摘要
环境感知与定位技术是无人驾驶汽车技术的关键组成部分。在概括介绍无人驾驶汽车系统总体架构基础上,首先介绍各类环境感知传感器的原理和特点,比较各技术优缺点。然后阐述了传感器的标定方法,并综合论述了车道线检测、障碍物检测、红绿灯检测等环境感知中的关键技术;同时,从高精度地图环境定位、汽车自身定位、多传感器融合定位以及无线通信辅助定位等方面,对汽车定位技术进行了分析。最后,剖析了无人驾驶汽车环境感知与定位技术的难点,并展望了未来研究的发展趋势。
Environment perception and location technology is the key component of driverless vehicles.Based on the overall architecture of the driverless vehicle system,this paper first introduces the principles and characteristics of various environmental sensors,and compares the advantages and disadvantages of each technology.Then,the calibration method of the sensor is described,and the key technologies of environment perception,such as lane detection,obstacle detection,traffic light detection,are comprehensively discussed;Besides,from the high-precision map environment positioning,vehicle positioning,multi-sensor fusion positioning and wireless communication aided positioning,the vehicle positioning technology is analyzed.Finally,this paper analyses the difficulties of environmental perception and location technology for driverless vehicles,and forecasts the development trend of future research.
作者
徐文轩
李伟
XU Wen-xuan;LI Wei(College of Electrical Engineering,Chongqing University,Chongqing 400000,China;College of information science and Engineering Chongqingjiaotong University,Chongqing 400074,China)
出处
《汽车科技》
2021年第6期53-60,52,共9页
Auto Sci-Tech
基金
重庆大学大学生科研训练计划项目(CQU-SRTP-2019318)。
关键词
无人驾驶
环境感知
定位
难点
发展趋势
Driverless Vehicles
Environmental Perception
Location
Difficulties
Development Trend
