How to use Go language for autonomous driving development?

Autonomous driving technology is becoming one of the hottest research directions in the automotive industry. At the same time, more and more programming languages ​​are beginning to be used in the development of autonomous driving systems. Among them, the Go language has become one of the preferred languages ​​for autonomous driving development due to its excellent performance and ease of use. This article will introduce the basic steps and implementation methods of developing autonomous driving using Go language.

1. Choose a suitable Go editor

To start using Go language for autonomous driving development, the first step is to choose a suitable Go editor. Similar to other programming languages, the Go language editor should have basic functions such as syntax highlighting, code auto-completion, and code jumping. The Go language also has some editors commonly used by developers, such as:

1. Visual Studio Code: a lightweight editor that supports development and debugging in various languages.
2. GoLand: Developed by JetBrains and specially designed for Go language development.
3. Sublime Text: A popular text editor that is easy to use and has a rich plug-in library.

2. Writing code

To use Go language for autonomous driving development, you need to first understand some necessary concepts and technologies. The syntax of Go language is relatively simple and easy to learn and use. The following are several techniques commonly used when writing autonomous driving code:

1. Use multiple coroutines at the same time: Go language has built-in support for coroutines. Using coroutines can achieve asynchronous execution of code, and can Run multiple tasks simultaneously in the same program.
2. Use channels: Channels are the main method of data transmission between coroutines. Channels support concurrent reading and writing and are an important tool for writing concurrent programs.
3. Calling external libraries: Go language supports calling external libraries. Using external libraries can speed up development and avoid implementing duplicate functions.

When writing autonomous driving code, it generally involves underlying hardware programming, perception modules, decision-making modules, and control modules. The following takes a simulated vehicle control panel as an example to introduce a simple code implementation.

package main

import (

"fmt"
"time"

)

func main() {

fmt.Println("开启自动驾驶.")

go controlModule()
go perceptionModule()

time.Sleep(10 * time.Second)

}

func controlModule() {

for {
    // 获取传感器数据
    data := getSensorData()

    // 模拟决策算法
    decision := decisionAlgorithm(data)

    // 控制电动机运动
    controlMotor(decision)
}

}

func perceptionModule() {

for {
    // 获取传感器数据
    data := getSensorData()

    // 模拟感知算法
    perception := perceptionAlgorithm(data)

    // 输出感知结果
    fmt.Println(perception)
}

}

func getSensorData() string {

// 获取传感器数据
return "sensor data"

}

func decisionAlgorithm(data string) string {

// 决策算法
return "decision"

}

func controlMotor(decision string) {

// 控制电动机运动
fmt.Println("move by", decision)

}

func perceptionAlgorithm(data string) string {

// 感知算法
return "perception"

}

In this example, the code implementation of the perception module, decision-making module and control module is simulated. The perception module obtains sensor data, calculates the perception algorithm, and obtains the perception result and outputs it. The decision-making module obtains sensor data, calculates the decision-making algorithm, obtains the decision-making result and controls the movement of the motor. The three modules run in different coroutines, and data transmission is implemented through channels.

3. Use the testing framework

In order to ensure the correctness of the autonomous driving code, you need to use the testing framework to test the code. The Go language comes with a testing framework that can quickly perform unit testing and integration testing. Using a testing framework can improve the quality of your code and reduce the occurrence of bugs.

The following is a simple test framework usage example:

package main

import (

"testing"

)

func TestGetSensorData(t *testing.T) {

data := getSensorData()
if data == "" {
    t.Error("传感器数据为空")
}

}

func TestDecisionAlgorithm(t *testing.T) {

data := "sensor data"
decision := decisionAlgorithm(data)
if decision == "" {
    t.Error("决策结果为空")
}

}

func TestPerceptionAlgorithm(t *testing .T) {

data := "sensor data"
perception := perceptionAlgorithm(data)
if perception == "" {
    t.Error("感知结果为空")
}

}

Here is a simple unit test of the autopilot code, taking the getSensorData function as an example to test whether its return value is empty. If the test fails, the corresponding error message will be output.

Summary

The Go language’s rapid development, efficient execution and asynchronous features make it a good choice for implementing high-performance autonomous driving systems. If you are considering using Go language for autonomous driving development, this article introduces the basic steps and implementation methods that you need to pay attention to during the development process. I hope this article can inspire the development of autonomous driving in Go language.

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