无人驾驶电动游览车底盘集成控制研究  

A Study on Integrated Chassis Control for Unmanned Electric Touring Vehicle

作　　者：王伟[1] 陈慧[1] 刁增祥 

机构地区：[1]同济大学汽车学院,上海201804 [2]总装汽车试验场,南京210028

出　　处：《汽车工程》2007年第8期681-685,697,共6页Automotive Engineering

摘　　要：介绍了具有自动寻迹行驶和遥控行驶2种模式的无人驾驶电动游览车,该车采用光电传感器自动辨识行驶路径,自动完成寻迹行驶,且在自主行驶过程中通过超声波传感器探测技术自动检测障碍物信息,具有防碰撞功能,在底盘控制上实现了无人驾驶技术、轮毂电机驱动技术和线控转向技术以及防碰撞技术等的集成控制,对于实现车辆的智能驾驶具有重要意义。An unmanned electric touring vehicle with two driving modes （automatic path tracking and remote control） is presented. The vehicle uses photoelectric sensors to automatically identify the driving path and utilizes the ultrasonic sensors to automatically detect the obstacle information in the course of autonomous driving, so possessing the collision avoidance function. In addition, the integrated chassis control, covering the technologies of unmanned driving, in-wheel motor driving, steer-by-wire and collision avoidance is realized, having a great significance for achieving intelligent driving of vehicles.

关 键 词：无人驾驶 轮毂电机驱动 线控转向 底盘集成控制 

分 类 号：U469.72[机械工程—车辆工程]