目前,在自动驾驶车辆技术中已实现量产的功能主要分布于L0-L2 (SAE标准)阶段,其中主要功能以前向碰撞预警(FCW)、车道偏离预警(LDW)、自适应巡航(ACC)以及紧急制动(AEB)等为主;针对前向碰撞预警(FCW)功能技术,目前的测试方法主要依据美...目前,在自动驾驶车辆技术中已实现量产的功能主要分布于L0-L2 (SAE标准)阶段,其中主要功能以前向碰撞预警(FCW)、车道偏离预警(LDW)、自适应巡航(ACC)以及紧急制动(AEB)等为主;针对前向碰撞预警(FCW)功能技术,目前的测试方法主要依据美国公路交通安全管理局(NHTSA)、欧盟(EU)以及国际标准化组织(ISO)制定的《FORWARD COLLISION WARNING SYSTEM CONFIRMATIONG TEST》、《ISO15623 Transport information and control systems-Forward vehicle collision warning systems-Performance Requirements and Test Procedures》等相关标准;而类似标准在设置TTC规避阈值时间(即安全碰撞时间)均设置为固定值,没有依据不同类型车辆设相关加权系数。本文根据不同车型的多次FCW试验发现,为了保证试验安全,汽车质量和TTC存在一定的相关性。本文依据不同类型车辆制动试验数据计算出相关系数,从而界定了安全的TTC阈值。展开更多
A weather-adaptive forward collision warning (FCW) system was presented by applying local features for vehicle detection and global features for vehicle verification. In the system, horizontal and vertical edge maps a...A weather-adaptive forward collision warning (FCW) system was presented by applying local features for vehicle detection and global features for vehicle verification. In the system, horizontal and vertical edge maps are separately calculated. Then edge maps are threshold by an adaptive threshold value to adapt the brightness variation. Third, the edge points are linked to generate possible objects. Fourth, the objects are judged based on edge response, location, and symmetry to generate vehicle candidates. At last, a method based on the principal component analysis (PCA) is proposed to verify the vehicle candidates. The proposed FCW system has the following properties: 1) the edge extraction is adaptive to various lighting condition;2) the local features are mutually processed to improve the reliability of vehicle detection;3) the hierarchical schemes of vehicle detection enhance the adaptability to various weather conditions;4) the PCA-based verification can strictly eliminate the candidate regions without vehicle appearance.展开更多
文摘目前,在自动驾驶车辆技术中已实现量产的功能主要分布于L0-L2 (SAE标准)阶段,其中主要功能以前向碰撞预警(FCW)、车道偏离预警(LDW)、自适应巡航(ACC)以及紧急制动(AEB)等为主;针对前向碰撞预警(FCW)功能技术,目前的测试方法主要依据美国公路交通安全管理局(NHTSA)、欧盟(EU)以及国际标准化组织(ISO)制定的《FORWARD COLLISION WARNING SYSTEM CONFIRMATIONG TEST》、《ISO15623 Transport information and control systems-Forward vehicle collision warning systems-Performance Requirements and Test Procedures》等相关标准;而类似标准在设置TTC规避阈值时间(即安全碰撞时间)均设置为固定值,没有依据不同类型车辆设相关加权系数。本文根据不同车型的多次FCW试验发现,为了保证试验安全,汽车质量和TTC存在一定的相关性。本文依据不同类型车辆制动试验数据计算出相关系数,从而界定了安全的TTC阈值。
文摘A weather-adaptive forward collision warning (FCW) system was presented by applying local features for vehicle detection and global features for vehicle verification. In the system, horizontal and vertical edge maps are separately calculated. Then edge maps are threshold by an adaptive threshold value to adapt the brightness variation. Third, the edge points are linked to generate possible objects. Fourth, the objects are judged based on edge response, location, and symmetry to generate vehicle candidates. At last, a method based on the principal component analysis (PCA) is proposed to verify the vehicle candidates. The proposed FCW system has the following properties: 1) the edge extraction is adaptive to various lighting condition;2) the local features are mutually processed to improve the reliability of vehicle detection;3) the hierarchical schemes of vehicle detection enhance the adaptability to various weather conditions;4) the PCA-based verification can strictly eliminate the candidate regions without vehicle appearance.
