Читать книгу Engineering Autonomous Vehicles and Robots - Shaoshan Liu - Страница 20

The traditional vehicle chassis utilizes mechanical control, such as mechanical cables, hydraulic pressure, and other ways of providing a driver with direct, physical control over the speed or direction of a vehicle.

However, for autonomous driving to work, we need a drive-by-wire-ready chassis such that the chassis can apply electronic controls to activate the brakes, control the steering, and operate other mechanical systems. Specifically, the chassis module provides the basic application program interfaces for the planning and control module, such that the planning and control module can perform steer, throttle, and brake actions to make sure that the vehicle travels on the planned trajectory.