IEEE Robotics & Automation Magazine - June 2020 - 142

Task Planning
System

Perception, Localization, and Planning System

Task
Planner

3D Laser

Camera

GPS

USB
LoRa

LoRa Unit

Gear
Motor

Ethernet

Host IPC

Ethernet

Ethernet
Switch

Steer
Motor

Ethernet

2D Laser

IMU

Encoder

TCP/IP
RS232

Throttle
Motor

CAN

Break
Motor

RS485

Light
Control

PLC

Motion Control System

Actuator
Figure 2. The hardware architecture of the proposed autonomous vehicle system. LoRa: long-range radio; CAN: controller area
network.

3D Laser, GPS, and Camera
Visualization

Driver

Local HMI

Mapping
Localization

Route
Map Global Path
Candidates

Map

Global
Path

Perception
Object
Information

Map and Pose

Odometry

Host IPC (ROS)

Command

Planning

Local Path
Communication

Odometry

Local Path
Motion Control
Odometry

Obstacle Information

Safety-Monitoring
Logistic Switch

Obstacle
Detection

PLC (RTS)

Odometry
Fusion

Actuation

IO/Driver
Mode Switch 2D Laser, GPS, IMU, and Encoder
Figure 3. A schematic overview of the core system. Info: information; IO: input-output; HMI:
human-machine interface; ROS: Robot Operating System; RTS: real-time operating system.

142

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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JUNE 2020

environment map, estimates vehicle
pose, and detects surrounding objects
by fusing the 3D laser data, visual information, and odometry data. Then the
high-level system finally generates feasible local paths (10-Hz frequency) and
sends them to the low-level system. In
the low-level system, the local paths are
fed into the velocity and steering control modules for proportional-integral-
derivative control of the steering,
throttle, and braking motors. The
velocity control module provides an
appropriate velocity value by comprehensively considering the local path
curvature and detected obstacles. The
steering control module accepts as
input the local path, vehicle pose, and
velocity value recommended by the
velocity controller and then computes
steering angle as output commands utilizing the Hoffmann controller [9].
Deep Learning-Enhanced,
Large-Scale Mapping and
Localization
Localization is one of the fundamental
technical issues for autonomous
vehicles because it is essential to
es tablishing the feedback loop for
path-tracking control and autonomous navigation. To achieve accurate



IEEE Robotics & Automation Magazine - June 2020

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