Design Of Unmanned Distributed Driving Electric Experimental Vehicle And Program Development

With the rapid development of new energy vehicles,especially pure electric vehicles,many emerging car manufacturing companies and technology research and development start-up companies have emerged.They,like the majority of scientific research institutions in universities,focus their research and development on pure electric vehicles and driverless driving.In automotive technology,new energy vehicles,especially pure electric vehicles and driverless cars,are an important development direction for the future automobile industry.This subject has developed a distributed-drive electric experimental platform vehicle for electric vehicles and vehicle driverless technology.This platform vehicle can realize the drive,brake,steering and suspension system by wire control.It is to study electric vehicles and unmanned vehicles.A good carrier of driving technology,which can quickly and easily carry out the development of unmanned driving algorithms and verification of real vehicles.This article mainly relies on the National Natural Science Foundation of China(51675257)and Liaoning Provincial Key R&D Program Guidance Program(2017106020).The research of the thesis mainly includes the following aspects:(1)Design of experimental platform car.The design of each system of the experimental platform car including the frame system,suspension,steering,driving and braking integrated modules,and complete the actual vehicle assembly.Carry out reasonable selection of the electrical components of the vehicle,and design and arrange the vehicle wiring harness.Complete the design of the vehicle communication principle,and realize the communication between the sensor and the vehicle controller,the vehicle controller and the actuator,and the communication between the upper-layer perception system and the bottom vehicle controller.Choose unmanned driving related sensors(lidar,camera,GPS),and realize the communication between the sensor and the upper PC.(2)Complete the development of the bottom vehicle control program.Planning and designing the principle of the vehicle control program,and detailed design of the special steering mode control program,distributed drive control program to integrate the steering system and drive system control The control program of the hydraulic control unit is designed to realize the line control of the platform brake system.The unmanned driving interface program of the bottom layer system is designed,so that the bottom layer system can receive the control commands of the upper layer unmanned driving system,and control the actuator accordingly.(3)Design and develop unmanned driving system.Install and calibrate the unmanned system hardware(lidar,camera,satellite positioning GPS),and use Rtmaps software to develop the unmanned system program to realize the communication between the environmental awareness sensor and the unmanned system Completed the development of the data recording program and the data playback program,providing a convenient and fast development and verification platform for the subsequent driverless technology developers.(4)Experimental verification of real vehicles.After the completion of the vehicle development,the experimental platform vehicle was tested in real vehicles,including functional verification experiments and performance verification experiments.The results show that the experimental platform vehicle can realize various special driving modes,and at the same time,the experimental vehicle can meet unmanned driving required wire control requirements.The development of the experimental vehicle can provide developers with a good platform for development,testing,and verification,and it can help improve the development speed of new technologies.It is a new form of experimental platform.