The BaseTracK team autonomous vehicle, a finalist of the “Zimniy gorod” technological competition

Introduction. The article provides an overview of the “Zimniy gorod” technological competition held in Russia during 2019, which is a competition of unmanned vehicles moving autonomously in winter conditions at night, taking into account urban conditions and the peculiarities of vehicles operation in Russia. One of the five finalists of the competition was the BaseTracK team, which participated in the Gazelle Next EVA electric minibus. The article describes and substantiates the technical solutions used in the preparation for the competition and implemented in an experimental vehicle.

The purpose of the study was to develop an autonomous wheeled vehicle for participation in the “Zimniy gorod” technology competition.

Methodology and research methods. Research was carried out on the basis of vehicle motion theoretical fundamentals, theoretical mechanics, electrical engineering, the theory of mathematical analysis, the theory of experiment, computer modeling methods, the theory of automated control, methods of synthesis of control systems and communication facilities, methods of processing video information in technical vision systems.

Scientific novelty and results. The scientific novelty is the set of selected technical solutions and methods for adjusting the trajectory controllers and speed control of an unmanned vehicle, which ensure safe and efficient movement in difficult urban and winter conditions. The distinctive features of the implemented project include the use of optimal vehicle control schemes depending on the formulation of the transport problem, high-precision mapping of the terrain by aerial photography as well as the refusal to use lidar technologies.

Practical significance. The description of the unique “Zimniy gorod” competition, which has no analogues in the world, the results obtained and the methodology for designing an unmanned vehicle for difficult operating conditions are of practical importance, as well as the consideration and analysis of practical errors.

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