摘要
Autonomous driving is an emerging technology attracting interests from various sectors in recent years.Most of existing work treats autonomous vehicles as isolated individuals and has focused on developing separate intelligent modules.In this paper,we attempt to exploit the connectivity among vehicles and propose a systematic framework to develop autonomous driving techniques.We first introduce a general hierarchical information fusion framework for cooperative sensing to obtain global situational awareness for vehicles.Following this,a cooperative intelligence framework is proposed for autonomous driving systems.This general framework can guide the development of data collection,sharing and processing strategies to realize different intelligent functions in autonomous driving.
Autonomous driving is an emerging technology attracting interests from various sectors in recent years. Most of existing work treats autonomous vehicles as isolated individuals and has focused on developing separate intelligent modules. In this paper, we attempt to exploit the connectivity among vehicles and propose a systematic framework to develop autonomous driving techniques. We first introduce a general hierarchical information fusion framework for cooperative sensing to obtain global situational awareness for vehicles. Following this, a cooperative intelligence framework is proposed for autonomous driving systems.This general framework can guide the development of data collection,sharing and processing strategies to realize different intelligent functions in autonomous driving.
基金
in part supported by the Ministry National Key Research and Development Project under Grant 2017YFE0121400
the Major Project from Beijing Municipal Science and Technology Commission under Grant Z181100003218007
the National Natural Science Foundation of China under Grants 61622101 and 61571020
