protocol,and publish the analyzed data.Then,the coordinate system conversion module is designed,and the ENU coordinate system conversion algorithm is used to convert the vehicle operating state data in the WGS84 coordinate system into the data in the plane rectangular coordinate system and publish it.The module also contains a data storage function to build a target trajectory map.After that,the vehicle tracking control algorithm module is designed based on the pure tracking controller algorithm to obtain the current vehicle operating state information and calculate the deviation between the current position of the vehicle and the target trajectory,solve the vehicle turning angle,and output the control signal.Finally,use the Socket CAN interface to convert the corner and vehicle speed control signals calculated by the tracking control algorithm module into the specified CAN message format and send it to the VCU.The wire-controlled chassis executes the instructions from the host computer to realize the autonomous cycle of the smart car.Trace function.Finally,our school’s automobile test field was selected as the test site,and the feasibility verification experiment of the autonomous tracking system was carried out.Collect experimental data,compare the experimental trajectory with the target trajectory,analyze the speed deviation and heading angle deviation between the experimental trajectory and the target trajectory,and verify the feasibility of the system.