自动化车道中心化:一款现成的计算机视觉产品与基于基础设施的芯片启用高架路面标记器
Parth Kadav1, Sachin Sharma1, Johan Fanas Rojas2
1Department of Mechanical and Aerospace Engineering, Western Michigan University, 4601 Campus Dr, Kalamazoo, MI 49008, USA.
Sensors (Basel, Switzerland)
|April 13, 2024
概括
支持芯片的升降路面标记器 (CERPM) 为自动驾驶汽车 (AV) 提供了具有成本效益的解决方案,直接向汽车传输关键数据. 这项技术提高了AV的运行稳定性和能源效率,在具有挑战性的条件下优于传统系统.
科学领域:
- 自主系统 自主系统
- 基础设施 技术 技术 基础设施
- 机器人和人工智能机器人与人工智能
背景情况:
- 安全的自动驾驶汽车 (AV) 运行依赖于通过传感器准确地感知环境,从而导致高计算负载.
- 传统的车道标志是不可靠的,因为色,建筑区,和限制在不利的条件下.
- 现有的直接数据传输方法,如高清地图和路边装置 (RSU),实施和维护成本昂贵.
研究的目的:
- 引入和评估支持芯片的升降路面标记器 (CERPMs) 作为一种新的,具有成本效益的基础设施信息源 (IIS) 为AVs.
- 评估CERPM在降低AV计算负载和能源消耗方面的表现.
- 将CERPM的检测和可靠性与传统的基于计算机视觉的车道检测系统进行比较.
主要方法:
- 沿着车道线安装了CERPM,通过LoRaWAN协议直接向AV传输地理空间数据和速度限制.
- 一个感知子系统处理了来自CERPM和Mobileye计算机视觉系统的数据,用于车道集中 (LC) 应用.
- 系统性能在三个测试路线上进行了评估,路线曲率和条件各不相同.
主要成果:
- 移动眼系统无法检测道路曲率超过±0.016 m-1的车道标记,在的曲率场景中只有6.7%的检测.
- 在所有测试场景中,CERPM成功生成了用于车辆控制的参考轨迹,证明了其高可靠性.
- CERPM提供了高达340米的可靠检测,大大提高了AV感知范围和稳定性.
结论:
- CERPM技术为提高AV运行稳定性和能源效率提供了可行且具有成本效益的解决方案.
- CERPM有效地解决了传统车道标记和计算机视觉系统的局限性,特别是在复杂的驾驶环境中.
- 这种被动的IIS有可能克服AV感知和控制系统当前的挑战.
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