CQUPT-IV
2016-06-16 13:16:45 1 举报
CQUPT-IV智能车,车端架构
作者其他创作
大纲/内容
Pronto4
Panel
+Sys_ON+Sys_OFF
Planner
+ plan_localpath()+ plan_globalpath()
ControlData
+int steerValue+int brakeValue+int throttleValue+enm gearValue
Sender
SystemParameter
+run_mode:enum Runmode+car_model:struct Carmodel+environment : enum Environment
Agent
+ switch_mode(Runmode)+ think(Runmode)
LocalView
OnBoradNavigation
+boot_OnBoardNavigation(void):void+stop_OnBoardNavigation(void):void
OnBoardPerception
+boot_OnBoardPerception(void):void+stop_OnBoardPerception(void):void
NavigateData
+X:float+Y:float+theta:float
Controller
+ algorithm():void
ControlParameter
Cloud
+ boot_Cloud(void):void+ close_Cloud(void):void
PerceptionData
+a:float+b:float+c:float+d:float
LocalMap
PathPoint
+ float X;+ float Y;
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