贵阳自动驾驶公交车环境感知系统设计及测试研究  

Design and Test of Guiyang Auto-driving Bus Environmental Perception System

作　　者：杨倩[1] 陈章宇 唐震 YANG Qian;CHEN Zhangyu;LIU Kaigui(Guizhou Vocational College of Transportation,Guiyang Guizhou 551400,China;Guizhou Provincial Road Transportation Bureau,Guiyang Guizhou 550001,China;Guiyang Public Transportation(Group)Co.,Ltd.,Guiyang Guizhou 550003,China)

机构地区：[1]贵州交通职业技术学院,贵州贵阳551400 [2]贵州省道路运输局,贵州贵阳550001 [3]贵阳市公共交通(集团)有限公司,贵州贵阳550003

出　　处：《交通节能与环保》2020年第1期64-68,共5页Transport Energy Conservation & Environmental Protection

基　　金：2018年度贵州省交通运输厅科技项目（2018-321-028）

摘　　要：基于城市公共交通具有线路固定、需停靠站等特点,本文研究设计了贵阳自动驾驶公交车智能驾驶系统,并对自动驾驶系统的总体结构及各主要关联对象的功能进行了分析。文章重点研究了车辆环境感知系统,对系统主要硬件设备,工控机工作控制流程,以及对车道、行人、车辆、交通信号灯、标志牌及停靠车站的检测方式进行了研究。系统于2018年8月14日开始在贵阳市贵安新区进行测试,结果显示,系统各项目检测成功率高达90%以上,大部分指标检测成功率高达98%,总体满足智能驾驶公交车的预定要求。Based on the characteristics of urban public transportation with fixed lines and the need for stops,this paper studies and designs the Guiyang autonomous driving bus intelligent driving system,and analyzes the overall structure of the autonomous driving system and the functions of the main related objects. The article focuses on the vehicle environment perception system,researches the main hardware equipment of the system,the work control process of the industrial computer,and the detection methods of lanes, pedestrians, vehicles, traffic lights, signs, and stops. The system was tested in Gui’an New District, Guiyang City on August 14, 2018. The results show that the system’s detection success rate of all items is as high as 90% or more,and the success rate of most indicators is as high as 98%,which generally meets the smart driving bus booking Claim.

关 键 词：智能运输系统 自动驾驶系统 环境感知技术 公交车 传感器 

分 类 号：U469.13[机械工程—车辆工程]