ZeloS是用于自动驾驶早期验证的模块化实验平台，支持快速测试新方法。
ZeloS -- A Research Platform for Early-Stage Validation of Research Findings Related to Automated Driving
- 模块化设计支持快速替换和调试自动驾驶组件
- 自重69公斤，长117厘米，配备全轮转向与驱动系统
- 适合自动驾驶算法研发者在真实车辆上早期验证想法
本文介绍ZeloS，一个专为自动驾驶方法早期研究阶段设计与构建的实践验证平台。该平台硬件重69公斤，长117厘米，具备全轮转向、全轮驱动及多种车载传感器用于定位。其硬件配置与自动化架构强调模块化与简洁高效，允许单独修改自动化模块而无需深入理解整体架构。该设计使平台可灵活适配各类自动驾驶方法的验证需求。运动规划与控制部分采用基于优化的方法，能显式处理约束条件。通过实验数据展示了硬件与自动化系统的有效性。
原文摘要 · Abstract (English)
This paper presents ZeloS, a research platform designed and built for practical validation of automated driving methods in an early stage of research. We overview ZeloS' hardware setup and automation architecture and focus on motion planning and control. ZeloS weighs 69 kg, measures a length of 117 cm, and is equipped with all-wheel steering, all-wheel drive, and various onboard sensors for localization. The hardware setup and the automation architecture of ZeloS are designed and built with a focus on modularity and the goal of being simple yet effective. The modular design allows the modification of individual automation modules without the need for extensive onboarding into the automation architecture. As such, this design supports ZeloS in being a versatile research platform for validating various automated driving methods. The motion planning component and control of ZeloS feature optimization-based methods that allow for explicitly considering constraints. We demonstrate the hardware and automation setup by presenting experimental data.
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