网联车自动驾驶系统研究及停车场场景下的应用

发布时间：2018-04-17 09:35

本文选题：网联车 + 自动驾驶　；参考：《浙江大学》2017年硕士论文

【摘要】：当代城市交通存在"交通拥堵、停车难、交通事故多、空气污染大、能耗高"五大问题。这些严重影响了城市交通系统的正常运行。为了解决上述问题,各大研究机构和企业均投入以车辆为主体的自主式自动驾驶研究。随着人工智能和物联网技术的进一步发展,汽车及交通出行产业正在发生根本性的变化,而自动驾驶技术正逐渐向网联式方向发展。本文基于城市道路交通"有序、安全、高效、环保、方便、经济"的理念和价值取向,以信息平台技术、定位循迹技术、云车控技术为主线,研究了网联式自动驾驶系统设计与实现。本文所述系统的主要思想是由以车辆为主体转向以交通网络为主体,并且交通网络提供相关所需服务。其中主要体现在两个方面:车辆控制权的转移和交通安全保障责任的转移。通过简化、聚焦、精准化的逻辑思路,分析需求,设定目标,本文完成了一种基于云服务的网联车自动驾驶系统,并以室内无人停车场为示范应用场景,阐述该系统的架构设计、初步实现和应用。其中主要包括智能交通信息服务平台、车辆云控系统、应用服务系统。本文研究工作主要在以下五个方面展开:(1)网联式自动驾驶系统的架构设计概述了现代城市道路交通信息化和智能交通的发展背景,在城市信息化发展、智能交通系统、现代智慧城市计算等几个方面分析的基础上,基于互联网、信息化、智能化、系统化的基本概念和思维模式,阐述了自动驾驶系统架构的设计思路和设计原则,提出了简化、分层次、开放可扩展的系统架构。(2)智能交通信息服务平台设计阐述了智能交通信息平台的目的与意义,对相关平台进行了调研与比较,然后确认了智能交通信息平台的系统核心需求是要实现应用门户,以可替换的形式实现应用与模块的扩展性,最重要的是通过平台实现各个应用之间的数据共享与服务共享,实现交通安全追责和数据协同。在明确智能交通信息平台基本需求的前提之下,定义了平台相关的标准数据格式及通信协议,详细阐述了平台的具体功能定义和核心模块的设计与实现。(3)车辆云控系统设计对其功能性需求和非功能性需求进行了详细分析,并按照模块化、可替换、可扩展的原则进行系统架构设计,详细阐述了车辆云控系统各个模块的设计和实现。(4)无人停车场应用服务系统设计对其功能需求作分析,以满足无人停车场应用的功能性需求为目,进行停车场应用的功能定义,进而确定停车场应用业务逻辑并设计停车场应用的整体架构,完成了停车场应用核心模块的详细设计和实现。本文还介绍了基于激光雷达的定位模块的基本原理和实现方法,设计和实现了系统定位功能,激光定位模块置于车辆上,根据对应接口接入到系统当中,为系统提供车辆实时精准定位数据。(5)停车场缩比沙盘模型的制作和实验为了展示研究成果,本文设计、制作完成了一个停车场比例缩小模型沙盘。利用该沙盘模型、智能交通信息服务平台、车辆云控系统和停车场服务应用系统,实现了各系统协同工作运营,完全了一系列实验。实验结果表明,该系统可以保证循迹驾驶的精准,而适用于网联式自动驾驶车辆的停车场拓扑结构可以提高停车场空间利用率。
[Abstract]:The city traffic congestion, parking, traffic accidents, air pollution, high energy consumption of the five major problems. These seriously affect the normal operation of the city traffic system. In order to solve the above problems, the research institutions and enterprises have invested in autonomous vehicles as the main body of the research. With the further development of automatic driving artificial intelligence and networking technology, automotive and transportation industry is changing radically, and automatic driving technology is gradually to the network direction. In this paper, the city road traffic order, based on safety, high efficiency, environmental protection, convenience, concept and value orientation of the economy ", based on information technology platform, positioning and tracking the vehicle control technology, cloud technology as the theme, research design and implementation of the system of automatic driving wanglian. The main idea of the system in this paper is based on the vehicle as the main body to the traffic network as the main body, and make Through the network to provide the required services. Which is mainly reflected in two aspects: the transfer of control of vehicle and traffic safety guarantee responsibility transfer. Through simplification, focus, logical thinking, accurate analysis of demand, set goals, this paper presents a cloud service network based on combined vehicle automatic driving system, and to no indoor parking lot for the demonstration of application scenarios, describes the architecture of the system design, implementation and preliminary application. Which includes the intelligent traffic information service platform, cloud vehicle control system, application service system. The main work of this paper in five aspects: (1) wanglian type automatic driving system of the architecture design overview the modern city road traffic information and intelligent transportation development background, development in city informatization, intelligent traffic system, the Internet based on the analysis of several aspects of modern smart city calculation on the letter. The information, intelligence, basic concept and mode of thinking of the system, expounds the design idea and design principle of the automatic driving system architecture, presents a simplified, hierarchical, open and scalable system architecture. (2) the design of intelligent traffic information service platform and expounds the purpose and significance of intelligent transportation information platform, the the platform was compared with the investigation, and then confirm the intelligent transportation information platform system is to realize the core needs of application portal, realize the extended application and module to alternative forms, the most important is the sharing and service platform through data sharing between each application, implementation of traffic safety responsibility and data collaboration. Under the premise of intelligent transportation information platform of basic needs, define the standard platform related data format and communication protocol, discussed in detail the function definition and core modules of the platform The design and implementation of vehicle. (3) cloud control system design of the functional requirements and non functional requirements are analyzed in detail, and in accordance with the modular, interchangeable, scalable principles for system architecture design, detailed design of each module of the vehicle control system of cloud and realize unmanned (4). Design of parking lot application service system for the analysis of the functional requirements, to meet the functional requirements of unmanned parking field application for the purpose of application of the parking lot, function definition, and then determine the parking lot application business logic and the overall architecture design application of the parking lot, parking lot to complete the detailed design and realization of the core module of application in this paper. It introduces basic principle and realizing method of laser radar positioning module based on the design and implementation of the positioning system, laser positioning module in the vehicle, according to the corresponding interface access to the system, for the Department of The system provides real-time accurate positioning data. (5) parking lot scaled production and experimental sand table model in order to show the research results, this paper design, completed a parking lot. The scale model sand table model, intelligent traffic information service platform, system and service system of vehicle parking lot cloud control, realize the operation of the cooperative work system, complete a series of experiments. The experimental results show that the system can guarantee the tracking precision for driving, and parking lot topology in wanglian type automatic driving vehicle parking lot can improve the utilization rate of the space.

【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U495;U463.6;TP311.52

【相似文献】