CITAVT-IV——视觉导航的自主车

CITAVT-IV-A AUTONOMOUS LAND VEHICLE NAVIGATED BY MACHINE VISION

摘要: 国防科技大学研制的CITAVT-IV自主车在高速公路实验中达到了75.6km/h的高速．文章对CITAVT-IV的系统构成、组织结构及有关实验情况进行了比较详细的介绍，特别是其系统软件和系统数据流程具有一定的新颖性，该事件驱动的实时多任务软件系统具有很好的实时特性，较好地解决了自主车系统的延迟问题．

Abstract: A new generation of autonomous land vehicle(ALV)-CITAVT-IV developed by NUDT has reached a high speed of 75.6km/h in highway experiment in May 2000. CITAVT-IV's system architecture, software design, functions and experiments are presented in this paper. In the research, the delay problem has been solved quite well.