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width='300' height='200'><a target='_blank'><img src='https://ad.eepw.com.cn/www/delivery/avw.php?zoneid=87&cb=INSERT_RANDOM_NUMBER_HERE&n=a576c0a2' border='0' alt='' /></a></iframe> </div> <span id="contentlabels" style="font-size:14px;"><p style="text-align:left;">　　<a class="contentlabel" href="http://cafeforensic.com/news/listbylabel/label/自動(dòng)駕駛"><em>自動(dòng)駕駛</em></a>車輛按定義可以包括三種主要系統(tǒng)組件。第一種，負(fù)責(zé)感知車輛周圍的環(huán)境;第二種，測(cè)繪車輛周圍的環(huán)境，然后使其能夠在任何時(shí)間確定其位置;第三種，在各種行車場(chǎng)景下負(fù)責(zé)<a class="contentlabel" href="http://cafeforensic.com/news/listbylabel/label/自動(dòng)駕駛"><em>自動(dòng)駕駛</em></a>車輛的決策能力。</p>本文引用地址：<a href="http://cafeforensic.com/article/201809/391954.htm">http://cafeforensic.com/article/201809/391954.htm</a><center style="text-align:left;"><p style="text-align:center"><img alt="blob.png" src="http://editerupload.eepw.com.cn/201809/13111537142014.png" width="500" height="281" border="0" hspace="0" vspace="0" style="width:500px;height:281px;" /></p></center><p style="text-align:left;">　　圍繞<a class="contentlabel" href="http://cafeforensic.com/news/listbylabel/label/自動(dòng)駕駛"><em>自動(dòng)駕駛</em></a>車輛新技術(shù)應(yīng)用的一個(gè)重要問題，是哪種類型的<a class="contentlabel" href="http://cafeforensic.com/news/listbylabel/label/傳感器"><em>傳感器</em></a>或<a class="contentlabel" href="http://cafeforensic.com/news/listbylabel/label/傳感器"><em>傳感器</em></a>組合能夠提供最佳的價(jià)格和性能。這個(gè)問題很復(fù)雜，因?yàn)橹挥性谟糜诳刂栖囕v的系統(tǒng)能力得到表征之后，才能按要求選擇用于執(zhí)行特定任務(wù)的<a class="contentlabel" href="http://cafeforensic.com/news/listbylabel/label/傳感器"><em>傳感器</em></a>。</p><p style="text-align:left;">　　自動(dòng)駕駛車輛按定義可以包括三種主要系統(tǒng)組件。第一種，負(fù)責(zé)感知車輛周圍的環(huán)境;第二種，測(cè)繪車輛周圍的環(huán)境，然后使其能夠在任何時(shí)間確定其位置;第三種，在各種行車場(chǎng)景下負(fù)責(zé)自動(dòng)駕駛車輛的決策能力。</p><p style="text-align:left;">　　根據(jù)當(dāng)前主要汽車廠商和眾多第三方供應(yīng)商所進(jìn)行的研究，業(yè)界似乎已經(jīng)達(dá)成某種共識(shí)，即自動(dòng)駕駛汽車需要應(yīng)用多種類型的傳感器，以感知并測(cè)繪車輛周圍的環(huán)境。Robert Bosch(羅伯特·博世)、Aptiv(安波福，拆分自德爾福)和Continental(大陸)的工程師都認(rèn)為自動(dòng)駕駛汽車需要利用雷達(dá)、攝像頭以及激光雷達(dá)(LiDAR)系統(tǒng)來(lái)捕獲數(shù)據(jù)。</p><p style="text-align:left;">　　這些傳感器技術(shù)可以相互補(bǔ)充，在白天和夜晚、雨、霧或雪等天氣中提供最佳的可靠性。事實(shí)上，F(xiàn)ord(福特)、General Motors(通用汽車)、Volkswagen(大眾)和Nissan(日產(chǎn))等主要汽車廠商的開發(fā)人員似乎也都對(duì)此表示認(rèn)可，因?yàn)樗鼈兌枷嗬^展示了采用各種類型傳感器的自動(dòng)駕駛汽車。</p><center style="text-align:left;"><p style="text-align:center"><img alt="實(shí)現(xiàn)真正自動(dòng)駕駛的傳感器之路" src="http://editerupload.eepw.com.cn/201809/25861537142016.jpg" width="500" height="459" border="0" hspace="0" vspace="0" style="width:500px;height:459px;" /></p></center><p style="text-align:left;">　　大多數(shù)廠商的自動(dòng)駕駛試驗(yàn)車輛均采用了包括攝像頭、雷達(dá)和LiDAR在內(nèi)的多種傳感器技術(shù)</p><p style="text-align:left;"><strong>　　攝像頭、雷達(dá)和LiDAR</strong></p><p style="text-align:left;">　　據(jù)麥姆斯咨詢報(bào)道，2022年預(yù)計(jì)自動(dòng)駕駛汽車市場(chǎng)應(yīng)用的激光雷達(dá)市場(chǎng)營(yíng)收將達(dá)到16億美元，雷達(dá)市場(chǎng)營(yíng)收將達(dá)到4400萬(wàn)美元，攝像頭市場(chǎng)營(yíng)收將達(dá)到6億美元。</p><p style="text-align:left;">　　通常，攝像頭構(gòu)成了大多數(shù)汽車傳感系統(tǒng)的核心，它們能夠捕捉車輛周圍環(huán)境360°視場(chǎng)(FOV)的完整圖像。當(dāng)然，也可以使用24GHz短程雷達(dá)(SRR)，以及77GHz頻段的遠(yuǎn)程雷達(dá)(LRR)系統(tǒng)。另一方面，LiDAR系統(tǒng)可提供最遠(yuǎn)300米、360°視場(chǎng)范圍內(nèi)，垂直和水平分辨率高達(dá)0.1°的實(shí)時(shí)3D數(shù)據(jù)。</p><p style="text-align:left;">　　裝配在車輛中使用時(shí)，LiDAR系統(tǒng)可以從車輛周圍固定和移動(dòng)的物體捕捉密集的3D點(diǎn)云數(shù)據(jù)。而發(fā)射和接收無(wú)線電波而非激光的雷達(dá)系統(tǒng)，可以與LiDAR系統(tǒng)互補(bǔ)，因?yàn)樗鼈兛梢杂糜谔峁┑头瓷渎饰矬w的速度和方位數(shù)據(jù)。遠(yuǎn)程雷達(dá)傳感器可以跟蹤高速物體(例如迎面駛來(lái)的車輛)，而短程雷達(dá)傳感器則可以提供車輛附近的移動(dòng)物體的豐富信息。另一方面，攝像頭則可以測(cè)量物體反射或發(fā)射的光，進(jìn)一步增強(qiáng)車輛周圍物體本身的細(xì)節(jié)。</p><p style="text-align:left;">　　自動(dòng)駕駛車輛如果包含所有上述類型的傳感器，可以確保其中一種傳感器的固有技術(shù)局限，能夠被一個(gè)或多個(gè)其他傳感器的優(yōu)勢(shì)所補(bǔ)償。然而，如果采用這種方案，那么問題就在于必須開發(fā)一種車載處理模型，來(lái)處理由各種傳感器捕獲的大量數(shù)據(jù)。</p><p style="text-align:left;"><strong>　　數(shù)據(jù)融合</strong></p><p style="text-align:left;">　　處理這一難題的一種方案，是將來(lái)自車輛上的多個(gè)傳感器源的數(shù)據(jù)，在處理之前在空間上、幾何上和時(shí)間上進(jìn)行對(duì)準(zhǔn)融合，這會(huì)帶來(lái)一個(gè)龐大的單個(gè)傳感系統(tǒng)。這種方案可以使一個(gè)或多個(gè)車載處理器，在某個(gè)傳感器探測(cè)不夠準(zhǔn)確時(shí)，估算自動(dòng)駕駛車輛的狀態(tài)。另一種方案，是設(shè)計(jì)多個(gè)獨(dú)立的傳感器處理系統(tǒng)，每個(gè)系統(tǒng)都可以自行支持完全自動(dòng)駕駛。然而，無(wú)論采用哪種方案，都需要具備多功能、冗余和失效運(yùn)行的系統(tǒng)架構(gòu)，來(lái)實(shí)現(xiàn)自動(dòng)駕駛。</p><p style="text-align:left;">　　博世的工程師正在開發(fā)一種自動(dòng)駕駛車輛網(wǎng)絡(luò)，該網(wǎng)絡(luò)可以將來(lái)自車輛中所有傳感器的數(shù)據(jù)在一種被稱為“傳感器融合”的過(guò)程中進(jìn)行整合。這些傳感器數(shù)據(jù)由車輛中的電子控制單元評(píng)估，以規(guī)劃車輛的行駛路徑。為了實(shí)現(xiàn)安全性和可靠性最大化，必要的計(jì)算工作由許多并行工作的處理器共同完成。</p><p style="text-align:left;">　　不過(guò)，Intel(英特爾)/Mobileye的工程師則正在開發(fā)一種不同的方案，來(lái)努力攻克他們認(rèn)為不能擴(kuò)展，因而成本很高的一種自動(dòng)駕駛車輛控制系統(tǒng)。</p><center style="text-align:left;"><p style="text-align:center"><img alt="blob.png" src="http://editerupload.eepw.com.cn/201809/74931537142018.png" width="500" height="234" border="0" hspace="0" vspace="0" style="width:500px;height:234px;" /></p></center><p style="text-align:left;">　　英特爾/Mobileye提出了一種完整的數(shù)學(xué)模型，以確保自動(dòng)駕駛汽車以安全的方式運(yùn)行。這種被稱為“Responsibility-Sensitive Safety(RSS)”的模型，為人類的責(zé)任和謹(jǐn)慎概念提供了具體且可衡量的參數(shù)，并定義了一種“安全狀態(tài)”，旨在無(wú)論其他車輛采取何種反應(yīng)和行為，防止自動(dòng)駕駛車輛成為事故的誘因。</p><p style="text-align:left;"><strong>　　多傳感系統(tǒng)</strong></p><p style="text-align:left;">　　他們已經(jīng)展示了一種僅配備攝像頭的自動(dòng)駕駛汽車，作為其策略的一部分，將包括在公司構(gòu)建的所謂的“真正冗余”的系統(tǒng)中?，F(xiàn)在，他們打算構(gòu)建一個(gè)由多個(gè)獨(dú)立設(shè)計(jì)的傳感系統(tǒng)組成的傳感系統(tǒng)，以補(bǔ)充基于攝像頭的系統(tǒng)，其中也包括了雷達(dá)和LiDAR。來(lái)自攝像頭的數(shù)據(jù)融合將用于定位車輛，來(lái)自雷達(dá)和LiDAR的數(shù)據(jù)融合將在規(guī)劃車輛軌跡的后期使用。與最初融合來(lái)自攝像頭、雷達(dá)/LiDAR的原始數(shù)據(jù)相比，每個(gè)系統(tǒng)都能夠自行支持完全自動(dòng)駕駛。</p><p style="text-align:left;">　　除了感測(cè)車輛周圍的環(huán)境之外，安裝在自動(dòng)駕駛車輛上的傳感器套件還將負(fù)責(zé)周圍環(huán)境的測(cè)繪，使車輛能夠在任何時(shí)間確定其所在的位置。目前已經(jīng)采用的一種方案，是記錄由LiDAR先前捕獲的3D點(diǎn)云以創(chuàng)建地圖，然后通過(guò)將車輛LiDAR行駛中獲得的3D點(diǎn)云與地圖上的3D點(diǎn)進(jìn)行比較，來(lái)定位車輛的位置。</p><p style="text-align:left;">　　另一種方案，也就是英特爾/Mobileye所支持的方案，是充分利用已配備攝像頭和特定軟件的大量車輛，其軟件可以檢測(cè)車輛周圍有意義的物體。這種方案將帶來(lái)基于眾包的地圖創(chuàng)建，然后將其上傳到云端。然后，所有自動(dòng)駕駛車輛可以通過(guò)蜂窩網(wǎng)絡(luò)等現(xiàn)有通信平臺(tái)接收這些地圖數(shù)據(jù)。</p><p style="text-align:left;">　　由眾多傳感器捕獲的如此大量的數(shù)據(jù)，將需要新的車載計(jì)算基礎(chǔ)設(shè)施，來(lái)實(shí)現(xiàn)大規(guī)模數(shù)據(jù)的車輛內(nèi)傳輸。</p><p style="text-align:left;">　　據(jù)ABI Research自動(dòng)駕駛高級(jí)分析師James Hodgson稱，由攝像頭、雷達(dá)、LiDAR以及超聲波傳感系統(tǒng)等多種傳感器產(chǎn)生的數(shù)據(jù)量，每8小時(shí)可達(dá)到32TB。為了定義可以處理如此高數(shù)據(jù)速率的基礎(chǔ)設(shè)施，Aquantia、博世、大陸、NVIDIA(英偉達(dá))和大眾汽車建立了自動(dòng)駕駛汽車網(wǎng)絡(luò)(Networking for Autonomous Vehicles， NAV)聯(lián)盟。通過(guò)合作，這些公司計(jì)劃在自動(dòng)駕駛汽車內(nèi)部搭建數(shù)千兆位的以太網(wǎng)，同時(shí)解決與噪音和抗擾、功耗、可靠性以及安全標(biāo)準(zhǔn)相關(guān)的挑戰(zhàn)。</p><p style="text-align:left;"><strong>　　車載數(shù)據(jù)處理系統(tǒng)</strong></p><p style="text-align:left;">　　最后，為了安全進(jìn)行驗(yàn)證和認(rèn)證，車輛計(jì)算架構(gòu)中的車載系統(tǒng)，存在如何處理來(lái)自傳感器的數(shù)據(jù)，以使車輛能夠在各種駕駛場(chǎng)景下恰當(dāng)運(yùn)行的問題。車輛僅能夠感知其環(huán)境并實(shí)現(xiàn)定位是不夠的，它還必須能夠基于所獲取的數(shù)據(jù)進(jìn)行路徑規(guī)劃并執(zhí)行。</p><p style="text-align:left;">　　不用說(shuō)，在這方面人工智能(AI)系統(tǒng)的作用將變得越來(lái)越普遍，人工智能將使車輛能夠獲得可能發(fā)生的眾多潛在交通狀況的完整認(rèn)知。這種在交通狀況中學(xué)習(xí)的系統(tǒng)過(guò)程被稱為“深度學(xué)習(xí)”，并從中得出自己的推論，從而提供一系列行動(dòng)方案。然而，由于這種人工智能系統(tǒng)的運(yùn)行概率問題，因此業(yè)界擔(dān)心它們的可靠性可能不夠。</p><p style="text-align:left;">　　為此，Mobileye等公司正在人工智能決策解決方案之上，增加一個(gè)單獨(dú)的、確定性的軟件層。Mobileye的RSS模型將人類安全駕駛的理念，形式化為具有邏輯上可證明的可驗(yàn)證模型，定義恰當(dāng)?shù)捻憫?yīng)，并確保自動(dòng)駕駛車輛僅做出安全的決策。其模型本身負(fù)責(zé)基于來(lái)自路徑規(guī)劃系統(tǒng)的結(jié)果來(lái)驗(yàn)證車輛的軌跡，路徑規(guī)劃系統(tǒng)則基于車輛傳感器獲取的數(shù)據(jù)創(chuàng)建行動(dòng)計(jì)劃。</p><p style="text-align:left;"><strong>　　安全驗(yàn)證和認(rèn)證</strong></p><p style="text-align:left;">　　顯然，無(wú)論在自動(dòng)駕駛車輛中使用何種軟件，都需要進(jìn)行驗(yàn)證和認(rèn)證，以確保自動(dòng)駕駛車輛做出的決策是安全的。事實(shí)上，自動(dòng)駕駛車輛可能會(huì)遇到各種各樣的潛在行駛狀況，在這種車輛中驗(yàn)證所使用的軟件采用何種適當(dāng)?shù)陌踩燃?jí)所涉及的挑戰(zhàn)，可能是工程師面臨的最大挑戰(zhàn)之一。特別是考慮到所使用的許多人工智能軟件系統(tǒng)本質(zhì)上是非確定性的，因此測(cè)試很困難。</p><p 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