新能源汽车专业英语2版 课件20 - 10.4 智能汽车定位技术

回顾10.3.1IntelligentVisualPerception智能视觉感知

10.3.2UltrasonicSensor，Millimeter-WaveRadarandLiDAR超声波传感器、毫米波雷达与激光雷达

10.3.3SensorFusionTechnology传感器融合技术

提问Whatarethepurposesofmillimeter-waveradars毫米波雷达的用途有哪些？Describe

the

principleofLiDAR描述激光雷达的工作原理Whatarethethreedifferentsensorfusion

architectures

？传感器融合架构有哪三种？本次课学习内容本次课学习目标10.4IntelligentVehicleLocalizationTechnology智能汽车定位技术1.PrincipleofLocalizationTechnologies讲授新课NewWordsandPhrasestransparent[træns'pærənt]adj.透明的curvature['kɜ:vətʃə(r)]n.弯曲，曲率pose[pəʊz]n.姿势，姿态gyroscope['dʒaɪrəskəʊp]n.陀螺仪robustness[rəʊ'bʌstnəs]n.鲁棒性scenario[sə'nɑ:riəʊ]n.剧情，场景10.4IntelligentVehicleLocationTechnology智能汽车定位技术coordinate[kəʊ'ɔːdɪneɪt]n.〈数〉坐标crowdsourcing[kraʊd'saʊəsɪŋ]n.众包annotate['ænəteɪt]vt.&vi.注释10.4IntelligentVehicleLocationTechnology智能汽车定位技术pathplanning路径规划parkinglot停车场（位）absolutelocalization绝对定位relativelocalization相对定位combinedlocalization组合定位stopline停车线3Dpointcloud三维点云10.4IntelligentVehicleLocationTechnology智能汽车定位技术laneline车道线high-definitionmap高精地图，高分辨率地图road-levelnavigation道路级导航lane-levelnavigation车道级导航basemaplayer基础地图层geometricmaplayer几何地图层mappingsensor建图传感器10.4IntelligentVehicleLocationTechnology智能汽车定位技术semanticmaplayer语义地图层lanemarking车道标记mappriorslayer先验知识地图层real-timemaplayer实时信息地图层collectionvehicle采集车10.4IntelligentVehicleLocationTechnology智能汽车定位技术10.4IntelligentVehicleLocationTechnology智能汽车定位技术Thefirststepintheperceptionsystem,i.e.,foraconnectedandautomatedvehicle(CAV)tounderstanditssurroundings,istodetermineitspose(alsoknownasits3Dorientation),3Dposition,speed,andaccelerationandhowtheseparametersrelatetoaknownmap.Thisprocessisknownaslocalization.LocalizationrelatestopathplanninganddecisionaswellasguidanceofCAVs.Itisveryimportanttoautomationofvehicleoperation.10.4.1ClassificationofLocalization定位的分类Accordingtothelocalizationmode,localizationcanbedividedintothreetypes:absolutelocalization,relativelocalizationandcombinedlocalization.Absolutelocalizationisachievedthroughaglobalpositioningandnavigationsatellitesystem.DualantennasareusedtoobtaintheabsolutepositionandheadinginformationontheEarth.Relativelocalizationisbasedontheinitialpositionandposeofthevehicle,makesuseofinertialnavigationtoobtaintheaccelerationanddecelerationinformationofthevehicle,andthenintegrationisperformedoverthetimeperiod,soastoobtainthecurrentpositionandpose.Combinedlocalizationisthecombinationoftheabovetwomethods,orevencombinedwithhighprecisionmap,soastoachievehighprecisionlocalization.10.4IntelligentVehicleLocationTechnology智能汽车定位技术Accordingtothedifferentpositioningaccuracy,localizationcanbedividedintonavigation-levelaccuracyandlanelevel-accuracy.Atpresent,mostintelligentconnectedvehiclesareatthestagesofL1andL2automationlevels,whichonlyneednavigation-levellocalizationtomeettheneedsofADAS.ForL3toL5intelligentconnectedandautomatedvehicles,centimeter-levelprecisionlocalizationisrequiredtomeettheneedsofautonomousdrivinginspecialscenariossuchashighwaysandparkinglots.10.4IntelligentVehicleLocationTechnology智能汽车定位技术10.4IntelligentVehicleLocationTechnology智能汽车定位技术10.4.2LocalizationTechnologyAtpresent,thelocalizationtechnologiesusedinintelligentconnectedvehiclesmainlyincludeGlobalPositioningSystem(GPS),DifferentialGlobalPositioningSystem(DGPS),BeiDouNavigationSatelliteSystem(BDS),poseinertialnavigation,deadreckoning,visualsensorlocalization,LiDARlocalizationandcombinedlocalization,etc.10.4IntelligentVehicleLocationTechnology智能汽车定位技术GlobalPositioningSystemGlobalPositioningSystem(GPS)isahigh-precisionradiopositioningandnavigationsystembasedonsatellitesinthesky.Itusestheabsoluteposeandpositionestimationmethodtolocalizethevehicle.Itsmainadvantageisthatitcanachieveall-weatherlocalization,butitsdisadvantagesarelowlocalizationaccuracy,andlocalizationcapabilityisgreatlyaffectedbytheenvironment,buildings,treesandtunnelblockingthesignaltransmission.10.4IntelligentVehicleLocationTechnology智能汽车定位技术DifferentialGlobalPositioningSystemBasedonGPS,Differentialglobalpositioningsystem(DGPS)usesdifferentialtechnology,communicatesbetweenthevehicle,abasestation,andsatellitesinthesky,toenableuserstoobtainhigherlocalizationaccuracyfromtheGPS.DGPScanachieveaccuratecentimeter-levelvehiclelocalization.BeidouNavigationSatelliteSystemTheBeiDouNavigationSatelliteSystem(BDS)isaglobalpositioningnavigationsystemdevelopedbyChina.Chinaisdeployingtheuseofthesysteminconnectedandautonomousvehicles.10.4IntelligentVehicleLocationTechnology智能汽车定位技术InertialNavigationSystemInertialmeasurementunit(IMU)isapartoftheinertialnavigationsystem(INS).IMUsensorsuseaccelerometerstomeasureaccelerationintheX-Y-Zdirections,andgyroscopestomeasurerotationabouttheroll,pitch,andyawprincipalaxes.Theaccelerationandangularvelocitydataareintegratedtoobtainthespeed,poseandpositionofthemotioncarrier.10.4IntelligentVehicleLocationTechnology智能汽车定位技术VisualSensorLocalizationVisualsensors,namelycameras,canproviderichcolorandimageinformation.Byapplyingadeeplearningmodel,theinformationisprocessed,soastoidentifyfixedsignssuchaslanelines,signsontheroadandstoplines.Afteracomparisonofthesignswiththehigh-definitionmapdata,thecurrentpositionofthevehicleisobtained.10.4IntelligentVehicleLocationTechnology智能汽车定位技术LiDARLocalizationInthislocalizationtechnique,theCAVusestheLiDARtocollectthereal-time3Dpointclouddataintheprocessofdriving.Thesedataarecomparedwiththeroad3Dpointcloudmapdatacollectedbythedatacollectionvehicleinadvance,toobtainthecurrentpositionofthevehicle.CombinedLocalizationincethelocalizationaccuracyofautonomousvehiclesiscentimeterlevel,severallocalizationtechnologiesmustbecombinedandsomesensorfusiontechnologiesareutilizedtoachievehighreliabilityandrobustness.10.4IntelligentVehicleLocationTechnology智能汽车定位技术10.4.3High-DefinitionMapHigh-definitionmap(HDmap),alsoknownashigh-precisionmap,isamapspeciallydesignedforthepositioningandpathplanningofintelligentautomatedvehicles.Inadditiontoprovidingroad-levelnavigationinformation,thehigh-definitionmapcanalsoprovidelane-levelnavigationinformation,anditsrelativepositionaccuracycanreach10－20cm.Theremarkablefeatureofthehigh-precisionmapisthatitcanaccuratelyandcomprehensivelycharacterizeroadcharacteristicsandsupplieshighlyreal-timeinformation.10.4IntelligentVehicleLocationTechnology智能汽车定位技术ConstructionThehigh-precisionmapiscomposedofseveraldifferent"transparent"layers,witheachlayerexpressingdifferentinformation:Basemaplayer:thisisastandard-definitionmap(SDmap)thatincludesroadcurvature,elevation,andGPScoordinates.Geometricmaplayer:the3Dpointcloudcreatedfromthemappingsensors(LiDAR,camera,GPS,etc.)thatincludesthestationaryobjectsinthesurroundings.10.4IntelligentVehicleLocationTechnology智能汽车定位技术Semanticmaplayer:2Dor3Dsemanticobjects(suchaslanemarkings,streetsigns,andotherdetails).Mappriorslayer:prioriinformationandentitybehavioraldata,suchasaveragecycle/pedestrianspeeds,andtrafficsignalphaseandtiming(SPaT)information.Real-timemaplayer:thisisthereal-timetrafficinformationthataCAVcanreceivetoassistwithtripplanningandnavigation.10.4IntelligentVehicleLocationTechnology智能汽车定位技术CreationFirst,dataarecollectedbyu