论文标题
自主配方赛车：整体系统设计和实验验证
Autonomous Formula Racecar: Overall System Design and Experimental Validation
论文作者
论文摘要
本文开发并总结了建立自主综合系统的工作，包括公式学生自主赛车的感知系统和车辆动态控制器。我们提出了一个系统框架，结合了X-By-Nired修改，感知和运动计划以及车辆动态控制作为FSAC赛车模板，可以轻松复制。提出了一种用作轨道标记的交通锥的LIDAR-VISION合作方法。赛车的检测算法还实现了结合GPS INS数据和激光镜的精确速率定位方法。此外，同时构建了包括锥体的位置和颜色信息，包括轨道图。最后，测试了闭环轨道上的系统和车辆性能。本文还简要介绍了Formula学生自主竞赛（FSAC）。
This paper develops and summarizes the work of building the autonomous integrated system including perception system and vehicle dynamic controller for a formula student autonomous racecar. We propose a system framework combining X-by-wired modification, perception & motion planning and vehicle dynamic control as a template of FSAC racecar which can be easily replicated. A LIDAR-vision cooperating method of detecting traffic cone which is used as track mark is proposed. Detection algorithm of the racecar also implements a precise and high rate localization method which combines the GPS-INS data and LIDAR odometry. Besides, a track map including the location and color information of the cones is built simultaneously. Finally, the system and vehicle performance on a closed loop track is tested. This paper also briefly introduces the Formula Student Autonomous Competition (FSAC).
