Design and implementation of software system for autonomous micro-vehicles

Computer Engineering and Applications ›› 2013, Vol. 49 ›› Issue (1): 234-238.

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Design and implementation of software system for autonomous micro-vehicles

BI Jianquan1，2, LU Geng1, WANG Jingchun1, JIANG Yongheng1

1.Department of Automation, Tsinghua University, Beijing 100084, China
2.Unit 63889 of PLA, China

Online:2013-01-01 Published:2013-01-16

缩微智能车软件系统设计与实现

毕建权1，2，陆耿1，王京春1，江永亨1

1.清华大学自动化系，北京 100084
2.中国人民解放军63889部队

Abstract

Abstract: This paper introduces a software system for the autonomous micro-vehicles based on simple visual and auditory sensors, which makes the micro-vehicles autonomous driving under the micro-geometric traffic environment. The vehicle’s software architecture that is distributed owes the characters such like device?independence, algorithm?independence, scalability, ease of debugging as well as online data storage and emulation. Experiment results show good effectiveness and stability of the software system.

Key words: software architecture, autonomous driving, machine vision, vehicle control

摘要： 论述一种基于简单视听觉缩微智能车的软件系统架构，可实现在缩微道路环境下自主驾驶行为决策。缩微智能车系统采用分布式层次设计方法，遵循器件独立、算法独立、可扩展、易调试、数据可储存等原则，可以有效模拟车辆在真实交通环境中的基本驾驶行为。实验证明该软件系统具有很好的实效性和稳定性。

关键词: 软件架构, 自主驾驶, 机器视觉, 车辆控制

BI Jianquan1，2, LU Geng1, WANG Jingchun1, JIANG Yongheng1. Design and implementation of software system for autonomous micro-vehicles[J]. Computer Engineering and Applications, 2013, 49(1): 234-238.

毕建权1，2，陆耿1，王京春1，江永亨1. 缩微智能车软件系统设计与实现[J]. 计算机工程与应用, 2013, 49(1): 234-238.

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Design and implementation of software system for autonomous micro-vehicles

缩微智能车软件系统设计与实现

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