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自动驾驶关键环节——感知、决策、控制
感知
环境感知通过毫米波雷达、摄像机等传感器实现,车辆自身状态感知通过导航系统、惯导系统等实现,通过V2X网联通信技术实现智能驾驶车辆与外界的互联互通。环境感知通过组合多种传感器,运用关联时序的感知技术,在V2X网联通信技术的支持下对道路、静态物体以及动态物体三个方面进行感知。动态物体的感知除了检测外,还要追踪该物体的行动轨迹,并根据行动轨迹预判该物体的下一步动作。如何正确预判动态物体的行动轨迹是感知环节的重点研究方向之一。
决策
决策环节的核心是认知和规划。决策环节将多传感器收集的数据进行融合,根据智能驾驶的任务需求进行决策,避开行驶道路上可能存在的障碍物,并通过一些约束条件规划多条可选安全路径,并在这些路径中选取最优路径作为车辆最终的行驶轨迹。
执行
车辆控制技术是智能驾驶技术的核心,包括轨迹规划技术和车辆控制技术两个方面。车辆控制技术通过环境感知技术对车辆自身和周边环境的感知,根据决策规划出目标轨迹,通过纵向和横向控制系统的配合使汽车跟踪目标轨迹准确稳定行驶,同时使汽车在行驶过程中能够实现车速调节、车距保持、换道、超车等基本操作。
结语
智能驾驶利用多传感器和网络通信技术实现对车辆自身和周边环境的感知识别;决策规划阶段将多传感器信息进行融合,建立环境模型,规划最优行驶轨迹;车辆的横向和纵向控制系统根据目标轨迹准确平稳行驶,保证车辆的安全性、稳定性和舒适性。