描述

A2H124-24FX–2 基于規(guī)劃模塊輸出的目標(biāo)軌跡和定位模塊輸出的車輛狀態(tài)

控制模塊是整個自動駕駛軟件系統(tǒng)中的執(zhí)行環(huán)節(jié)，基于規(guī)劃模塊輸出的目標(biāo)軌跡和定位模塊輸出的車輛狀態(tài)，生成方向盤、油門、剎車控制命令，通過 canbus 模塊給車輛底層執(zhí)行器。它由縱向控制模塊和橫向控制模塊兩個子模塊組成?？v向控制模塊通過油門和剎車控制車的縱向加減速，橫向控制模塊通過控制方向盤的轉(zhuǎn)動來控制前輪的轉(zhuǎn)向

控制模塊在自動駕駛系統(tǒng)中還具有故障診斷與容錯控制的功能。這意味著控制模塊能夠?qū)崟r檢測系統(tǒng)各部分的運行狀態(tài)，及時發(fā)現(xiàn)故障，并能采取相應(yīng)的容錯控制措施，確保自動駕駛系統(tǒng)的安全和穩(wěn)定。從而控制汽車的行駛方向。在橫向控制中，根據(jù)規(guī)劃模塊的軌跡生成方向盤指令，橫向控制器是基于LQR的最優(yōu)控制器。

 

A2H124-24FX–2 基于規(guī)劃模塊輸出的目標(biāo)軌跡和定位模塊輸出的車輛狀態(tài)

The control module is an execution link in the entire automatic driving software system. Based on the target trajectory output by the planning module and the vehicle status output by the positioning module, the control commands for steering wheel, throttle and brake are generated and sent to the bottom actuator of the vehicle through the canbus module. It consists of two sub-modules: vertical control module and horizontal control module. The longitudinal control module controls the longitudinal acceleration and deceleration of the car through the throttle and brake, and the lateral control module controls the steering wheel by controlling the rotation of the steering wheel

The control module also has the functions of fault diagnosis and fault tolerance control in the automatic driving system. This means that the control module can detect the operating status of each part of the system in real time, discover faults in time, and take corresponding fault-tolerant control measures to ensure the safety and stability of the automatic driving system. To control the direction of the car. In horizontal control, steering wheel instructions are generated according to the trajectory of the planning module, and the horizontal controller is an optimal controller based on LQR.

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Company Introduction:
Chengdu Sunshine Xihe Co., Ltd. specializes in one-stop procurement consulting for imported industrial spare parts, offering original equipment and professional discontinued parts services. We are committed to providing efficient and reliable automation solutions for our customers. Customer support fast responseThe network of partners spans all continentsGlobal partner networkAlways achieve more delivery, be it parts, service or speed



始終實現(xiàn)更多的交付，無論是零件、服務(wù)還是速度