智能车环境感知及高精度定位技术

CleanVehiclesConsortium智能车环境感知及高精度导航技术HighPrecisionEnvironmentPerception,PositioningandNavigationforAutomatedVehiclesDIANGEYANG杨殿阁教授Professor,Ph.DViceDirectorofStateKeyLaboratoryofAutomotiveSafety,DepartmentofAutomotiveEngineering,TsinghuaUniversityCleanVehiclesConsortiumReviewofAutomatedVehiclesKeyTechnologiesofAutomatedVehicleResearchWorkofTsinghuaUniversityonConnectedAutomatedVehicleCleanVehiclesConsortiumReviewofAutomatedVehicles智能汽车的发展历史1953年GM和RCA的无人智能驾驶1925年，美国HoudinaRadioControl公司的“无人”驾驶汽车AmericanWonder1939年，通用汽车公司赞助，BelGeddes的“MagicMotorways”和他的无人驾驶概念车1960年，英国运输与道路实验室的CITROEN无人驾驶汽车，以130公里的时速在各种天气状况下进行了实验CleanVehiclesConsortiumReviewofAutomatedVehicles智能汽车的发展历史日本丰田汽车公司的ASV智能车伯克利PATH的汽车队列自动驾驶毫米波雷达及视觉传感器的发展是智能驾驶辅助技术发展的重要推力。TheMMWRadarandVideoCameraplaysanimportantroleinthedevelopmentofADAS.1987年，美国DARPA的ALV计划CleanVehiclesConsortiumReviewofAutomatedVehicles智能汽车的发展历史2004年，DARPAGrand能车大赛GOOGLE公司第一代智能车GOOGLE公司无人智能电动车环视激光雷达扫描传感器LIDAR的出现是无人驾驶智能汽车发展的一个重要的推动力TheLIDARSystemplaysanimportantroleinthedevelopmentofIntelligentVehicles.CleanVehiclesConsortium6LevelofAutomationDefinedbyNHTSANHTSA定义的智能汽车分级CleanVehiclesConsortium7AVStrategyofContinentalContinental公司智能汽车的发展技术路线CleanVehiclesConsortium8PredictionofAVbyIEEEIEEE关于智能汽车的发展预测CleanVehiclesConsortiumReviewofAutomatedVehiclesKeyTechnologiesofAutomatedVehicleResearchWorkofTsinghuaUniversityonConnectedAutomatedVehicleCleanVehiclesConsortiumWhatisAutomatedVehicle什么是智能汽车？CleanVehiclesConsortium11KeyTechnologiesofAutomatedVehicle智能汽车关键技术CleanVehiclesConsortium12KeyTechnologiesofAutomatedVehicle智能汽车关键技术CleanVehiclesConsortium13自主式环境感知(Self-aid)协同式环境感知(basedonV2V/V2I/V2P)KeyTechnologiesofAutomatedVehicle智能汽车关键技术•EnvironmentalPerceptionCleanVehiclesConsortium14KeyTechnologiesofAutomatedVehicle智能汽车关键技术•EnvironmentalPerceptionofGoogleCar(basedon64-lineLIDAR)CleanVehiclesConsortium15KeyTechnologiesofAutomatedVehicle智能汽车关键技术•EnvironmentalPerceptionofBenzCarandMobileyecar(ComputerVisionanddatafusion)CleanVehiclesConsortium16KeyTechnologiesofAutomatedVehicle智能汽车关键技术•HighPrecisionDigitalMap(LanelevelmapandFeatherMap)CleanVehiclesConsortium17KeyTechnologiesofAutomatedVehicle智能汽车关键技术•HighPrecisionPositioningTechnologiesCleanVehiclesConsortium18KeyTechnologiesofAutomatedVehicle智能汽车关键技术•MissionPlanning,RoutingandTrajectoryPlanningCleanVehiclesConsortium19KeyTechnologiesofAutomatedVehicle智能汽车关键技术•MissionPlanning,RoutingandTrajectoryPlanningCleanVehiclesConsortiumReviewofAutomatedVehiclesKeyTechnologiesofAutomatedVehicleResearchWorkofTsinghuaUniversityonConnectedAutomatedVehicleCleanVehiclesConsortium21ResearchWorkofTsinghuaUniversityonConnectedVehicleandAutomatedVehicle清华大学在车联网及智能车方面的工作CleanVehiclesConsortium22ResearchWorkofTsinghuaUniversityonConnectedVehicleandAutomatedVehicle清华大学在车联网及智能车方面的工作CleanVehiclesConsortium23ResearchWorkofTsinghuaUniversityonConnectedVehicleandAutomatedVehicle清华大学在车联网及智能车方面的工作CleanVehiclesConsortium24ResearchWorkofTsinghuaUniversityonConnectedVehicleandAutomatedVehicle清华大学在车联网及智能车方面的工作CleanVehiclesConsortium25ResearchWorkofTsinghuaUniversityonConnectedVehicleandAutomatedVehicle清华大学在车联网及智能车方面的工作CleanVehiclesConsortium26THANKYOUFORYOURATTENTION！[e-mail]清华大学汽车工程系