自动驾驶技术的未来:单车智能和智能车路协同  

Future of autonomous driving:Single autonomous driving and intelligent vehicle-infrastructure collaboration systems

作　　者：刘洋 占佳豪 李深 李小鹏 陈峻[5] LIU Yang;ZHAN Jiahao;LI Shen;LI Xiaopeng;CHEN Jun(Department of Architecture and Civil Engineering,Chalmers University of Technology,Gothenburg SE-41296,Sweden;School of Management,Shanghai University,Shanghai 200444,China;School of Civil Engineering,Tsinghua University,Beijing 100084,China;Department of Civil and Environmental Engineering,University of Wisconsin-Madison,Wisconsin 53706,United States;School of Transportation,Southeast University,Nanjing 210096,China)

机构地区：[1]查尔莫斯理工大学建筑与土木学院,瑞典哥德堡SE-41296 [2]上海大学管理学院,上海200444 [3]清华大学土木水利学院,北京100084 [4]威斯康星大学麦迪逊分校土木与环境工程学院,美国威斯康星53706 [5]东南大学交通学院,南京210096

出　　处：《汽车安全与节能学报》2024年第5期611-633,共23页Journal of Automotive Safety and Energy

基　　金：智能绿色车辆与交通全国重点实验室开放基金课题(KFY2421)。

摘　　要：随着全球交通拥堵和安全问题的日益突出,自动驾驶技术的广泛应用被认为是解决这些问题的重要途径,单车智能技术(SAD)和智能车路协同系统(i-VICS)是当前自动驾驶领域的两大研究热点。本文阐述了单车智能和车路协同系统的基本概念和关键技术,讨论了单车智能中的感知定位、决策规划和控制执行技术,以及车路协同系统中的协同感知定位、协同通信和分级云控技术,并回顾了不同技术的研究成果;总结了中、美、德、日对自动驾驶技术路线的发展选择,并讨论了不同技术所带来的商业性产业链变革;剖析了单车智能和车路协同所面临的技术挑战,以及自动驾驶技术所面临的社会与法律挑战,并以此展望未来的发展方向,为自动驾驶技术的创新和应用提供参考。As global traffic congestion and safety concerns become increasingly prominent,the widespread application of autonomous driving technology is considered a vital solution.Two prominent areas of research in autonomous driving are single autonomous driving(SAD)and intelligent vehicle-infrastructure collaboration systems(i-VICS).This paper explores the fundamental concepts and critical technologies of both.In terms of SAD,the focus is on perception,localization,decision-making,planning,and control execution,while i-VICS is centered on cooperative perception,collaborative localization,vehicle-to-infrastructure communication,and hierarchical cloud control.Furthermore,it reviews the progress of research in these technologies and summarizes the development paths chosen by China,the United States,Germany,and Japan.The transformative impact of these technologies on the commercial and industrial supply chains is also examined.Finally,the paper analyzes the technical challenges faced by both SAD and i-VICS,along with the social and legal challenges of autonomous driving,offering insights into future development directions,and providing a reference for the innovation and application of autonomous driving technology.

关 键 词：自动驾驶技术 单车智能(SAD)技术 智能车路协同系统(i-VICS) 智能交通系统 

分 类 号：U491[交通运输工程—交通运输规划与管理]