边缘实时车辆避障决策方法的设计  

Design of a Real-time Vehicle Obstacle Avoidance Decision Method in Edge Computing

作　　者：冯国宇 王小刚[1] 徐汇 贺咏琪 王智俊 FENG Guoyu;WANG Xiaogang;XU Hui;HE Yongqi;WANG Zhijun(School of Electronic Information,Shanghai Dianji University,Shanghai,China,201306)

机构地区：[1]上海电机学院电子信息学院,上海201306

出　　处：《福建电脑》2023年第3期21-25,共5页Journal of Fujian Computer

基　　金：上海市自然科学基金面上项目(No.22ZR1425300);上海市大学生创新创业训练计划项目(No.2021114580030)资助。

摘　　要：为了在智能无人驾驶车辆行驶过程中进行实时避障决策计算,避免车辆自身算力不足以及中心云计算远程数据传输导致避障响应滞后的问题,本文提出将车辆采集得到的图像和超声波测距的目标检测数据发送给部署在车辆附近的边缘计算服务器进行分析的方法,经过状态转换计算并返回车辆偏转决策指令,以达到快速避障效果。实验结果显示,该方法在避障算法执行时间和数据传输时间两个性能指标上均得到较好的改善。In order to make the real-time obstacle avoidance decision calculation in the driving process of intelligent unmanned vehicles,and avoid the problem of retarded obstacle avoidance response caused by insufficient computing power of the vehicle and remote data transmission of central cloud computing.In this paper,a method is proposed for the vehicle to send the collected image and ultrasonic ranging target detection data to the edge computing server deployed near the vehicle for analysis.After the state transition calculation,the vehicle deflection decision command is returned to achieve the fast obstacle avoidance effect.The experimental results show that the proposed method can improve the performance of the execution time and data transmission time of the obstacle avoidance algorithm.

关 键 词：无人驾驶车辆 边缘计算 状态转换 避障决策 

分 类 号：TP319[自动化与计算机技术—计算机软件与理论]