智能网联车路云协同系统架构与关键技术研究综述

A Survey of Architecture and Key Technologies of Intelligent Connected Vehicle-road-cloud Cooperation System

随着汽车产业电动化、智能化、网联化、共享化的发展驱动,全球主要强国均将智能网联汽车列为国家战略发展方向.蜂窝车联网、边缘计算网络和高精度定位系统的技术发展,为车车、车路、车人和车云系统的全面融合提供了有效支撑.车辆、道路、云平台与蜂窝车联网(Cellular vehicle-to-everything,C-V2X)网络的融合,加速打通车内与车外、路面与路侧、云上与云间的信息互通,为实现车路云一体化的融合感知、群体决策及协同控制提供了重要基础.首先,梳理了智能网联车路云协同系统架构与关键技术,对该领域的演进特征、发展制约因素进行了总体概述;其次,阐述了新型车路云协同系统、智能网联C-V2X通信系统、云控系统和车路云协同测试系统的架构设计与工作原理;然后,从C-V2X组网、融合定位、测试评价角度,介绍了车路云协同系统融合V2X网络、融合定位的技术演进与研究进展,给出了智能网联场景的仿真平台、实车测试及评价指标;最后,对智能网联车路云协同系统的协同组网与控制、互操作、边缘智能服务和安全技术层面的发展趋势进行了展望.

With the development of electrification,intelligence,networking,and sharing in the automotive industry,all major countries have laid out the intelligent connected vehicle as a national strategy.The technological development of cellular vehicle-to-everything(C-V2X),edge computing networks,and high-precision positioning systems provide strong support for the comprehensive integration of the vehicle to vehicle,vehicle to the road,vehicle to pedestrian,and vehicle to cloud.Vehicles,roads,and cloud platforms are integrated with the C-V2X network,information exchange between the in-vehicle,road,and cloud with the out-vehicle,roadside,and different clouds will be accelerated,and the vehicle-road-cloud coordinated fusion perception,group decision,and collaborative control will also be established.Firstly,the architecture and key technologies of the intelligent connected vehicle-road-cloud cooperation system are combed,and its evolution characteristics and development constraints are summarized.Then,the architecture design and working principle of the new vehicle-road-cloud cooperation system,intelligent connected C-V2X communication system,the cloud control system,and vehicle-road-cloud cooperation test system are described.Besides,from the three aspects of C-V2X networking,fusion positioning,and test evaluation,the V2X network and fusion positioning-based technical evolution and research progress of vehicle-road-cloud cooperation system are introduced,and the simulation platform,real vehicle test,and evaluation index of intelligent networking scenario are also proposed.Finally,the development trends of the intelligent connected vehicle-road-cloud cooperation system in the aspects of collaborative networking and control,interoperability,edge intelligent service,and security technology are discussed.