摘要
基于智能车辆环境识别传感器系统的特点,设计了隔离车体角运动,提供稳定传感器视线给智能车辆环境识别传感器系统的捷联稳定跟踪平台系统。详细分析了稳定平台系统的机械结构、伺服机构和捷联稳定算法,实时通信测试和动态性能检测试验表明,车载捷联视线稳定跟踪平台系统的设计满足智能车辆使用要求,为智能车辆的自主驾驶奠定了应用基础。
Based on the features of environment identification system for intelligent vehicle, a strapdown stabilization pointing platform system was designed, which could be used to isolate the vehicle body angle movement, mount environment identification sensors system of intelligent vehicle and provide stable line-of-sight to the sensors system. The mechanical structure, servomechanism and strapdown stabilization algorithm were analyzed in detail. To validate that the vehicle-borne strapdown line-of-sight stabilization pointing system meets the operating requirement on the intelligent vehicle, the real-time communication test and dynamic performance test were made. And the experiment results indicate that the vehicle-borne strapdown stabilization platform design satisfies the application requirements of intelligent vehicle, which lays down an application foundation for the autonomous driving of intelligent vehicle.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2009年第4期397-402,共6页
Journal of Chinese Inertial Technology
基金
北京理工大学"985"工程二期车辆系统工程科技创新平台资助项目(项目编号:200540150)
关键词
智能车辆
环境识别
捷联稳定
稳定平台
intelligent vehicle
environment identification
strapdown stabilization
stable platform
