无人驾驶电动巴士感知系统设计

学院（系）： 国际教育学院

专业班级：车辆工程专业 1402班

学生姓名： 来煜明

指导教师： 黄妙华

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Abstract

Science and technology to promote economic growth has found a new flash point in recent years, that is, driverless. With the development of computer technology, the accumulation of unmanned technology has approached the stage of commercialization, and the automobile industry has developed toward a more comprehensive and more yuan-based direction.

Like a car that is controlled by a person, an unmanned vehicle needs environmental information in real time. Environmental information can generally be obtained through the following two ways: First, use the on-board sensors to obtain driving environment information through the unmanned vehicle environment perception subsystem, and integrate the sensor information with the environmental information model; second, provide external environmental information through the communication network. For example, the traffic congestion of the front road provided by the car network to the driverless vehicle and the driving tendency of the surrounding vehicles, the situation of traffic lights and the change trend of the intersection traffic sent by the subgrade traffic facilities.

The environment perception subsystem can use the above environmental information and combine the prior environment model to understand and identify the driving environment.

In order to facilitate the installation and removal of the sensor, the connection between the bracket and the frame is bolted. In order not to damage the body frame, it is not possible to directly drill holes in the body frame. Therefore, the aluminum alloy frame was welded on the frame.

Key Words：Keywords: driverless; environmental awareness; sensor installation; bracket design; finite element analysis.

Content

第1章 绪论 5

1.1 选题的目的及意义 5

1.2 国内外现状分析 6

1.3 本文的结构安排及研究方法 7

1.4 本章小结……………………………………………………………………….8

第2章 感知系统方案设计…………………………………………………………..9

2.1 传感器介绍…………………………………………………………………….9

2.1.1 激光雷达…………………………………………………………………..9

2.1.2 视觉传感器………………………………………………………………10

2.1.3 毫米波雷达………………………………………………………………11

2.1.4 超声波雷达………………………………………………………………12

2.1.5 GPS IMU…………………………………………………………………12

2.2 传感器选择…………………………………………………………………13

2.3 传感器布置…………………………………………………………………13

2.3.1 超声波传感器安装…………………………………………………….14

2.3.2 毫米波雷达安装……………………………………………………….14

2.3.3 摄像头和激光雷达安装……………………………………………….15

2.4 感知系统数据处理方案……………………………………………………..16

2.5 本章小结……………………………………………………………………...16

第3章 车载传感器支架设计 17

3.1支架设计方案 17

3.2 支架有限元分析 18

3.3 方案对比选择 18

3.4 本章小结

第4章 总结与展望 19

参考文献 20

致谢 21

Chapter 1 Introduction

Science and technology to promote economic growth has found a new flash point in recent years, that is, driverless. With the development of computer technology, the accumulation of unmanned technology has approached the stage of commercialization, and the automobile industry has developed toward a more comprehensive and more yuan-based direction.

1.1 The purpose and significance of the topic

Cars have become an indispensable tool for transportation in modern society. The casualties and property losses caused by car accidents cannot be ignored. According to the data provided by the World Health Organization, 1.24 million people die each year from road accidents worldwide. The existing active safety technology can greatly reduce the accident probability, including collision warning, lane departure warning, collision braking and blind spot monitoring. Unmanned driving can prevent people from being misled by mistakes and greatly reduce traffic accidents.

With the increase in car ownership, many cities become congested and people have to spend a lot of time on the road. Another problem caused by traffic jams is increased emissions from motor vehicles. When the driverless vehicle occupies a large proportion, it can cooperate with the intelligent transportation system to optimize the flow, improve the traffic efficiency, and relieve congestion.

Driverless technology can free people from driving a car and give people more free time. Driverless driving is easier to implement on buses and school buses where such routes are fixed and where the environment is relatively simple.

1.2 Analysis of the status quo at home and abroad

From 2004 to 2007, the United States held three sessions of the darpa unmanned driving challenge. Since 2009, China has held a yearly “China Smart Car Future Challenge”. These drone-related competitions have stimulated research enthusiasm and promoted unmanned driving. The development of technology. At present, driverless perception is mainly divided into two camps: Google-based laser radar and Tesla-based vision sensor.

Form1.1 Domestic and foreign unmanned bus models

The most famous company in the field of driverless buses is French navya company. Navya has so far launched two major products, unmanned buses and unmanned taxis, and has been commercially available in many countries and regions around the world. In the structure of the sensor, navya's unmanned bus uses two 360° multi-line Lidars, six 180° single-line Lidars, one front and rear camera, GNSS/RTK and odometer. Obviously navya's unmanned buses use a laser radar-based sensing method. The unmanned bus sensory system of easy mile, another company belonging to France, is similar to navya.

It is worth mentioning that the British Oxbotica's gateway, using SLAM technology to locate, it did not install GPS.

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