From Perception to Control:an Autonomous Driving System For a Formula Student Driverless Car
作者单位：Beijing Institute of Technology
会议名称：《2019中国汽车工程学会年会》
会议日期：2019年
学科分类：08[工学] 082304[工学-载运工具运用工程] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程]
关 键 词：redundant perception localization and mapping model predictive control formula student autonomous China
摘 要：This paper introduces the autonomous system of the Smart Shark Ⅱ which won the Fonnula Student Autonomous China(FSAC) Competition in *** this competition,an autonomous racecar is required to complete autonomously two laps of unknown *** this paper,the author presents the self-driving software structure of this racecar which ensure high vehicle speed and *** key components ensure a stable driving of the racecar,LiDAR-based and Vision-based cone detection provide a redundant perception;the EKF-based localization offers high accuracy and high frequency state estimation;perception results are accumulated in time and space by occupancy grid *** getting the trajectory,a model predictive control algorithm is used to optimize in both longitudinal and lateral control of the ***,the performance of an experiment based on real-world data is shown.