2021.1.26 Baidu Unmanned Vehicle
1. Hardware system
- Vehicle chassis
- Computing unit: Industrial computer (IPC-industrial grade computer)
- Perception system: front camera, front millimeter wave radar, lidar
- Positioning system: front and rear GPS antennas, GPS receivers, inertial measurement unit IMU
- Other accessories: CAN card, 4G router, monitor, mouse and keyboard in industrial computer
Tracking hardware
Tracking without obstacle avoidance ability, building tracking hardware does not need to perceive hardware
- Computing unit: sensor data collection, calculation processing, perception planning, decision control
- Positioning system: 1. IMU——vehicle acceleration and heading angle —> Solve to get the current attitude information —> Solve positioning compensation 2. GPS receiver star network Yuda M2 — inherit IMU unit 3. Front and rear GPS dual antennas — —Realize static positioning initialization, centimeter-level positioning accuracy
- CAN card: Realize wire control of the vehicle and obtain site data
- 4G router: IPC and GPS networking
Hardware connection
- GPS antenna, receiver-M2-industrial computer
- M2-4G router
- Site-CAN bus-CAN card in industrial computer
- The 4G router is connected to the IPC network interface through the network cable
- The display is connected to the industrial computer through HDM