自动驾驶汽车感知系统仿真的研究及应用综述

Overview of Research and Application on Autonomous Vehicle Oriented Perception System Simulation

随着科学技术的飞速进步,带有自动驾驶功能或辅助驾驶功能的车辆也开始涌入市场。交通事故的频发,使其安全问题成为人们关注的焦点。为测试自动驾驶汽车的感知系统,仿真技术提供了良好的平台。针对自动驾驶汽车感知系统的传感器仿真建模研究,从包含毫米波雷达、激光雷达、摄像头在内的单一传感器仿真、多传感器仿真、经典仿真平台等角度,回顾与梳理了现有研究,并总结了关于感知系统仿真建模的不足与发展趋势,为提升感知系统的感知效率、出行安全、促进自动驾驶汽车的发展助力。

Following the rapid progress of science and technology, vehicles with autonomous driving or auxiliary driving function enter into vehicle market. However, in the past decade, traffic accidents still occurred frequently, and the safety of these functions become the focus. Simulation technology provides a good platform to test the perception system of autonomous vehicle. Focus on the sensor simulation modeling of autonomous vehicle perception system, from the perspective of single sensor simulation,multi-sensor simulation and classic simulation platform including millimeter wave radar, lidar and camera, the existing research are reviewed, and the shortcomings and development trends of simulation modeling of perception system are summarized. The perception efficiency, travel safety, and the development of autonomous vehicle is promoted.