Boss 自动驾驶软硬件概述。

Overview

• 软件概述
  • Motion planning sub-system
    ==> 2 planners: avoiding static and dynamic obstacles while achieving a desired goal（最终都是产生一条 trajectory）
    • structured driving: road following
    • unstructured driving: maneuvering in parking lots（停车场等的机动控制）
  • Perception sub-system
    • static obstacle map
    • moving obstacles
    • location relative to the road
  • Mission planner
    • optimal path given knowledge of the road network
  • Behavioral sub-system
    • Lane Driving
    • Intersection Handling
    • Goal Selection：分配 execution tasks
  • Software infrastructure（软件基础框架） and tools
    ==> online data logging, offline data log playback and visualization.
• 硬件概述
  • With electric motors to
    • 转向
    • 踩刹车
    • shift the transmission 换挡、变速器
  • 保留 normal human driving controls：steering wheel、brake、gas pedal
  • Two independent power busses
    • remaining 12VDC battery and harnesses（电池和线束）
    • an upgraded high-output alternator：24VDC
  • Sensors 感知传感器

Motion Planning