无人驾驶车GPS自主导航与障碍规避系统设计与实现  

Design and implementation of GPS and Binocular camera for driverless car

作　　者：方海洋 赵瑞妮 涂市委 Fang Haiyang;Zhao Ruini;Tu Shiwei(Automobile College of Chang’an University, Shaanxi Xi’an 710064)

机构地区：[1]长安大学汽车学院,陕西西安710064

出　　处：《汽车实用技术》2018年第24期30-32,58,共4页Automobile Applied Technology

摘　　要：提出一种基于Trimble BD982定位传感器和ZED双目视觉传感器的无人车GPS自主导航与障碍规避系统设计与实现方案。利用RTK-GPS系统进行高精度定位,当ZED双目相机检测前方出现出现正负障碍物时,借助于ZED建立的三维障碍物模型对原来GPS采集的路网文件中的一部分路段进行点位整体偏移建立局部GPS路网,最终将局部GPS路网与整体GPS路网融合实现无人驾驶车GPS自主导航。This paper presents a design and implementation of driverless car based on Trimble BD982positioning sensor and ZED binocular vision sensor.The difference with RTK-GPS system base station for high precision positioning.When obstacles or eliminate appears in front of the road is detected by ZED binocular camera,With the help of the3D obstacle model established by ZED,the local GPS road network has been established by the point bit overall migration of some sections of the road network files which were collected by the GPS originally.Finally we integrate the local GPS road network with the overall GPS network to realize the GPS autonomous navigation of the driverless car.

关 键 词：BD982 双目视觉传感器 RTK-GPS 路网融合 

分 类 号：U462[机械工程—车辆工程]