Design and Implementation of Intelligent Vehicle Control System Based on ROS

摘要

Intelligent vehicles, especially autonomous ones, have been studied in recent years. This paper proposes an intelligent vehicle control system solution. An upper-computer is employed to process sensor information detecting road conditions, while a STM32F103 microprocessor is used to implement vehicle motion control. The upper computer and the lower-MCU communicate with each other through the Modbus/RTU protocol. All the software in the designed is open source, scalable and at low cost. Experimental results show that the control system is feasible and effective.