PIXKIT-自动驾驶使用教程

PIX-KIT-HOOKE Autonomous Driving User Manual

PIX-KIT 自动驾驶使用手册 V1.00105

PIX-KIT-HOOKE
Autonomous Driving User Manual V1.00105

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 PIXKIT-自动驾驶使用教程
PIX-KIT-HOOKE Autonomous Driving User Manual

目录 Catalog
1. 前言 Preface................................................................................................................................. 1
1.1 免责声明 Disclaimers........................................................................................................... 1
1.2 自动驾驶简介 Introduction to Autonomous Driving ........................................................... 2
1.3 产品清单 Product Inventory................................................................................................. 3
2. 支架、传感器及线束的安装 Installation of Sensor Bracket, Sensors and Sensor Harness ...... 4
2.1 支架安装 Sensor Bracket Installation .................................................................................. 4
2.2 激光雷达安装 Lidar Installation .......................................................................................... 5
2.3 相机安装 Camera Installation .............................................................................................. 7
2.4 组合惯导（CGI-410 华测惯导）安装 Installation of integrated inertial navigation
(CHCNAV Inertial Navigation CGI-410) .................................................................................... 8
2.5 显示屏与键鼠安装 Installation of Display Screen, Keyboard and Mouse........................ 10
2.6 工控机安装 Industrial Personal Computer(IPC) Installation ............................................. 11
2.7 交换机 Switch .................................................................................................................... 13
3.3 激光雷达 Lidar .................................................................................................................. 16
3.4 相机 Camera ...................................................................................................................... 17
4.1.组合导航数据连接和登录 RTK Integrated Inertial navigation data connection and login
RTK .......................................................................................................................................... 18
4.3. 导航和 IMU 的标定 Calibration of navigation and IMU ................................................ 22
4.4. Autoware-GNSS 定位 Autoware-GNSS Positioning ....................................................... 23
5. 底盘控制指令下发 Chassis Control Commands Issuing ......................................................... 30
5.1 准备事项 Preparations......................................................................................................... 30
5.2 加载终端 Terminal Loading .............................................................................................. 30
5.3 控制车辆 Chassis Control .................................................................................................. 31
6. 数据录制与回放 Data Recording and Playback ....................................................................... 34
6.1 Bag 数据录制 Bag Data Recording.................................................................................... 34
6.2 Bag 数据回放 Bag Data Playback...................................................................................... 35
7. 简单地图创建与加载 Simple Map Creation and Loading ....................................................... 38
7.1 PCD 点云地图的创建 Creation of PCD point cloud map ................................................. 38
7.2 PCD 点云地图的加载 Loading of PCD Point Cloud Map ................................................. 40
7.3 点云地图评价 Point Cloud Map Evaluation ...................................................................... 40

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8. 矢量地图绘制 Vector Map Building .......................................................................................... 42

8.1. Unity 绘图软件的安装 Installation Of Unity Drawing Software .................................... 42
8.2. 地图导入 Map Loading ..................................................................................................... 43
8.3. 路线绘制 Draw Path On The Map ..................................................................................... 45
9. 点云滤波 Point Cloud Filtering................................................................................................. 49
9.1 体素滤波 Demo Voxel filtering Demo ............................................................................... 49
9.2 地面滤波 Demo Ground filtering Demo ............................................................................ 50
10. 定位和目标检测 Positioning and Target Detection ................................................................. 52
10.1 定位 Positioning .............................................................................................................. 52
10.2 目标检测 Target Detection .............................................................................................. 55
11. 路径规划与车辆行驶 Path Planning & Vehicle Driving .......................................................... 57
11.1 运行前准备 Preparation before operation ....................................................................... 57
11.2 路径规划和控制 Path planning and Control ................................................................... 58
11.2.1 全局路径规划 Global path planning ..................................................................... 58
11.2.2 路径跟随与控制 Path Following and Control ...................................................... 59
12. 常见问题处理 Common Problem Handling ............................................................................ 62
12.1 Error opening device； ...................................................................................................... 62
12.2 CAN 不能读到数据：CAN0 或者 CAN1 没有数据 CAN cannot read data: CAN0 or
CAN1 has no data ...................................................................................................................... 63
12.3 遇到障碍物，不避障 Encounter obstacles, do not avoid them...................................... 63
12.4 如何使用工控机连接局域网 How to use IPC to connect to local area network ........... 63
12.5 关于速度设置的问题 Question about speed setting....................................................... 64
12.6 安装 MapToolbox 插件失败--没有 autoware 选项 Failed to install MapToolbox plugin --
no autoware option ..................................................................................................................... 65
12.7 安装 MapToolbox 插件没有安装进度条反应 Installing the MapToolbox plug-in does
not respond to the installation progress bar ............................................................................... 65
13. 安全使用注意事项 Precautions for Safe Use .......................................................................... 67

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1. 前言 Preface

1.1 免责声明 Disclaimers

1. 在安装由第三方提供的任何软件、应用程序或组件之前，客户应确保它们与所用设备具
有兼容性和可互操作性，客户全权负责确保第三方产品的兼容性和互操作性。客户还应
全权负责确保其系统、软件和数据得到充分的备份，以防止可能出现的故障、变更或损
失。 有关硬件/软件兼容性的问题，客户应联系设备提供公司的销售代表或技术支持。
Before installing any software, applications or components provided by a third party, the
customer shall ensure that they are compatible and interoperable with the equipment used, and
the customer is fully responsible for ensuring the compatibility and interoperability of the third
party's products. The customer shall also be fully responsible for ensuring that its systems,
software and data are fully backed up to prevent possible failures, changes or losses. For
hardware/software compatibility issues, the customer should contact the sales representative or
technical support of the equipment provider.
2. 本手册在印刷时已尽可能的包含各项功能介绍和使用说明。但由于本手册由 PIX 团队根
据场内测试环境拟定，可能与客户实施环境略有区别，请以实际情况为准。This manual has
been printed with the introduction of various functions and instructions as much as possible.
However, since this manual is prepared by the PIX team according to its own on-site test
environment, it may be slightly different from the customer's implementation environment,
please take the actual situation as the basis.
3. 为保护用户的合法权益，请您在使用本产品前务必仔细阅读我们随附本产品提供的说明
书。套件提供商保留对上述文档进行更新的权利。请您使用前务必认真阅读此说明书并
按照说明书操作本产品。In order to protect the legitimate rights and interests of users, please
read the instructions provided with this product carefully before using this product. The kit
provider reserves the right to update the above documents. Please read this manual carefully
and operate the product according to the manual before use.
4. 本产品不适合不具备完全民事行为能力的人士使用，请您避免上述人士接触本产品，在
有上述人士出现的场合操作时请您格外注意。This product is not suitable for people who do
not have full civil capacity. Please avoid the above people from contacting this product. Please
pay special attention when operating in the presence of the above people.
5. 一旦开始使用本产品，即视为您已阅读、理解、认可和接受本产品的说明书、免责声明
的全部条款和内容。使用者承诺对自已的行为及因此而产生的所有后果负责。Once you
start to use this product, it is deemed that you have read, understood, approved and accepted all
the terms and contents of the manual and disclaimer of this product. The user promises to be
responsible for his own behavior and all consequences arising therefrom.

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6. 在使用本产品的过程中，请您务必严格遵守并执行包括但不限于说明书里的要求。对于
违反说明书所提示的使用行为或不可抗因素导致的一切人身伤害、事故、财产损失、法
律纠纷，及其他一切造成利益冲突的不利事件，均由用户自己承担相关责任和损失，产
品提供商将不承担任何责任。In the process of using this product, you must strictly comply
with and implement the requirements including but not limited to the instructions. For all
personal injuries, accidents, property losses, legal disputes, and other adverse events that cause
conflicts of interest caused by violation of the use behavior or force majeure factors indicated
in the instructions, the user shall bear the relevant responsibilities and losses, and the product
supplier will not bear any responsibility.
7. 用户使用本产品直接或间接发生的任何违反法律规定的行为，套件提供商将不承担任何
责任。The KIT provider will not assume any responsibility for any violation of laws and
regulations directly or indirectly occurred by users using this product.
8. 本产品目的是给客户搭建基础的自动驾驶实施环境，不对产品实现的效果进行保证。The
purpose of this product is to build a basic autonomous driving implementation environment for
customers, without guaranteeing the effect of product realization.
9. 本产品仅对 PIX 客户提供本产品相关服务，未经允许请勿擅自传播或转赠。This product is
only for PIX customers to provide services related to this product. Do not spread or transfer it
without permission.

1.2 自动驾驶简介 Introduction to Autonomous Driving

Autoware 简介 Brief introduction of Autoware

Autoware 是世界上第一款用于自动驾驶汽车的“一体化”开源软件。Autoware 的功能主要

适用于城市，但高速公路和非市政道路同样可以使用。同时在依赖 ROS 建立的 Autoware 自
动驾驶开源软件可以提供丰富的开发和使用资源。

Autoware is the world's first "integrated" open source software for autonomous vehicle.
Autoware's functions are mainly applicable to cities, but highways and non-municipal roads can
also be used. At the same time, it can provide rich development and use resources in the Autoware
open source software for automatic driving built on ROS.

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Autoware 框架 Autoware Framework

更丰富的资料请参见官方 GitHub 网站：https://github.com/Autoware-AI/autoware.ai

For more information, see the official GitHub website：https://github.com/Autoware-AI/autoware.ai

1.3 产品清单 Product Inventory

收到货物后，请按照装箱清单点检产品，核对型号和数量，确认无误后开始拆封使用。After
receiving the goods, please check the products according to the packing list, check the model and
quantity, and start to unpack after confirmation.

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2. 支架、传感器及线束的安装 Installation of Sensor Bracket,

Sensors and Sensor Harness

安装流程：Installation process：

Install the sensor bracket Install the sensors Connect the sensor harness

Note: Please turn off the chassis power before connecting the harness, and turn on the power after
the connection is completed and checked.

2.1 支架安装 Sensor Bracket Installation

安装基准，以车的几何中心为原点，建立如下基准。With the geometric center of the vehicle

as the origin, establish the following datum for installation.
Front Light

安装基准 Mounting Datum

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 安装要求 Installation requirements

1) 将支架对应放置在预留的安装位置上；Place the support on the corresponding reserved
installation position
2) 按照图示紧固图中蓝色代表的的 8 个角码；Tighten the eight corner connectors represented
by blue in the figure according to the figure
3) 检查支架上各个紧固点是否有松动，如有，请使用工具拧紧；Check whether the fastening
points on the bracket are loose. If so, use tools to tighten them
4) 安装角码的螺栓均放置在车上，并且备件盒中多余备有一些常用紧固件。The bolts for
installing corner connectors are placed on the vehicle, and there are many common fasteners in
the spare parts box

2.2 激光雷达安装 Lidar Installation

型号 Model
RS-Helios-16P

 螺丝规格 Screw specification

GB/T70.1，M3x12，内六角杯头，材质 SCM435，等级 10.9，带耐落
GB/T70.1, M3x12, inner hexagon cup head, material SCM435, grade 10.9, with drop resistance
 安装要求 Installation requirements
1) 按照安装示意图将激光雷达放置在雷达底座上，雷达安装孔对准底座安装孔；Place the
Lidar on the radar base according to the installation diagram, and align the radar mounting hole
with the base mounting hole；

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激光雷达安装示意图 Installation diagram of lidar

底面用 3 颗 M3 螺钉安装，出安装面 4~5mm，推荐锁紧扭矩 13±1kgf.cm；The bottom surface

is installed with three M3 screws, 4~5mm above the mounting surface, and the recommended
locking torque is 13 ± 1kgf.cm；
3) 按照图示连接线束，激光雷达安装走线的时候，不要将雷达上面的线拉的太紧绷，需要
保持线缆具有一定的松弛。Connect the harness as shown in the figure. When installing and
routing the lidar, do not pull the cable on the radar too tight. It is necessary to keep the cable
loose.

Interface Box 连接示意图 The connection diagram of interface box

4) 线束连接完成以后检查电源线束插接正确，否则应当保持底盘电源开关处于关闭状态。
After the wiring harness is connected, check whether the power harness is inserted correctly,
otherwise the lidar will be burnt.

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2.3 相机安装 Camera Installation

 螺丝规格 Screw specification

相机底盘：M3x5； 支架：M6x15 Camera base: M3x5; Bracket: M6x15
 安装要求 Installation requirements
1) 调试时已将相机与底座固定，请按照安装示意图，将相机镜头居中对准车辆前方，确认
安装的合适位置；The camera has been fixed with the base during commissioning. Please
center the camera lens in front of the vehicle according to the installation diagram and confirm
the proper installation position；
Two M6 x 12 screws
Two M6 spring nuts

相机安装示意图

2) 确定好位置后，将相机包装袋内的两颗弹片螺母倾斜安装到支架上，并用两颗 M6 螺栓将
相机与支架固定，推荐锁紧扭矩 13±1kgf.cm；After determining the position, install the two
spring nuts in the camera packaging bag on the bracket, and fix the camera and bracket with
two M6 bolts. The recommended locking torque is 13 ± 1kgf.cm
3) 按照图示连接数据线和电源线，数据线接交换机，电源线接底盘引出的 12V 直流电源接
口。Connect the data line and power line as shown in the figure. The data line is connected to
the switch, and the power line is connected to the 12V DC power interface from the chassis.

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相机连接示意图

4) 线束连接完成后，保持底盘电源开关处于关闭状态，参照教程检查电源线束插接正确。
After the harness connection is completed, keep the chassis power switch in the closed state,
and check the correct power harness plugging according to the manual.

2.4 组合惯导（CGI-410 华测惯导）安装 Installation of integrated inertial

navigation (CHCNAV Inertial Navigation CGI-410)

CGI-410 包含设备主机、GNSS 天线、4G 天线、航空数据线，RS232 转 USB 转接线。CGI-410

Includes the equipment host, GNSS antenna, 4G antenna, aviation data cable, RS232 to USB
adapter cable.

 螺栓规格 Bolt specification

M5x10 螺栓 4 颗，M5 螺母 4 颗。Four M5x10 bolts and four M5 nuts
 安装要求 Installation requirements
1) 安装时以车辆中轴线为基准，Y 向朝车辆前方，依次将图示 4 颗螺栓锁紧即可。从包装
中取出天线组装，然后分别对应放置车辆前后的磁吸底座上。GNSS 天线分别旋拧到两个
强磁吸盘上并分别固定摆放在测试载体的向前(GNSS2：定向天线)和后退(GNSS1：定位
天线)方向上，尽可能的将其安置于测试载体的最高处以保证能够接收到良好的 GNSS 信
号，同时要保证两个 GNSS 天线相位中心形成的连线与测试载体中心轴线方向一致或平
行，如下图所示。During installation, take the central axis of the vehicle as the reference, and
then lock the 4 bolts in the figure in turn with the Y direction facing the front of the vehicle.
Take out the antenna assembly from the package, and then place it on the magnetic base at the
front and rear of the vehicle respectively. The GNSS antenna is screwed onto two strong
magnetic suction cups and fixed in the forward (GNSS2: directional antenna) and backward
(GNSS1: directional antenna) directions of the test carrier. It is placed at the highest position of
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the test carrier as far as possible to ensure that good GNSS signals can be received. At the same
time, it is necessary to ensure that the line formed by the phase center of the two GNSS
antennas is consistent or parallel with the direction of the central axis of the test carrier, as
shown in the following figure。

Inertial Navigation Installation Diagram

2) 数据线连接方式如下图所示，这里组合导航和工控机数据传输需要一根 RS232 转 USB 转
接线，连接组合导航 C_RS232 和工控机 USB 口。当然，还有网线连接方式，这里不做介
绍。The connection mode of the data line is shown in the figure below. Here, the data
transmission of integrated inertial navigation and IPC requires an RS232 to USB adapter cable
to connect the integrated inertial navigation C_ RS232 and IPC USB port. Of course, there are
also network cable connection methods, which will not be introduced here.

3) 线束的功能定义：①C_RS232：可通过网页配置选择输出组合导航融合数据（包括 GPCHC、
GPGGA、GPRMC），最高输出频率 100HZ，默认波特率 230400; ②RJ45：可通过网页
配置往系统送差分数据以及选择输出组合导航融合数据（包括 GPCHC、GPGGA、
GPRMC），最高输出频率 100HZ; ③电源： 输出电源范围 9-32V，电源 2A。Function
definition of harness: ① C_ RS232: The integrated inertial navigation fusion data (including
GPCHC, GPGGA and GPRMC) can be selected and output through web configuration. The
maximum output frequency is 100HZ, and the default baud rate is 230400; ② RJ45: It can
send differential data to the system through web configuration and select to output integrated
inertial navigation fusion data (including GPCHC, GPGGA, GPRMC), with the maximum
output frequency of 100HZ; ③ Power supply: output power supply range 9-32V, power
supply 2A。

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Schematic diagram of integrated inertial navigation harness connection

2.5 显示屏与键鼠安装 Installation of Display Screen, Keyboard and

Mouse

 安装要求 Installation requirements

1) 将显示屏与键鼠按照安装示意图放置安装，支架有固定作用，不用额外固定。Place and
install the display screen and keyboard and mouse according to the installation diagram. The
bracket has the function of fixing without additional fixing.

Installation diagram of display screen and keyboard

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2) 显示屏的 Type C-USB 电源线和 mini HDMI 视频信号线需要稳固的连接到工控机。The

Type C-USB power cable and mini HDMI video signal cable of the display screen need to be
firmly connected to the industrial computer.
3) 标配键盘鼠标一体，采用无线连接，只需要将键盘内的 USB 接收器插到工控机即可使用。
The standard keyboard and mouse are integrated, and wireless connection is adopted. You only
need to plug the USB receiver in the keyboard into the industrial computer to use it.

注意：由于显示屏和键盘固定方式为非刚性连接，当车辆测试时速较快或者路面颠簸时建议
将屏幕键盘取下，避免由于惯性造成显示器和键盘损坏。Note: Because the display screen and
keyboard are fixed in a non-rigid way, it is recommended to remove the screen keyboard when the
vehicle is tested at a fast speed or the road is bumpy to avoid damage to the display and keyboard.

2.6 工控机安装 Industrial Personal Computer(IPC) Installation

 螺丝规格 Screw specification

集合诚工控机∶M6×15 螺栓 4 颗，M6 螺母 4 颗，稳压器：M6x10 螺栓螺母各 4 颗。
JHCTECH IPC: M6 × 15. Four bolts, four M6 nuts, and four M6x10 bolts and nuts for voltage
regulator.
宸耀工控机∶M5×15 螺栓 4 颗，M5 螺母 4 颗。Nuvo IPC: M5 × 15 bolts, 4 M5 nuts.
 安装要求 Installation requirements
1) 按照安装示意图，将工控机放置在支架底座上，并将工控机安装孔对准底座对应型号安
装孔。According to the installation diagram, place the IPC on the base of the bracket, and align
the mounting hole of the IPC with the mounting hole of the corresponding model of the base.

Installation diagram of IPC

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2) 集合诚工控机∶底面用四颗 M6 螺栓及螺母安装，安装在底板的位置参照上图绿色孔位，
推荐锁紧扭矩 13±1kgf.cm；宸耀工控机∶底面用四颗 M5 螺栓及螺母安装，安装在底板
的位置参照上图蓝色孔位，推荐锁紧扭矩 13±1kgf.cm。
JHCTECH industrial computer: the bottom surface is installed with four M6 bolts and nuts.
The position of the installation on the bottom plate refers to the green hole position above. The
recommended locking torque is 13 ± 1kgf.cm; Nuvo industrial computer: the bottom is
installed with four M5 bolts and nuts, and the position of the installation on the bottom plate
refers to the blue hole position in the figure above. The recommended locking torque is 13 ±
1kgf.cm。
3) 按照安装示意图，将稳压器放置在稳压器底座上，并将稳压器安装孔对准底座安装孔固
定（仅集合诚工控机需安装稳压器）。According to the installation diagram, place the voltage
stabilizer on the base of the voltage stabilizer, and align the mounting hole of the voltage
stabilizer with the mounting hole of the base to fix it (only the JHCTECH IPC needs to install
the voltage stabilizer).
4) 工控机线束的连接：Connection of IPC harness：
a. 集合诚（JHCTECH BRAV-）工控机：按照图示将稳压器和底盘电源对插后，将稳压
器电源线接入工控机，连接 CAN 口。
JHTECH BRAV - IPC: plug the power supply of the voltage stabilizer and the chassis port
according to the figure connect the power cable of the voltage stabilizer to the IPC and connect
the CAN port。

The harness connection schematic diagram of JHCTECH IPC

b. 宸耀（Neousys）工控机：电源和 CAN 数据接口连接方式如下。
Neosys IPC: the power supply and CAN data interface are connected as follows。

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线束连接示意图
The harness connection Schematic diagram of Neousys Nuvo-6108GC

5) 线束连接完成后检查电源线束插接正确，否则应该保持底盘电源开关处于关闭状态。
Check whether the power harness is correctly inserted after the wiring harness is connected,
otherwise keep the chassis power closed

注意：Attention：
 所有线束不能带电插拔，工控机关机不能直接整车断电，断电时需要在控制系统中关机
后，再整车断电。 All wire harnesses cannot be plugged or unplugged with power, and the IPC
cannot be powered off directly through the whole vehicle. In case of power failure, the whole
vehicle needs to be powered off after the shutdown in the control system.
 不能擅自更改或替换稳压器及其他原有线束，如发现线束松脱断裂，请联系我司售后处
理，因未按照原厂要求造成的后果我司概不负责。It is not allowed to change or replace the
voltage regulator and other original harnesses without authorization. If the harness is found to
be loose and broken, please contact our company for after-sales treatment. We will not be
responsible for the consequences caused by failure to comply with the original requirements.

2.7 交换机 Switch

交换机是工控机和激光雷达，相机等设备信息交流的枢纽。使用前需通过网线连接工控机和
交换机，并将底盘电源连接交换机的电源接口。The switch is the hub of information exchange
between industrial personal computer and laser radar, camera and other equipment. Before use,
connect the IPC and the switch through the network cable, and connect the chassis power supply to
the power interface of the switch.

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Power interface

传感器硬件资料参考链接：The reference link for sensor hardware

https://pan.baidu.com/s/12QMJeRCLDvSyyS34zgs6bQ?pwd=0exc

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3. 传感器的数据获取（基于 ROS）Data Acquisition of Sensors

（Base on ROS）
3.1 开机密码 Power-on password
项目 界面 密码
晨曜：12345678
ubuntu 开机登
开机 集合诚：11111111
录密码
nVidia：nvidia
晨曜：12345678
切换到用户 集合诚：11111111
nVidia：nvidia

Item Interface Password

JHCTECH password：11111111
Ubuntu Power
Power on Neousys password：12345678
on & login
nVidia password：nvidia
JHCTECH password：11111111
shift user Neousys password：12345678
nVidia password：nvidia

3.2 CAN 数据获取 Obtaining CAN Data

1) 如下图，检查数据 can 口是否正常（保证底盘和工控机正常通讯）。
输入：candump can0
As shown in the following figure, check whether the CAN data interface is normal (to ensure
the normal communication between the chassis and the IPC)，INPUT：candump can0。Please refer
to the picture below, check the CAN data interface to make sure chassis and IPC work normally,
and then input: candump can0.

异常情况处理，can 卡驱动未激活处理方法，确保线束已经连接好。Handle the abnormal

situation: when the can card driver is not activated, please check and ensure that the wiring
harness is properly connected.
a. 集合诚工控机 JHCTECH Industrial Personal Computer
在 该 目 录 /home/EMUC_B202_SocketCAN_driver_v3.2_utility_v3.1_20210302 下 执 行 ；
Operating directory:/home/EMUC_B202_SocketCAN_driver_v3.2_utility_v3.1_20210302

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sudo ./start.sh ；
输入密码：11111111 ；input Password：11111111

a. 宸耀工控机 Neousys Industrial Personal Computer

在该目录~/Downloas/B202 下执行； Operating directory:Downloas/B202

sudo ./start_2p.sh；
输入密码：12345678；Input Password：12345678；

3.3 激光雷达 Lidar

将工控机 IP 设置为：192.168.1.102，设置后才能用网口和激光雷达通信，设置方法如下图。
Please refer to the picture below and set the industrial personal computer’s IP as 192.168.1.102.

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3.4 相机 Camera

检查相机：进入 Spinview 软件进行相机测试, 点击相机 IP 号：192.168.1.81，再点击右边的

三角形开始键打开相机，相机能正常摄像即可。Camera checking: Enter Spin view software to

test the camera. Click the IP address of the camera: 192.168.1.81, and then click the triangle button
on the right to open the camera to check if the camera could work normally.

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4. 组合导航（华测 CG-410）使用 Use Method of Integrated

Inertial Navigation (CHCNAV CGI 410)

4.1. 组合导航数据连接和登录 RTK Integrated Inertial navigation data

connection and login RTK

使用前需要按照 2.4 组合惯导（CGI-410 华测惯导）安装 并连接线束

Install and connect wiring harness according to Section 2.4 “Installation of integrated inertial
navigation (CHCNAV Inertial Navigation CGI-410)” before using

1.数据连接 Data connecting

这里用 RS232 转 USB 连接工控机来传输数据，是因为 ROS 驱动是驱动 ttyUSB 来获取组
合导航信息的，连接后启动设备，输入指令安装串口调试工具：sudo apt install cutecom，然
后检测组合惯导数据 USB 是否连接到工控机。An RS232 to USB cable is required to transfer
Integrated inertial navigation’ s data to the Industrial Personal Computer. After connection, start the
device, enter the command to install the serial debugging tool: “sudo apt install cutecom”, and then
detect whether the integrated inertial navigation’s data USB is connected to the Industrial Personal
Computer.

安装串口调试工具 Install the serial port debugging tool

USB 数据连接成功 The USB data is connected

2.组合导航联网 Integrated inertial navigation connect to internet

组合导航插入物联网卡后设备可上网，可连接基站、登录 RTK。安装网卡时要切断电源。

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物理网卡流量套餐：建议每月包含 1G~2G 流量，物联网卡需要联系电信服务商购买，移动、

联通、电信均可。After inserting network card, the Integrated inertial navigation could connect to
the Internet, also could connect to the base station and login RTK. (Notes: when insert the network
card please turn off the power, the users need to prepare the network card)

安装网卡 Network card inserting

(1) 将具有 WIFI 功能的电脑连接组合惯导的 WIFI，密码：12345678，在浏览器输入惯导 IP：

192.168.200.1，用户名：admin，密码：password，保存并登录。Connect the computer with
WIFI function to Integrated inertial navigation’s WIFI, password: 12345678, enter Integrated
inertial navigation IP address: 192.168.200.1, user name: admin, password: password, save and
log in.

(2) 打开网络设置→移动网络设置，填写 APN 等信息（需要物联网卡的 APN 信息，联系卡

商可以获取），点击挂断，然后重新拨号，等待拨号成功后显示连接成功即可。open network
Settings → Mobile network Settings, fill in the information such as APN (you need the APN
information of the Internet of Things card, contact the card provider to get it), click Hang up,
and dial again, and wait for the successful dialing to show that the connection is successful.

点击摘要，也可查看移动网络连接是否成功。Click the summary to see if the network is connected.

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3.登录 RTK（差分定位）Login RTK (Differential Positioning)

RTK 定位比单点定位更加准确，提高了定位精度，使用前需联系当地服务商购买定位服
务。RTK is more accurate than single point locating and improves locating accuracy. Before using
the RTK, please contact the local service provider to purchase the locating service.
(1) 登录 RTK 之前先检查设备注册是否过期，步骤：点击左侧固件→接收机注册，如果设备
注册过期，请联系 PIX MOVING 售后人员获取新的注册码，然后注册。Check whether the
registration of the device has expired before logging in to RTK. Step: Click Firmware →
receiver registration on the left. If the registration of the device has expired, please contact PIX
MOVING after-sales staff to obtain a new registration code and then register.

(2) 点击 I/O 设置 → 点击 RTK 客户端的连接 → 点击获取，源列表中出现多个频率段表示

联网成功，选择 AUTO → 输入 RTK 账号 → 点击确定，RTK 显示已登录。
Click I/O Settings → Click RTK client Connection → Click Obtain. Multiple frequency
segments appear in the source list, indicating successful networking. Select AUTO → enter
RTK account → click OK, and RTK displays login.

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(3) 登录成功后，配置串口：点击串口 C → 点击设置 → 选择波特率（建议选择小一点，如

115200），这里我们用的数据接口是串口 C。After login, configure the serial port: click serial
port C → Click Settings → select baud rate (it is recommended to select a smaller value, such
as 115200). The data interface we use here is serial port C.

(4) 设置左侧惯导 → 点击惯导配置，设置串口 C，串口传输数据，网口进行通信，输入类

型：差分数据，GPGGA：100Hz，点击保存。Set the left inertial navigation guide → click
inertial navigation configuration, set serial port C, serial port for data transmission, network
port for communication, input type: differential data, GPGGA: 100Hz, click save.

导航的联网和登录账号结束，下面进行导航的参数配置。The networking and login account of

the navigation is over, and the parameter configuration of the navigation is performed below.

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4.2. 组合导航的参数设置 Parameters Setting of Integrated inertial navigation

(1) 点击左侧惯导 → 点击惯导配置，工作模式选择低速，杆臂值设置，设置完成后保存; Click
on the left Inertial navigation → click on inertial navigation Configuration, select low speed for
working mode, set level arm value, and save after setting.

杆臂值只需要填写上图红框中的数值即可，设置方法如下：（1）定位天线到后轮中心杆臂：
分别为 xyz，左右方向为 x，前后方向为 y，上下方向为 z，单位为 m。例如：天线在后轮
中心的左边 0.3 米（一般放在车子中心线，则为 0），前面 0.5 米，上面 1 米，输入值则
为 0.3，-0.5，-1。（2）惯导到 GNSS 定位主天线杆臂：分别为 xyz，左右方向为 x，前后
方向为 y，上下方向为 z，单位为 m，定位天线在设备的右前上为正。The lever arm value only
needs to fill in the value in the red box in the above figure. The setting method is as follows: (1)
Locate the antenna to the center level arm of the rear wheel, which are xyz respectively, x in the left
and right direction, y in the front and back direction, z in the up and down direction, and the unit is
m.. For example, if the antenna is 0.3 meters left of the center of the rear wheel (generally placed on
the center line of the car, it is 0), 0.5 meters in front of it, and 1 meter above it, the input value is 0.3,
-0.5, -1. (2) The main antenna arm of inertial navigation to GNSS locating: xyz, x in the left and
right directions, y in the front and back directions, z in the up and down directions, unit is m, and
the locating antenna is positive on the upper right front of the equipment.

4.3. 导航和 IMU 的标定 Calibration of navigation and IMU

想要组合导航输出【融合信息】，需要对设备进行【标定】。参数设置完成，开始进行
行车标定，标定只需要一次，第一次标定好，以后都不需要标定，但是修改参数就需要重新
标定。大约 5 到 10 分钟。标定步骤：If you want to Integrated inertial navigation output [fused
information], you need to calibrate the device. After the parameter setting is completed, the running
calibration is started. The calibration only needs one time. If the first calibration is good, it does not
need to be calibrated in the future, but if the parameter is modified, it needs to be calibrated again.
About five to ten minutes. Calibration steps:
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(1) 组合导航参照 2.4 组合惯导（CGI-410 华测惯导）安装，安装到底盘；The Integrated inertial

navigation is installed on the chassis by referring to Section 2.4 “Installation of integrated
inertial navigation (CHCNAV Inertial Navigation CGI-410)”
(2) 设置好组合导航的参数，参照 4.1 组合导航数据连接和登录 RTK，4.2 组合导航的参数设
置；Please set the parameters of Integrated inertial navigation by referring to Section 4.1
“Integrated Inertial navigation data connection and login RTK” and Section 4.2 “Parameters
Setting of Integrated inertial navigation”.
(3) 使用遥控控制小车，使得底盘行驶起来。速度大于 2km/h、速度时快时慢，直线行驶，然
后 8 字形或转圈行驶。Using the remote control to control the chassis, to make the chassis
drive up. The speed is greater than 2km/h. The user could adjust the speed is fast and slow,
driving in a straight line, and then driving in figure-of-eight or turning circles.

标定技巧。连接 wifi 的电脑，不能离得太远；将小车移动到户外，且周围无较高障碍物

遮挡，尽量选择空旷的地方；参数设置并保存好后，先将组合导航下电，几秒后再上电，然
后再点击惯导参数保存按钮。如果【初始化】还是没有出现，更换 RTK 端口试试。Calibration
method: The computer connected to WIFI should not be too far away; move the car outdoors, and
there are no high obstacles around, try to choose an open place; after parameter setting and saving,
first turn off the Integrated inertial navigation’s power, turn on the power a few seconds later, and
then click the Integrated inertial navigation parameter save button. If initialization still does not
appear, try replacing the RTK port.

标定好后的状态如下图：The calibrated Integrated inertial navigation state is shown in the

figure below:

4.4. Autoware-GNSS 定位 Autoware-GNSS Positioning

(1) 修改 autoware 定位模块 Modify the autoware positioning module

1) 终端进入 autoware-xx/src/autoware/commonn/gnss/src ；

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Enter “autoware-xx/src/autoware/commonn/gnss/src” from the terminal
2) 在 201 行添加以下代码：
Add the following code to line 201:
else if (num == 100)
{ lon_deg = { Latitude (degree) of your location };
log_min = { Latitude (minute) of your location };
lat_deg = { Longitude (degree) of your location };
lat_deg = { Longitude(minute) of your location }; }
3) 回 到 autoware 根 目 录 使 用 colcon build
--packages-select gnss 重新编译这个 package；
Go back to the autoware root and recompile the package using colcon build --packages -- select
gnss
4) 输入 rosed runtime_manager computing.yaml 修改 autoware 图形界面的配置；Open the
autoware GUI management page and enter the command: rosed runtime_manager
computing.yaml to modify the configuration of the autoware GUI
5) 在 1405 行的 list 中添加{‘100’}，
如图所示 。Add {' 100 '} to list on line 1405, as shown below

(2) 实⻋定位录制 rosbag Real vehicle positioning recording in Rosbag

1) 在确保之前的配置全部取消的情况下（主要保证没有数据在回放），在[Setup]下点击[TF]
按钮，并确定 Localizer 选项位于[Velodyne]处，同时确保参数配置正确。In the case of
ensuring that all previous configurations are canceled (mainly to ensure that no data is being
played back), click the [TF] button under [Setup], and make sure that the Localizer option is
located at [Velodyne], and ensure that the parameter configuration is correct.

2) 在[Map]中加载之前建立的 PCD 地图和 TF 文件并加载生效。 Load the PCD Map and TF

file created before in [Map] and load it into effect.
3) [Sensing]下点击[Velodyne VLP_16]启动 VLP16 Velodyne 激光雷达。Click on [Velodyne
VLP_16] under [Sensing] to start the VLP16 Velodyne Lidar.

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4) [Sensing]下点击 Serial GNSS，设置正确的设备号与波特率（导航设备的配置，可参见导

航设备配置页面） Click on Serial GNSS under [Sensing] and set the correct device number
and baud rate (for navigation device configuration, see Navigation device configuration page)
5) [Sensing]下找到[voxel_grid_filter]选项并勾选。Find [voxel_grid_filter] under [Sensing] and
select it

6) [Computing]下找到[nmea2tfpose]选项，打开[app]，[Planne number]选择 100，点击[OK]

保存并勾选该节点 Find the [nmea2tfpose] option under [Computing], open [app], select 100
for [Planne number], click [OK] to save and tick the node.

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7) 找到[Computing]下的[ndt_matching]选项，打开[app]，确保[topic:/config/ndt]选项处于
[Initial Pose]处，如果有 GPU 则把[Method Type]更改为[pcl_anh_gpu]，退出并勾选
ndt_matching。Find [ndt_matching] in [Computing], open [app], and make sure that
[topic:/config/ndt] is in [Initial Pose]. If there is a GPU, change [Method Type] to
[pcl_anh_gpu], exit, and select ndt_matching.
8) 打开[Rviz]，
默认显示或使用自编辑保存的 Rviz 均可。Open [Rviz], default display or use the
self-editing saved Rviz.
9) 打开配置文件后，会出现与用 Bag 文件模拟定位时的类似显示，但可能由于初始位置与
Map TF 有一定的距离，所以导致定位晃动而无法准确与地图匹配，这时需要借助 Rviz
中的[2D Pose Estimate]箭头进行辅助定位。 After opening the configuration file, the display
similar to that when simulating positioning with Bag file will appear. However, due to a certain
distance between the initial location and Map TF, the positioning will be shaken and cannot be
matched accurately with the map. In this case, the [2D Pose Estimate] arrow in Rviz is needed
for auxiliary positioning.

10) 如果出现定位偏差，则用 2D Pose Estimate 箭头进行辅助定位，其中箭头尾部代表真实车

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辆的当前大概位置，箭头表示车辆的车头朝向。In case of locating error, 2D Pose Estimate

arrows are used to assist locating, in which the tail of the arrow represents the current
approximate location of the real vehicle, and the arrow indicates the direction of the front of the
vehicle.
11) 点云与点云地图匹配之后打开/ndt_pose 和/gnss_pose 两个 topic，控制车辆持续移动，保
持地图持续匹配，录制大概 3 分钟时间即可停止，保存 rosbag。After the point cloud is
matched with the point cloud map, the /ndt_pose and /gnss_pose topics are opened to control
the continuous movement of vehicles and keep the map continuously matched. The recording
can be stopped after about 3 minutes and rosbag is saved.
(3) 通过 rosbag 计算旋转变换矩 Calculate the rotation transformation moment by rosbag
1) 修改[~/geo_extract_bag.py]文件里的[bn]参数，替换成为刚才录制的 rosbag 的地址。Change
the [bn] parameter in the [~/geo_extract_bag.py] file, replacing it with the address of the rosbag
you just recorded.

2) 运行，得到旋转变换矩阵。 Run to obtain the rotation transformation matrix.

3) 将 上 一 步 得 到 的 旋 转 变 换 矩 阵 替 换 到 geo_pose_conv.cpp 中 。 Replace the rotation
transformation matrix obtained in the previous step into geo_pose_conv.cpp.
4) 重新编译 gnss package。Recompile the gnss package

注意替换部分：Note the substitution part

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(4) 实车使用 GNSS 辅助定位 The real vehicle uses GNSS assisted positioning
1）在确保之前的配置全部取消的情况下（主要保证没有数据在回放），在[Setup]下点击[TF]
按钮，并确定 Localizer 选项位于[Velodyne]处，同时确保参数配置正确。Click the [TF] button
under [Setup], make sure the Localizer option is located at [Velodyne], and make sure the
parameters are configured correctly, while ensuring that all previous configurations are cancelled
(mainly to ensure that no data is being played back).

2）在[Map]中加载之前建立的 PCD 地图和 TF 文件并加载生效。 Load the PCD Map and TF file
created before in [Map] and load it into effect.
3）[Sensing]下点击[Velodyne VLP_16]启动 VLP16 Velodyne 激光雷达。 Click on [Velodyne
VLP_16] under [Sensing] to start the VLP16 Velodyne Lidar.

4) [Sensing]下点击 Serial GNSS，设置正确的设备号与波特率（导航设备的配置，可参见导航

设备配置页面）Click on Serial GNSS under [Sensing] and set the correct device number and baud
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rate (for navigation device configuration, see Navigation device configuration page)
5）[Sensing]下找到[voxel_grid_filter]选项并勾选。 Find the [voxel_grid_filter] option under
[Sensing] and tick it.
6）[Computing]下找到[nmea2tfpose]选项，打开[app]，[Planne number]选择 100，点击[OK]保
存并勾选该节点 。Launch [nmea2tfpose] option in [Computing], open [app], select 100 for
[Planne number], click [OK] to save and tick the node.

7）找 到 [Computing]下的[ndt_matching] 选项，打开[app]，确保[topic:/config/ndt] 选项 处 于

[GNSS Pose]处，如果有 GPU 则把[Method Type]更改为[pcl_anh_gpu]，
退出并勾选 ndt_matching。
Find [ndt_matching] in [Computing], open [app] and make sure [topic:/config/ndt] is in [GNSS
Pose]. If there is a GPU, change [Method Type] to [pcl_anh_gpu]. Exit and tick ndt_matching.

8）打开[Rviz]，可看到使用 gnss pose 在辅助激光雷达进行定位。Open [Rviz] and you can see the
gnss pose used in the auxiliary Lidar for positioning.

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5. 底盘控制指令下发 Chassis Control Commands Issuing

这章是基于 ROS 1 的 PIX-driver 控制指令的使用。This chapter is based on the use of the

PIX-driver control instructions for ROS 1

5.1 准备事项 Preparations

注意：Notice:
 操作前需要把车架起来，保证车轮悬空，车体稳定，以防车轮着地窜出；Before operation,
the chassis needs to be framed to ensure that the wheels are suspended and the body is stable to
prevent the wheels from landing and jumping out;
 测试车辆时不能有人或物靠近车辆，保证测试安全；When testing the vehicle, no one or
anything can approach the vehicle to ensure the safety of the test;
 测试时，将遥控器开机放置在方便使用的地方，发生紧急情况下可以按下遥控器急停，
使车辆停下。During the test, turn on the remote control and place it in a convenient place. In
case of emergency, you can press the remote control to make an emergency stop to stop the
vehicle
 使用前请了解命令的使用和解析，参考《PIX_自动驾驶 CAN 协议》。Please understand the
use and analysis of commands before use, refer to "PIX_Automatic Driving CAN Protocol".

5.2 加载终端 Terminal Loading

(1) 打开终端：candump can0，输入指令查看工控机与底盘通讯是否正常。Open the terminal:

candump can0 and input instructions to check whether the communication between the
industrial computer and the chassis is normal.

(2) 启动 pix_driver：roslaunch pix_driver pix_driver.launch。

Start pix_driver：roslaunch pix_driver pix_driver.launch.

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(3) 启动 socketcan_bridge：roslaunch socketcan_bridge socketcan_bridge.launch。

Start socketcan_bridge：roslaunch socketcan_bridge socketcan_bridge.launch.

(4) 启动 ros 工具：rosrun rqt_publisher rqt_publisher。

Start ros tool：rosrun rqt_publisher rqt_publisher.

(5) Topic 添 加 勾 选 以 下 话 题 ： brake_command 、 gear_command 、 park_command 、

throttle_command 、vehicle_command， 然后 rate 改为 100。

Topic -Add and tick the following topics: brake_command, gear_command, park_command,
throttle_command, vehicle_command, and change rate as 100.

5.3 控制车辆 Chassis Control

（gear_en_ctrl）、
点击左侧三角展开，然后将（brake_en_ctrl）、 （park_en_ctrl）、
（steer_en_ctrl）、
（drive_mode_ctrl）赋值为 1，给车使能。Click on the left triangle to expand,
（throttle_en_ctrl）
then set the value of (brake_en_ctrl), (gear_en_ctrl), (park_en_ctrl), (steer_en_ctrl),
(throttle_en_ctrl) (drive_mode_ctrl) to 1 to activate the chassis.

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(2) 速度控制（vel_target)，速度范围 0-40km/h，需配合模式切换（drive_mode_Ctrl）和档位

(gear_target), 速度值建议由小到大。Speed control (vel_target), speed range 0-40km/h, need
to cooperate with mode switch (drive_mode_Ctrl) and gear (gear_target), speed value is
recommended from small to large.

(3) 输入速度值后，遥控器放权底盘即开始执行命令。举例：vel_target=1，周围安全，遥控
器切换[Self_driving]模式。After entering the speed value, the remote controller is
disconnected and the chassis begins to execute the command. Example: vel_target=1,
surrounding security, remote control switch [Self_driving] mode.

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注意：制动 Brake_Pedal_Target（0~100%制动力）较大值请求不能超过一分钟，容易损坏设
备。Note: Brake_Pedal_Target (0~100% braking force) large value request should not exceed one
minute, easy to damage the chassis.

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6. 数据录制与回放 Data Recording and Playback

6.1 Bag 数据录制 Bag Data Recording

运用激光雷达录制点云地图目的是构建点云地图，为循迹做准备。开始操作前将车遥控
到地图录制的起点。The purpose of using LIDAR to collect data is to create point cloud maps,
making it ready for path following. Before getting started, please drive the vehicle to the starting
point for the map recording by using the remote control.
(1) 启动速腾激光雷达的节点（roslaunch rslidar_sdk start.launch），使用 Rviz 或 rostopic echo
验证激光雷达是否启动成功。
Start the LiDAR node (roslaunch rslidar_sdk start.launch), and use Rviz or rostopic echo to
verify whether the LiDAR is activated successfully.

(2) 打开 Autoware，(roslaunch runtime_ manager runtime_ manager . launch)。

Launch Autoware, (roslaunch runtime_ manager runtime_ manager . launch).
(3) 点击 Runtime manager 右下角 [ROSBAG] 按钮，在弹出的对话框中点击下方点击
[Refresh] 按钮刷新话题列表，找到/points_raw 并勾选，如下图。
Click the [ROSBAG] button in the lower right corner of the Runtime manager, click the
[Refresh] button in the pop-up dialog box to refresh the topic list, find /points_raw and check it,
as shown in the figure below.

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(4) 开始录制。点击 [Start] 按钮，遥控车辆开始录制点云地图,等数据录完，点击 [Stop]，此

时数据会保存在自己定义的目录下。此时，数据录制完毕，关闭/points_raw，关闭 lidar。
Start recording. Click the [Start] button, and then drive the vehicle along the path through
remote control device to start recording the point cloud map. After the data is recorded (the
vehicle finishes driving on the desired path), click [Stop], and the data will be saved in the
self-defined directory. At this point, the data recording is complete, close /points_raw, and close
the LIDAR window.
录制数据注意点：Some tips for data recording:
 录制的时候，速度均匀，拐弯的地方不要猛拐弯；During data recording, the vehicle
speed should be stable, and please don’t make sharp turns around the corners of the road
 录制时，同一个地方录制一遍即可，反复录制会让地图出现重影；During data recording,
please only go through the same path for one time, repeated recording over the same
location/path will cause overlapping on the map and lead to errors
 车辆行驶距离不超过 800m，因为 NDT_mapping 只适合小场景建图。The driving
distance of the vehicle should not exceed 800 meters, because NDT_mapping is only
suitable for small-scale mapping.

6.2 Bag 数据回放 Bag Data Playback

注意：在进行此步骤的时候确保关闭自己的 lidar driver 并且[Sensing]下的传感器驱动关闭。

Note: Make sure to close the LIDAR driver and the sensor driver under [Sensing] before this step.
先讲一下 autoware 的建图坐标系之间的关系，基本坐标系有四类：分别为世界坐标系：
world；地图坐标系：map；车的坐标系 base_link；传感器坐标系：velodyne。他们之间的转
换关系，如下：

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下面开始数据回放。Below are detailed steps for data playback.

(1) 在[Setup]点 TF 按钮，在[Setup]菜单中，确保[Localizer]下选项为[Velodyne]，在[Baselink to

Localizer]中设置好各个参数之后点击 TF 按钮，其中 x、y、z、yaw、pitch、roll 表示实车
雷达中心点与车身后轴中心点的相对位置关系（以车辆向前方向为 x，车辆向左方向为 y，
实车后车轴为原点，如下图）。
Click the TF button in [Setup], in the [Setup] menu, make sure that the option under [Localizer]
is [Velodyne], and then click the TF button after setting each parameter in [Baselink to
Localizer], where x, y, z, yaw, pitch, and roll represent the relative positional relationship
between the center point of the vehicle LiDAR and the center point of the rear axle of the
vehicle (the forward direction of the vehicle is x, the leftward direction of the vehicle is y, and
the rear axle of the real vehicle is the origin, as shown in the figure below).

(2) 在[Map]页面点[TF]，点击[Map]页面，点击[TF]的[ref]选择 autoware/ros/src/.config/tf/

tf_local.launch 文件，这是加载默认 world 到 map 的坐标转换。
Click [TF] on the [Map] page, click the [Map] page, click [ref] under [TF] and select the
autoware/ros/src/.config/tf/tf_local.launch file, which is to load the default “world” to “Map”
coordinate conversion.

(3) 点击进入[Simulaton]页面，点击界面右上方[Ref]按钮，加载之前录制的 bag 文件，点击

[Play] 按钮播放数据，然后立即点击 [Pause] 暂停播放。
Click and enter the [Simulaton] page, click the [Ref] button on the upper right of the interface,
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load the previously recorded bag file, click the [Play] button to play the data, and then
immediately click [Pause] to pause the playback.

(4) 启动 Rviz 可视化窗口。在启动的 Rviz 界面左侧找到[FixedFrame]，修改 world 为 velodyne，

点击 Autoware[Simulation]下的[Pause]按钮，此时在 Rviz 中可以看到之前记录的数据显示
出来。看完后关闭 RVIZ，避免占用内存。
Start the Rviz visualization window. Find [FixedFrame] on the left side of the Rviz interface,
change “world” to “velodyne”, click the [Pause] button under Autoware [Simulation], and the
previously recorded data will be displayed in Rviz. Close RVIZ after reading to avoid memory
occupation.

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7. 简单地图创建与加载 Simple Map Creation and Loading

7.1 PCD 点云地图的创建 Creation of PCD point cloud map

简单地图（小于 100 米）创建与加载。Simple map (less than 100 meters) creation and loading.
(1) 在 [Compulting] 点 击
ndt_mapping，开始建图。
在 [Compulting] 菜 单 栏 中
找到 [lidar_localizer]下的
[Ndt_Mapping] 选 项 ， 设
置 [app] ， 并 勾 选 。
Ndt_Mapping 会有一些设
置需要注意一下，如右图。
Click “ndt_mapping” in
[Computing] to start
mapping. Find the
[Ndt_Mapping] option
under [lidar_localizer] in
the [Computing] menu bar,
set [app], and check it. Ndt_Mapping will have some settings that need to pay attention to, as
shown on the right picture.

(2) Rosbag 播 放 ： 回 到
[Simulaton]页面，然后再
点击 [Pause] 继续播放，
直至完成。

Playing Rosbag: Go back to the [Simulation] page, and then click [Pause] to continue playing
until it’s complete.

注意：右图中的(Process/Input): (1688
/ 1697)，这两个数字前一个数字表示
正在处理的点云帧数，后一个表示加
载的点云帧数。如果两个数字相差过
大，会出现运行错误。如果前后两个
数 字 相 差 1000 以 上 ， 就 要 按

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[Simulaton] 页面的[Pause] 按键，暂停加载，等待一下正在处理的数字，两个数字重新接近

之后，可以再次按 [Pause] 按键运行。运行停止，表示地图生成完毕。
Note:
(Process/Input): (1688 / 1697) in the right picture, the first number indicates the number of point
cloud frames being processed, and the latter number indicates the number of loaded point cloud
frames. If the two numbers differ too much, a runtime error will occur. If the difference between the
two numbers is more than 1000, click the [Pause] button on the [Simulaton] page to pause the
loading and wait for the number being processed. When the two numbers are running close again,
please click the [Pause] button to run once again. When the processing stops, the map generation is
complete.

(3) 导出 PCD，打开[Compulting]下的[Ndt_Mapping]选项的 [app]，如果 pcl_anh_gpu 用不了，

更换【pcl_generic】如下所示：

Export PCD, open [app] of [Ndt_Mapping] option under [Computing], if pcl_anh_gpu cannot
be used, replace [pcl_generic] as follows:

(4) 点击 [ref] 选择保存地图的路径，将 [Filter Resolution] 参数设置为 0.2，点击 [PCD

OUTPUT]按钮，开始保存 pcd 文件。此时，可以在保存的路径里看到一个.pcd 文件，该
文件就是地图文件。
Click [ref] to select the path to save the map, set the [Filter Resolution] parameter to 0.2, and
then click the [PCD OUTPUT] button to start saving the pcd file. At this point, a .pcd file in the
saved path can be seen, which is the map file.
最后，关闭 autoware 和 ros 软件。After all the steps, close the autoware and ros software.

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7.2 PCD 点云地图的加载 Loading of PCD Point Cloud Map

(1) 查看地图文件。重启 autoware，选择 Runtime manager 的 [Map] 菜单，点击 [Point Cloud]

按钮的 [ref]，加载刚才保存.pcd 文件，并点击 [Point Cloud] 按钮，进度条显示 OK，则
加载完毕，如下所示：
Check and view the map file. Launch Autoware, select the [Map] menu of the Runtime
manager, click the [ref] of the [Point Cloud] button, load the .pcd file saved during previous
steps, and click the [Point Cloud] button, and the loading is complete when the progress bar
shows OK, as in the pic below :

(2) 去[Setup]界面点击 TF 后回到 map 界面点击 TF 然后点击 runtime manager 右下角的

[RViz] ，在 RViz 显示界面，可以在 rviz 中显示，到此为止，点云地图制作完毕。
Go to the [Setup] interface and click TF, then return to the map interface, click TF, and then
click [RViz] in the lower right corner of the runtime manager. On the RViz display interface, the
map will be displayed, which marks the completion of the point cloud map building.

7.3 点云地图评价 Point Cloud Map Evaluation

点云地图评价总结为以下几点: The point cloud map evaluation is summarized as follows:

 地图是否扭曲变形 Is the map distorted?
 地图在闭合处 z 方向是否对齐 Whether the z direction of the map is aligned at the closed
point (the starting/end position)
 扫描在墙壁上的点是否很粗 Whether the points of the recorded wall data is very thick
 扫描在树木上的点是否有重影 Whether there are overlapping images/points for the
recorded tree data
world 到 map 的坐标系转换与从 base_link 到 velodyne 的坐标系转换是固定的，用 ROS
的 TF 即可。从 map 到 base_link 的映射就需要 scan-to-map 的算法，autoware 在建图采用的是

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ndt mapping。
The coordinate system conversion from “world” to “map” and the coordinate system
conversion from “base_link” to “velodyne” are fixed, using TF of ROS will work. The mapping
from “map” to “base_link” requires a scan-to-map algorithm, and Autoware uses “ndt mapping” for
map creation.

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8. 矢量地图绘制 Vector Map Building

本章主要讲解绘图软件的安装和行车路线图的绘制。This session mainly explains the

installation of vector map software and the drawing of driving paths.

8.1. Unity 绘图软件的安装 Installation Of Unity Drawing Software

(1) 先下载 Unity hub 软件，可以在官网里下载 https://unity.cn/releases 下载安装位置路径名

称不能有中文或者空格。本节介绍的是基于 Windows 系统下的安装和使用。
Download the Unity hub software, which can be downloaded from the official website:
https://unity.com/releases/release-overview. The path name of the download and installation
location cannot contain Chinese or spaces. This section introduces the installation and use of
the software in Windows system.

(2) 进入 unity 可以进入设置页面更改语言，点击安装编译器版本（推荐版本 2020.3.36f1）)

Enter Unity, the language can be selected under the settings page. Click to install the compiler
version (recommended version 2020.3.36f1)

(3) 下载编译器完成后可以创建项目，点击新项目，选择 3D 模型，编辑项目名称和地址（项

目名称和位置路径名称不能有中文或者空格），点击创建项目。
After downloading the compiler, a project can be created. Click New Project, select the 3D
model, edit the project name and location (the project name and location path name cannot
have Chinese or spaces), and then click Create Project.

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(4) 创建好的项目，点击打开。Click and open the created project.

8.2. 地图导入 Map Loading

(1) 打开项目后，可以进入项目添加工具， 在 Window 中选 Package Manage。

After opening the project, enter the project and add tools, and select “Package Manage” in
Window.

(2) 点击 add package from disk 。Click “Add package from disk”
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(3) 将 MapToolbox 里的 package.json 文件添加，注意安装位置路径名称不能有中文或者空格。

Add the “package.json” file from MapToolbox. Please note that the path name of the
installation location cannot contain Chinese characters or spaces.

(4) 进入以下界面则表示正常，开始导入地图。

If the following interface shows up, it indicates no errors. Get started to load the map.

(5) 接下来把录制的 pcd 地图导入编译器中，可以直接拖动放入，也可以点击添加。

Load the recorded pcd map into the compiler, drag and drop, or click to add.

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(6) 将地图拖动到 sampleScene 目录下，可以看到点云信息。

Drag the map to the sampleScene directory, and the point cloud information will be displayed.

8.3. 路线绘制 Draw Path On The Map

(1) 右击 sampleScene 下 autoware，在 autoware 里选 autowareADASMap。

Right-click “autoware” in the sampleScene menu, and select autowareADASMap in
“autoware”.

(2) 接下来，在 autowareADASMap 里，选中右侧[Add lane]。

Next, in “autowareADASMap”, select [Add lane] on the right column.

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(3) 左侧目录点击 ADASGoLane 选项即可以按照教程画图，点击右侧坐标系可以该表视角。

Click the “ADASGoLane” option on the left side of the list to start drawing the path in the map.
Click on the coordinate system on the right side to view the map in different angles.

(4) Before 是起点，After 是箭头所指方向，X、Y、Z 都是可以拖动，调整 X 和 Y 绘制路线，

转折点的地方点击 AddAfter 添加 lane，Z 贴近地面即可。

“Before” is the starting point, “After” is the direction pointed by the arrow. X, Y, Z can be dragged,
adjust X and Y to draw the path, click “AddAfter” to add lane at the turning point, and Z should be
close to the ground.

(5) 在 Autoware 中跑闭环轨迹时，通常需要绘制两组线段，形成闭环。此时需要点击

collectionlane ， 再 点 击 右 侧 Add lane 添 加 新 的 ADASGoSlicesLane ， 点 击 新 的
ADASGoSlicesLane 下的 ADASGoLane 继续划线。这里注意新路线的起点和上一段路线
终点首尾相连，连接方法是复制右侧坐标中上一段路线的终点 X、Y、Z 坐标到新的起点

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坐标里。在重点闭合时也是同样的方法。
When running a closed-loop trajectory in Autoware, it is usually necessary to draw two sets of
lane segments to form a closed loop. In this case, click “collectionlane”, then click “Add lane”
on the right to add a new ADASGoSlicesLane, and click ADASGoLane under the new
ADASGoSlicesLane to continue drawing the path. Please note that the starting point of the new
path is connected/overlapped with the end point of the previous path. The connection method is
to copy the X, Y, and Z coordinates of the end point of the previous path to the new starting
point coordinates of the new path. The same method is used to close the map joints.

(6) 拐角处的曲线绘制。在实际地图中拐弯的地方一般都比较圆滑，所以我们需要将直角切
割画弧已得到较好的路线。一般的方法是我们在绘制路线时在路线拐角的地方先绘制一
条类似于上面长方形的一条边的直线，然后一一处理，处理的方法如下：
Curve drawing at the turning corner. In the physical environment, the turning corners of the
roads are generally smooth, in the vector map building process, we need to cut the right angle
to make it arc-shaped so the map corner will be smooth, aligning with the physical environment.
The common practise is to draw a straight line at the corner of the path, and then trim the lane
step by step.The detailed steps are as follows:

选中拐角的线段，点击 Subdivision，线的中间出现两个小坐标系，拖动形成弧线后点击
右侧 Normal Way。
Select the line segment at the corner, click “Subdivision”, two small coordinate systems appear
in the middle of the line, drag to form an arc and click “Normal Way” on the right.

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(7) 同样方法处理完其他拐角线段后，同样，非拐角的线也要选中，点击 Subdivision，点击

Normal Way，路线绘制完成。

Please process other corner line segments in the same way. For non-corner lines, they should
also be selected, then click “Subdivision”, then click “Normal Way”, and the path drawing is
completed.

(8) 保存文件，点击 AutowareADASMap，点击 Save，选择文件夹保存文件。

Save the file. Click AutowareADASMap, click Save, and select a folder to save the file.

简单地图绘制完成导出文件，接下来进行实车测试。
The simple map drawing is completed and the file export is completed. The next step is running
the physical vehicle under the vector map.

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9. 点云滤波 Point Cloud Filtering

9.1 体素滤波 Demo Voxel filtering Demo

点云滤波：启动点云下采样 voxel_grid_filter。
Point Cloud Filtering: Start point cloud down sampling “voxel_grid_filter”
(1) 点击 sensing 下的【voxel_grid_filter】。对激光雷达的原始点云进行降采样，⽬的是为了
提取特征, 减少 ndt_matching 的计算量，点击[app]，设置[Voxel Leaf Size] 参数值为 2，
意义是 2 米的立方体内的全部点近似用 1 个质心代替，
[Measurement Range]的参数值为 2，
意义是点云的有效的距离为 200 米。
(1) Click [voxel_grid_filter] under sensing. Down sampling the original point cloud of the lidar is to
extract features and reduce the calculation amount of ndt_matching. Click [app] and set the
parameter value of [Voxel Leaf Size] to 2, which means all points within a 2-meter cube It is
approximately replaced by 1 centroid, and the parameter value of [Measurement Range] is 2, which
means that the effective distance of the point cloud is 200 meters.

(2) 点击 voxel_grid_filter 后，在 rviz 里更换 Fixed Frame 为 velodyne，并在 rviz 里 sensing 下
更换 topic 为/filtered_points。
(2) After clicking “voxel_grid_filter”, replace “Fixed Frame” with “velodyne” in rviz, and replace
topic with “/filtered_points” under sensing in rviz.

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可以看到点云体素过滤的点云后的效果。The effect of point cloud filtered by point cloud

voxel can be seen

9.2 地面滤波 Demo Ground filtering Demo

启动 ray_ground_filter。是对降采样后的点云进行点云地面过滤，将地面点和非地面点
进行分离。没有启动地面过滤之前的点云图像如下。
Start “ray_ground_filter”. It is to perform point cloud ground filtering on the point cloud after
downsampling, and separate ground points and non-ground points. The point cloud image without
ground filtering is as follows.

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也可以输入节点 roslaunch ray_filter_ground ray_filter_groundr.launch 启动。

You can also enter the node “roslaunch ray_filter_ground ray_filter_groundr.launch” to start.

启动 ray_ground_filter 之后的效果。The effect after starting “ray_ground_filter”.

Recommended reference documents:

https://blog.csdn.net/m0_57579469/article/details/122159235?spm=1001.2014.3001.5502

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10. 定位和目标检测 Positioning and Target Detection

10.1 定位 Positioning

本节是基于 NDT 的实车定位（传感器加载和车辆定位），定位 NDT_matching 之前车尽

量放在录制地图的初始点。
This section is based on NDT-based real vehicle positioning (sensor loading and vehicle
positioning). Before positioning “NDT_matching”, the vehicle should be placed at the initial point
of the recorded map as much as possible.
(1) 点击 computing 下的[NDT_matching]，设置[app]，注意使用的不是 GNSS，点击 OK。
(1) Click [NDT_matching] under computing, set [app], note that GNSS is not used, click OK.

可以这样来做一个通俗的理解：NDT 把我们所处的三维世界按照一定长度的立方体(比如
30cm*30cm*30cm)进行了划分,类似于一个魔方，每个立方体内并不是存储一个或一些确切的
点,而且存储这个立方体被占据的概率密度，当接收到需要匹配的点云时，也按照这样的划分
方式进行划分，然后进行配准。
A popular understanding can be done like this: NDT divides the three-dimensional world we
live in into cubes of a certain length (such as 30cm*30cm*30cm), similar to a Rubik's cube, each
cube does not store one or some exact points, and The probability density of the cube being
occupied is stored, and when the point cloud to be matched is received, it is also divided according
to this division method, and then registered.

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NDT 具有以下的特征：NDT has the following features:

 支持更大的地图，更稠密的点云 --因为最终还是要划分成 voxel 的形式。Support for
larger maps and denser point clouds - because in the end it still needs to be divided into
voxel form.
 相比于 ICP 等基于点的匹配算法,速度更快。Compared with point-based matching
algorithms such as ICP, it is faster.
 更加容忍环境的细微变化。More tolerance of small changes in the environment.
关于 NDT 原理详细的数学推导，可以参考 AdamShan 的博客 CSDN 或直接参考原论文
《The Normal Distributions Transform: A New Approach to Laser Scan Matching》。For a detailed
mathematical derivation of the NDT principle, you can refer to AdamShan's blog CSDN or directly
refer to the original paper "The Normal Distributions Transform: A New Approach to Laser Scan
Matching".
(2) 接下来，通过打开 rviz 可以查看，在 [file] 菜单中的 [Recent Configs] 选择路径：
~/Downloads/open_planer.rviz 的文件 更换 rviz 里的 Recent Configs 如图。
Next, you can view it by opening rviz,
and select the path of [Recent Configs]
in the [file] menu:
~/Downloads/open_planer.rviz to
replace the Recent Configs in rviz as
shown in the figure.

(3) 车尽量放在录制地图的初始点，如果发现 PCD 地图和激光雷达扫描的点不重合，需要我

们手动给它一个初始位置，点击【2D pose Estimate】，然后大概找到车所在地图位置包
括朝向，找到位置后鼠标左键按住然后可以旋转调节车箭头方向使和地图重合。
The chassis should be placed at the initial point of the recorded map as much as possible. If it is
found that the PCD map does not coincide with the point scanned by the lidar, we need to
manually give it an initial position, click [2D pose Estimate], and then roughly find the position
of the chassis on the map, including Orientation, after finding the location, hold down the left
mouse button and then rotate and adjust the arrow direction of the car to coincide with the map.

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(4) 点击 Computing 下的【ekf_localization】拓展卡尔曼滤波器，让 NDT macthing 定位更准

确。Click [ekf_localization] under Computing to expand the Kalman filter to make the
positioning of NDT macthing more accurate.

(5) 点击 computing 下的【vel_pose_connect】右侧的 app 按钮，在弹出的界面中确定没有勾选

Simulation_Mode，退出并勾选 vel_pose_connect。Click the app button on the right side of
[vel_pose_connect] under computing, make sure “Simulation_Mode” is not ticked in the
pop-up interface, exit and tick “vel_pose_connect”.

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10.2 目标检测 Target Detection

基于激光雷达的目标检测 Demo（只展示流程和功能，不对性能进行承诺或保证）。
Demo of target detection based on lidar (only shows the process and function, no promise or
guarantee of performance).
(1) 跟随前一章节继续，点击 computing 下的[lidar_euclidean_cluster_detect]（对非地面点进行
聚 类 ， 目 标 检 测 ） 。 Continue following the previous chapter, click
[lidar_euclidean_cluster_detect] under computing (clustering non-ground points, target
detection).

基 于 欧 氏聚 类的改进激光雷达障碍物检测方法推荐文档：Recommended documents for

improved lidar obstacle detection method based on Euclidean clustering:

https://www.opticsjournal.net/Articles/OJ1279646d92f5b1ba/FullText

(2) 打开 Computing 下的【imm_ukf_pda_track】激光雷达追踪。Open [imm_ukf_pda_track] lidar

tracking under Computing.

Open [imm_ukf_pda_track] lidar tracking under Computing. Open [imm_ukf_pda_track] lidar

tracking under Computing.

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推荐资料：Recommended information:

https://autoware.readthedocs.io/en/feature-documentation_rtd/DevelopersGuide/PackagesAPI/
detection/lidar_imm_ukf_pda_track.html

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11. 路径规划与车辆行驶 Path Planning & Vehicle Driving

11.1 运行前准备 Preparation before operation

使用前务必阅读并清楚 13.安全使用注意事项。
Be sure to read and understand Chapter 13. “Precautions for safe use" before use.

运行流程：Running process:
(1) 参照 3.传感器的数据获取（基于 ROS）检查基础硬件是否正常。
(1) Refer to Chapter 3. “Sensor data acquisition (based on ROS)” to check whether the basic
hardware is normal.
(2) 启动雷达和 autoware。车放在录制地图的起点，方便初始定位。启动雷达（roslaunch
rslidar_sdk start.launch），通过输入指令 rviz 打开（可视化界面），启动 autoware(roslaunch
runtime_ manager runtime_ manager . launch)。
(2) Start the Lidar and autoware. The chassis is placed at the starting point of the recorded map to
facilitate initial positioning. Start the radar (roslaunch rslidar_sdk start.launch), open it by entering
the command rviz (visual interface), and start Autoware (roslaunch runtime_ manager runtime_
manager . launch).

(3) 加载地图。点击 setup 下的【TF】，点击 MAP 下的【point cloud】、

【Vector map】、【TF】
加载创建好的 pcd 地图、绘制的矢量地图 vector map（自己画好的规划线）、TF 关系点
击 [Map] 页面，点击 [TF] 的 [ref] 选择 autoware/ros/src/.config/tf/tf_local.launch 文件，
这是加载默认 world 到 map 的坐标转换，打开 tf_local.launch 文件如下）。
(3) Load the map. Click [TF] under setup, click [point cloud], [Vector map], [TF] under MAP to
load the created pcd map, the drawn vector map vector map (planning line drawn by yourself), and
click on TF relationship [Map] page, click [ref] of [TF] to select
“autoware/ros/src/.config/tf/tf_local.launch” file, this is the coordinate conversion from loading the
default world to map, open the “tf_local.launch” file as follows).

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(4) 按照 9.点云滤波 的操作，打开滤波。According to the operation of Chapter 9. “Point Cloud

Filtering”, open the filter.
(5) 按照 10.定位和目标检测 ，打开定位 NDT_matching 和目标检测。According to Chapter 10.
“Positioning and Target detection”, turn on positioning NDT_matching and target detection.
(6) 完成以上操作后，接下来进入路径规划与遥控器放权。After completing the above operations,
proceed to path planning and remote control delegation.

路径规划和控制 Path planning and Control

11.2.1 全局路径规划 Global path planning

(1) 点击 computing 下的【open_global_planner】全局路径。

(1) Click the [open_global_planner] global path under computing.

rviz 可以看到规划的路线。The planned route can be seen in rviz

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(2) 在 rviz 里点击【2D Nav Goal】点击给一个终点目标，出现蓝色的轨迹线表示规划成功。

(2) Click [2D Nav Goal] in rviz and click to give an end goal, and the blue trajectory line will
appear to indicate that the planning is successful.

11.2.2 路径跟随与控制 Path Following and Control

(1) 局部路径规划。Computing 下依次启动【op_common_params】，

【op_trajectory_generator 】，
【op_motion_predictor】，【op_trajectory_evaluator 】，【op_behavior_selector】。
(1) Local path planning. Start [op_common_params], [op_trajectory_generator],
[op_motion_predictor], [op_trajectory_evaluator], [op_behavior_selector] in turn under Computing.

(2) 底盘控制和纯跟踪：Computing 下依次启动【pix autoware bridge】，【pix driver】，【pix

socketcan bridge】底盘控制节点；再点击【pure pursuit】纯跟踪节点，设置运行速度；然

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后点击【twist filter】，对 pure_suit 节点输出的汽车运动速度进行低通滤波，消除杂波使

速度更加平滑。

(2) Chassis control and pure tracking: Start [pix autoware bridge], [pix driver], and [pix socketcan
bridge] chassis control nodes in order under Computing; then click [pure pursuit] pure tracking
node to set the running speed; then click [ Twist filter], perform low-pass filtering on the vehicle
speed output by the pure_suit node, to eliminate clutter and make the speed smoother.

可以看到规划的局部路径（红线部分），前方无障碍物会规划线变绿表示可通行。

You can see the planned local path (the part of the red line), and if there are no obstacles ahead,
the planned line will turn green to indicate that it is passable.

11.3 放权启动自动驾驶 Delegating Authority to start Autonomous Driving

遥控器放权。切换自动驾驶模式，即可行驶。如果速度太快，在【pure pursuit】下更改
速度。Release the remote control. Switch the automatic driving mode to drive. If the speed is too
fast, change the speed under 【pure pursuit】.

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12. 常见问题处理 Common Problem Handling

12.1 Error opening device；

进入终端，打开 cutecom，出现:Error opening device 情况：
Enter the terminal, open cutecom, and the situation: Error opening device appears:

这种情况是 cutecom 权限问题，在终端输入：sudo chmod 777 /dev/ttyUSB0,重新启动 cutecom，

选择 ttyUSB0，open，显示如下，表示数据组合惯导数据已经输出到工控机。
In this case, it is a problem of cutecom permissions. Enter in the terminal: sudo chmod 777
/dev/ttyUSB0, restart cutecom, select ttyUSB0, open, the display is as follows, indicating that the
data combination inertial navigation data has been output to the IPC.

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12.2 CAN 不能读到数据：CAN0 或者 CAN1 没有数据 CAN cannot read

data: CAN0 or CAN1 has no data
按照 3.2 CAN 数据获取不成功，则在该目录下 According to Section 3.2 “CAN data acquisition”
is unsuccessful, then in this directory
1) sudo make clean;
2) sudo make；
3) sudo ./start.sh（集合诚）或者 sudo ./start_2p.sh（宸耀）；
sudo ./start.sh（If the IPC brand is JHC TECH）or sudo ./start_2p.sh（If the IPC brand is
Neousys）；
4) Candump can0，成功读取到 CAN 数据，如果没有，检查 CAN 线连接后再重复次步骤。
Candump can0. Successfully read the CAN data, if not, check the CAN line connection and
repeat the steps again.

12.3 遇到障碍物，不避障 Encounter obstacles, do not avoid them

描述：有障碍物时，全是绿色线段。代表避障功能没有开启
Description: When there are obstacles, they are all green lines. Indicates that the obstacle avoidance
function is not enabled
红色的线，代表不能行驶；紫色的线：代表行驶路径；出现红色线段，说明避障功能正常。
The red line means that you cannot drive; the purple line: means the driving path; the appearance of
a red line indicates that the obstacle avoidance function is normal.

12.4 如何使用工控机连接局域网 How to use IPC to connect to local area

network
有网线可以用网线，没有网线可以买一个 USB WiFi 接收器，输入：ifconfig，可以看到 IP 地
址。If you have a network cable, you can use it. If you don’t have a network cable, you can buy a
USB WiFi receiver. Enter: ifconfig, and you can see the IP address.
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查询是否可以上网可以 ping www.baidu.com，有 64bytes 表示可以上网了

To check whether you can access the Internet, you can ping www.baidu.com, and 64 bytes indicate
that you can access the Internet

12.5 关于速度设置的问题 Question about speed setting

下的 也是设置速度。那这个速度设置和 pure pursuit 下的
速度设置是什么关系，二者需要设置成相同的参数吗？另外以前教程上 pure pursuit 和 twist
filter 内部各个参数的意义和设置范围是什么？
The max velocity under “op_common_params” is also the setting speed. So what is the relationship
between this speed setting and the speed setting under pure pursuit? Do they need to be set to the
same parameter? In addition, what are the meanings and setting ranges of the parameters in pure
pursuit and twist filter in previous tutorials?

Max velocity 是车的最大速度 ，一般设置 pure pursuit 里面的 velocity 就可以了，对应的关系

设置的速度不要超过最大速度，还有设置加速度要小一点，twist filter 里面是 autoware 默认
的参数设置，我没有做过改动，就是对 pure pursuit 做一个优化， 消除杂波让车行驶平滑。

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12.6 安装 MapToolbox 插件失败--没有 autoware 选项 Failed to install

MapToolbox plugin -- no autoware option
问题描述：安装后没有 autoware 选项[如下图]
Description of the problem: There is no Autoware option after installation [as shown below]

1. 创建编辑器不正确：路径中存在【中文路径】或者有空格，安装编辑器和 unity hub--有中

文路径，创建编辑器时：不能有中文路径，安装 MapToolbox 插件时：不能有中文路径。
1. The editor is not created correctly: there is [Chinese path] in the path or there is a space, install
the editor and unity hub - there is a Chinese path, when creating the editor: there cannot be a
Chinese path, when installing the MapToolbox plug-in: there cannot be a Chinese path .

2. 依赖缺失：unity 编辑器不同版本，会存在 mapTool 依赖缺失的情况，爆红提示

2. Missing dependencies: Different versions of the unity editor may have missing mapTool
dependencies, and the red prompt

点击 Window 选项中的 Package Manager，并且点击加号中的 "Add package from git

URL..."，输入：com.unity.entities。Click Package Manager in the Window option, and click "Add
package from git URL..." in the plus sign, and enter: “com.unity.entities”.

12.7 安 装 MapToolbox 插 件 没 有 安 装 进 度 条 反 应 Installing the

MapToolbox plug-in does not respond to the installation progress bar
第一步：First Step:
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第二步：Second Step:

如果做完以上两步之后并没有出现下图的安装进度条，这证明你的软件下载并没有激活，必
须先进行软件激活，需要进行如下操作激活软件。If the installation progress bar as shown in the
figure below does not appear after completing the above two steps, it proves that your software
download has not been activated. You must activate the software first, and you need to perform the
following operations to activate the software.

在激活软件，再次操作以上两步，就可以正常安装插件了。After activating the software, perform

the above two steps again to install the plug-in normally.
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13. 安全使用注意事项 Precautions for Safe Use

警告/Warning

 1、使用 PIX 车辆将产生一定风险，请在保证人身安全的前提下使用车辆。Using chassis

from PIX Moving will generate certain risks, please use the vehicle under the premise of
ensuring personal safety.

 2、所有 PIX 所生产的智能底盘不能在完全脱离人员监管的情况下使用，禁止在超出本产

品使用范围的环境下使用本产品。All intelligent chassis produced by PIX Moving cannot be
used without the supervision of personnel, and it is forbidden to use this product in an
environment beyond the scope of use of this product.

 3、在使用本产品之前请详细阅读产品使用说明书或参加相关培训，严禁将车辆交予未经
操作培训的人员独自操作使用。Before using this product, please read the product instruction
manual in detail or participate in relevant training. It is strictly forbidden to hand over the
vehicle to those who have not been trained to operate it alone.

 4、如需在人员密集的街道、超市、商场等场所开展测试工作，应保证有安全措施条件下
进行。如：应在有人员及其它车辆出入的路段设置显眼的提示标志，必要情况下将车辆
运行路段进行封闭管理等。If it is necessary to carry out testing work in crowded streets,
supermarkets, shopping malls and other places, it should be carried out under the condition of
ensuring safety measures. For example, conspicuous reminder signs should be set up on the
road sections where people and other vehicles enter and exit, and the road sections where
vehicles are running should be closed for management if necessary.

 5、因车辆外观特性原因，对 PIX 智能底盘结构不熟悉的人员可能无法分辨车辆前后位置，

请在车辆两侧启动车辆，将遥控器挡位切换为“D”挡时缓慢推动加速手柄，待车辆缓速行
驶后辨别车辆前后位置，此过程车辆前后 10 米内禁止站人或有人员穿行。 Due to the
appearance of the chassis, those who are not familiar with the structure of the PIX Moving
intelligent chassis may not be able to distinguish the front and rear positions of the chassis.
Please start the chassis on both sides of the vehicle, and slowly push the accelerator handle
when the remote control gear is switched to "D". After driving at high speed, identify the front
and rear positions of the chassis. During this process, it is forbidden to stand or pass through
within 10 meters before and after the chassis.

 6、车辆正常运行的过程中禁止任何人员进入车辆行驶前方 15 米内区域。人工驾驶模式
下操作者请时刻保持车辆处于视线范围以内， 同时密切关注车辆运行环境变化，及时提
醒过往行人注意避让车辆或者停车让行；车辆处于自动驾驶模式时请务必提前确认运行
We live we move
 PIXKIT-自动驾驶使用教程
PIX-KIT-HOOKE Autonomous Driving User Manual

路线畅通，及时排除有可能导致安全事故以及导致车辆异常的因素。During the normal

operation of the chassis, no one is allowed to enter the area within 15 meters in front of the
chassis. In the manual driving mode, the operator should keep the chassis within the line of
sight at all times, and pay close attention to the changes in the vehicle's operating environment,
and promptly remind passing pedestrians to avoid the chassis or stop to give way; Eliminate
factors that may cause safety accidents and vehicle abnormalities.

 7、车辆在出厂前已经过检验测试，并对其最高车速进行限制，严禁私自更改车辆基本结
构或控制软件，若因车辆运行实际情况必须要对车辆结构参数进行更改，必须经过本公
司进行技术确认，并在本公司专业工程师指导下进行相关操作。若因私自更改车辆导致
车辆受损或因此引发安全事故，本公司概不承担相关责任。The vehicle has been inspected
and tested before leaving the factory, and its maximum speed is limited. It is strictly forbidden
to change the basic structure or control software of the chassis without permission. If the
chassis structure parameters must be changed due to the actual operation of the chassis, it must
be technically confirmed by our company. And carry out relevant operations under the guidance
of our professional engineers. If the chassis is damaged due to unauthorized modification of the
vehicle or a safety accident is caused by it, the company will not be responsible for it.

 8、如果车辆出现任何异常问题，如制动失效、转向失效等故障必须立即停止车辆使用，
严禁车辆带故障运行，以保证人员和财产不至于受到威胁。If the chassis has any abnormal
problems, such as brake failure, steering failure and other failures, the chassis must be stopped
immediately. It is strictly forbidden to run the chassis with failures to ensure that people and
property will not be threatened.

We live we move