Abstract
The article describes the models and software implementation at different architectural levels of the control system for a self-driving car for cross-country travel. A car powered by an internal combustion engine was chosen as a platform. At the level of electronic components, solutions are described that allow control typical components of a car: gear shifting, clutch, brake, steering and gas. The software implementation of the control system describes the computer vision component for recognizing near and far obstacles in order to maneuver along the road in rough terrain, taking into account the geometry of the car. A mapping service is also described, which allows to set the initial, final coordinates and intermediate points of the route. Schemes and models for re-equipping a typical car for unmanned control, as well as an unmanned driving algorithm for driving in rough terrain, claim novelty.
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Acknowledgements
The work was supported by the FASIE under the agreement 8GUKodIIS12-D7/72685 27.12.2021 dated December 27, 2021 (Program CodeAI).
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Svyatov, K., Dementev, V., Rubcov, I., Jhitkov, R., Mikhailov, V., Kanin, D. (2023). Off-Road Autonomous Vehicle Control System. In: Dolinina, O., et al. Artificial Intelligence in Models, Methods and Applications. AIES 2022. Studies in Systems, Decision and Control, vol 457. Springer, Cham. https://doi.org/10.1007/978-3-031-22938-1_47
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DOI: https://doi.org/10.1007/978-3-031-22938-1_47
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