哈工库讯

Location

Synchronize the collection and processing of data from various sensors, including LiDAR, real-time dynamic carrier phase difference technology (RTK), inertial measurement units (IMUs), and wheel speed sensors. Through independently developed multi-sensor fusion algorithms, effectively eliminate the errors and uncertainties of a single sensor, fully utilize the complementary advantages of each sensor, and accurately estimate and correct the position and attitude information of the target in both time and space dimensions. It can provide stable and accurate positioning services for autonomous vehicle in various complex environments and working conditions, with a bit accuracy of ± 10mm.

Perception

Deploying multiple sensors around the vehicle (such as LiDAR, ultrasonic sensors, cameras, etc.), combined with perception algorithms to process sensor data, enables the vehicle to recognize and accurately determine the distance from obstacles in any direction, thereby achieving precise obstacle avoidance. In response to the material handling needs in automated warehousing and logistics processes, a tray and hook recognition module is equipped to achieve adaptive forking and alignment under changes in tray and hook position and angle. Can achieve automatic picking of pallets in scenarios with a position deviation of ± 300mm and an angle deviation of ± 20 °. The failure rate of automatic hooking is less than one in a thousand.

Planning

In emergency situations, be able to respond immediately and adopt action strategies such as deceleration, parking, or active avoidance to ensure driving safety. When the route is occupied, the system will choose the optimal detour plan, including slight detours - fine-tuning the driving trajectory as much as possible to avoid obstacles while maintaining the original direction of travel; Or change lanes and detour - while ensuring safety, switch to adjacent lanes and bypass the impassable area ahead.

Control

Equipped with highly intelligent and adaptive chassis control technology, it is perfectly compatible and optimized to operate on various chassis structures such as Ackermann steering model, two wheel differential steering model, and multi wheel independent steering. Using self-developed calibration algorithms, the working status of each wheel is monitored in real-time, and the angle deviation and speed difference of the wheels are automatically corrected to ensure that the vehicle always maintains high accuracy when performing complex path tracking tasks. Especially in the parking process, the accuracy can reach a range of ± 10mm.