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在受阻十字路口对自动驾驶车辆的增强感知:车辆与基础设施 (V2I) 合作的实现

Yanghui Mo¹, Roshan Vijay¹, Raphael Rufus¹

¹Energy Research Institute, Nanyang Technological University, Singapore 637141, Singapore.

Sensors (Basel, Switzerland)

|February 10, 2024

概括

本研究引入了一个LiDAR基础设施系统,以提高连接自动化车辆 (CAV) 在有视觉障碍的城市交叉路口的安全性. 该系统可以提前检测障碍物,提高自动驾驶的稳定性.

科学领域:

机器人和智能系统机器人和智能系统
运输工程运输工程
计算机视觉计算机视觉

背景情况:

自动驾驶汽车 (AV) 在城市环境中面临着重大安全挑战,原因是十字路口的视觉障碍.
在复杂的交通场景中,有限的传感输入阻碍了自动驾驶汽车在复杂的交通场景中稳健运行.
提高感知能力对于安全可靠的自动驾驶至关重要.

研究的目的:

实施和评估一款用于路边传感的新型LiDAR基础设施系统,以提高互联自动驾驶汽车 (CAV) 的安全性和稳定性.
为了应对自动驾驶系统在城市交叉路口隐蔽可见性的挑战.
将路边感知增强与现有的自动驾驶和V2X通信平台相结合.

主要方法:

开发一个用于路边传感的LiDAR基础设施系统.
与百度阿波罗的自动驾驶系统 (ADS) 和Cohda无线V2X通信硬件的集成.
在新加坡CETRAN自动驾驶车辆测试轨道进行实地测试,符合SAE J2735 V2X标准.

主要成果:

综合系统展示了CAV在封闭的城市场景中的增强感知能力.
对通信延迟和数据包交付比率的分析证实了系统的可行性.
在具有挑战性的可见性条件下,成功提前检测障碍物.

结论:

拟议的LiDAR基础设施系统有效地提高了CAV在城市交叉路口的局势意识.
路边传感和V2X通信的整合为提高自动驾驶安全提供了一个有希望的解决方案.
这项实施研究为在现实世界自动驾驶应用中部署先进感知系统提供了基础.

关键词:

在V2X通信中,V2X是V2X通信.协作式自动驾驶协作式自动驾驶被阻碍的场景被阻碍的场景.路边传感系统是路边传感系统.车辆基础设施合作感知

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