智能网联汽车仿真测试与平行驾驶 -课件 第4章 智能网联汽车安全守护与平行驾驶

项目四：智能网联汽车安全守护与平行驾驶

认识平行驾驶E6636BC20180234D78A0072836F0BEB032B9B20D17555BB0ADD98B30B1332BD33B44B738C1667B0122692508384636EBBC1921DA41D07B811BBFC2E178BE14DC24FB39ADEF25845744D22EF763B243DEA84CE91C764D20D3689C419F05DE4CC8D8962D9F0E3E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3认识平行驾驶什么是平行驾驶？系统架构又是什么？在哪些领域应用？……平行驾驶的基本概念3平行驾驶智能车道路车辆充分利用数字化及信息化资源平行驾驶的基本概念4平行驾驶云端管控平台驾驶模拟器利用平行视觉与感知、平行学习、平行规划和平行控制等关键技术平行驾驶的基本概念平行驾驶是以“ACP平行理论”为基础，平行系统方法与复杂系统的管理和控制。基于ACP方法的平行驾驶5E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3平行驾驶原理6平行驾驶系统原理将基于ACP方法的平行系统的概念应用到网联自动驾驶问题中，通过人工世界的模拟和交互来完成复杂的自动驾驶任务，从而指导物理智能车的运行。E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3平行驾驶系统框架7平行驾驶系统框架车内简单车外复杂E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3平行驾驶系统结构8车端感知云端管控人工层信息服务与与控制指挥中心物理层无人车认知层远程驾驶平台E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3平行驾驶的应用

9平行驾驶的应用平行无人矿山智能网联汽车无人车的协调管控无人驾驶的虚拟测试项目四：智能网联汽车安全守护与平行驾驶

智能智能网联汽车平行驾驶安全守护操作规章与接管规则E6636BC20180234D78A0072836F0BEB032B9B20D17555BB0ADD98B30B1332BD33B44B738C1667B0122692508384636EBBC1921DA41D07B811BBFC2E178BE14DC24FB39ADEF25845744D22EF763B243DEA84CE91C764D20D3689C419F05DE4CC8D8962D9F0E3E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3车辆安全守护介绍11车辆线上安全守护是指车辆安全员通过守护设备远程监控和操控车辆，以保障车辆安全稳定运行。车辆在自动驾驶过程中经常会遇到突发意外情况，如坑洼路面、交通拥堵、行人干扰等问题，可能会影响车辆安全稳定运行，需要线上安全员进行远程守护，必要时远程驾驶在守护和驾驶过程中需要安全员按照操作规范进行操作。线上安全员在保障车辆安全的同时，还需要监控车辆运营状态以及提交车辆运行过程中产生的BUG。E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3平行驾驶安全守护操作规章12监控中状态操作SOP守护中模式操作SOP代驾中模式操作SOP

线上安全操作禁令

驾驶员换班SOP

线上驾驶员下班SOP路况问题处理（上报封路）操作SOPPC端语音提示操作SOPE6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3监控中状态操作SOP（4）持续监控车辆状态、道路情况、PC端参数图标状态是否正常，持续保持正确驾驶姿态。（3）进入云监控状态后安全员需人工检查确认车辆状态。（2）释放车辆进入自动驾驶状态，算法确认安全时自动进入云监控状态。（1）安全员在车辆进入云监控前需清空桌面物品，保持正确驾驶姿态：手放方向盘；脚放刹车踏板，正确佩戴耳机麦克风，目视显示器。13E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3守护中模式操作SOP（4）发现车辆存在安全风险时，及时踩停进入代驾中状态（根据风险类型进行后续处理）。（3）确认车辆安全后持续监控车辆状态、道路情况、PC端参数图标状态是否正常，持续保车辆主动跳转为云监控状态。（2）进入云守护状态后安全员需人工检查确认车辆状态。（1）安全员在接到守护任务呼叫后，需在2S内按下方向盘上守护确认键确认守护。14E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3平行驾驶接管原则1.未检测到障碍物线上接管。2.未检测到坑洞/水坑线上接管。3.碰撞风险线上接管。4.极端天气线上接管。5.硬件异常线上接管。6.车辆被按急停线上接管。7.行人扒车线上接管。8.行人伤害车辆线上接管。9.行驶速度过快线上接管。10.溜车线上接管。11.距离障碍物过近线上接管。12.其它安全风险线上接管。151.被社会车辆追尾/剐蹭/碰撞线上接管。2.坠落坑洞线上接管。3.切换后/车辆提示/防撞条疑似碰撞线上接管。4.切换后/车辆提示/防撞条碰撞线上接管。5.行人扒车线上接管。6.行人伤害车辆线上接管。7.碰撞/碾压/剐蹭/障碍物线上接管。安全风险接管发生事故接管项目四：智能网联汽车安全守护与平行驾驶任务3：智能网联汽车平行驾驶训练E6636BC20180234D78A0072836F0BEB032B9B20D17555BB0ADD98B30B1332BD33B44B738C1667B0122692508384636EBBC1921DA41D07B811BBFC2E178BE14DC24FB39ADEF25845744D22EF763B243DEA84CE91C764D20D3689C419F05DE4CC8D8962D9F0E3E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3电池仓门检查对仓门整体外观进行检查，确认仓门表面有无凹陷、锈蚀、损坏。仓门四周的缝隙是否整齐对称，检查仓门是否紧固。再使用检修门钥匙，检查电池仓柜门是否可以正常开锁、锁门。电池仓门是一个活动部位，期间需感受车门的打开关闭情况是否顺畅。17小蛮驴电池仓门E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3上下电检查

小蛮驴车辆采用12V19AH铅酸蓄电池和57.6V63Ah三元锂电池作为电力来源。车辆上电流程：车辆上电首先需要打开小蛮驴左侧检修门，连接低压电池线束。低压线束连接后，低压电瓶开始工作。车辆下电流程：按下急停按钮，打开车辆右侧下方车门。点击整车电源开关按钮，将大电瓶关闭，待指示灯熄灭后关闭车门。18E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3电池操作检查电池操作检查要点：19核查部件功能，分别握住相关部件，轻轻晃动；检查固定卡扣是否紧固完好；检查电瓶是否存在晃动；操作电池进行抽拉，无卡滞；卡扣位置正常；电池锁正常。电池仓内各部件位置E6636BC20180234D78A0072836F0B3B062B9B207100DDB20A0D98F39B16C2BA34B43BC38C168AB0122592F0838465CEB921921FAF1D0ABC11BBFC26B7F4E1ADA24FB2EADD526949754C728F767A2439F9FD0E9157C626057A81A5197EE01DCA8DD06229F4E3E6636BC20180234D78A0072836F0B99012B9B2041CBB0BD0AED9843CB1E92B759B4BB3387161DB0A22092008384687EBAD09218A11D00BB11BBFC253752E1BD324F50EAD8127E48704882AE76E224046D963E4B175990FA048DEA195FADFAC88D9862B9F9E3E6636BC20180234D78A0072836F0BE8092B9B20C1995FBB0AAD98B33B1032B25BB4EBB387163FB0F22C92E08384670EB2809215AC1D0FBA11BBFC2437A1E1FD724F5F8AD632564B7B4FF2ED7684240538A9CE0BE76481F81688BF19F28E95C98DFE620900E3车辆螺丝紧固/锈蚀检查

车辆螺丝是紧固件，同时也属于易损件。螺丝虽小，但关键部位的螺丝松动会引发较大的安全隐患。交付前，检查车辆上的螺丝是否生锈或脱落，确保车辆使用螺丝无锈蚀情况。车辆运输过程中，不停地抖动会造成螺母产生松动，螺丝就会有掉落的风险。从受力角度上看，车辆的前后桥上的螺丝是最容易松动的，底盘上的螺丝一般经过特殊处理，在钢火、硬度和抗震性等方面被做了特殊强化的，故需要检查前后桥控制臂螺丝紧固色标是否偏移，偏移了需要重新紧固。20小蛮驴护板螺丝分布E6636BC20180234D78A0072836F0B3B062B9