Research on Autonomous Driving based on a Highly Flexible Prototype Vehicle

摘要

Based on a flexible prototype vehicle and object recognition algorithms from robotic science, the present research aims at new approaches in the development of autonomous driving vehicles. An advanced prototype vehicle, driven by four independent hub motors that provide maneuverability and driving function far beyond automotive standards, serves as the basis for investigations. Enhanced know-how from robotic disciplines comprises sensor technology, navigation algorithms and the autonomous vehicle control system. With the integrated research vehicle, several autonomous driving testing scenarios are carried out to enable comprehensive evaluation and potential assessment of different technologies and development approaches in view of future R&D activities. The study shows, that: A)4WID-4WIS (four wheel independent driving and four wheel independent steering) electric vehicle is much more flexible and efficient to achieve superior performance in aspect of dynamics and drive ability than traditional vehicles. B)Object recognition and path planning algorithms in the robotics science can be implemented in the development of autonomous driving techniques and have achieved convincing results. C)This research ensures a decoupling of the basic vehicle control from the overall robotic path planning and following system. A commonly defined interface enables the adaption of the overall control system to various vehicle types.