發(fā)布時間：2018-06-28 20:15

  本文選題：環(huán)境感知服務(wù) + 分布式處理　； 參考：《浙江大學(xué)》2017年碩士論文

【摘要】：近年來,全球每年都有百萬級數(shù)量的人死于車禍,其中90%的車禍都是由于駕駛員的錯誤駕駛所導(dǎo)致。這引起了國內(nèi)外愈來愈多的機(jī)構(gòu)和個人對無人駕駛智能車的研究。本文以面向無人駕駛的智能車系統(tǒng)平臺的研究與應(yīng)用為主要內(nèi)容,對面向無人駕駛的智能車系統(tǒng)平臺進(jìn)行詳細(xì)的設(shè)計與實現(xiàn)。本文所研究的面向無人駕駛的智能車系統(tǒng)平臺的主要內(nèi)容包括:(1)基于分布式的環(huán)境感知服務(wù)設(shè)計與實現(xiàn)。隨著行車路況的日益復(fù)雜化,感知數(shù)據(jù)的處理復(fù)雜度不斷增加,本課題的環(huán)境感知服務(wù)借鑒了機(jī)器人操作系統(tǒng)(Robot Operating System,ROS)的分布式設(shè)計理念,將不同的感知信息處理分布在不同的計算節(jié)點上進(jìn)行分布式處理,處理結(jié)果信息以服務(wù)的方式提供給其他計算節(jié)點。本文的感知服務(wù)實現(xiàn)了感知硬件設(shè)備的虛擬化管理和感知軟件服務(wù)。(2)基于AUTOSAR的車輛控制服務(wù)的設(shè)計與實現(xiàn)。AUTOSAR(AUTomotive Open System Architecture)標(biāo)準(zhǔn)化了 電子控制單元(Electric Control Unit)的軟件層次結(jié)構(gòu),使得汽車軟件的開發(fā)更加規(guī)范,提高了汽車電子軟件的可重用性和可移植性。本文的車輛控制服務(wù)基于AUTOSAR的RTE(Runtime Environment)層進(jìn)行設(shè)計與實現(xiàn),對車輛的被控對象進(jìn)行了分類,并為每一類被控對象設(shè)計并實現(xiàn)了控制操作方法。(3)無人駕駛智能車系統(tǒng)平臺服務(wù)訪問接口的設(shè)計與實現(xiàn)。感知服務(wù)訪問接口實現(xiàn)過程中,利用本地化緩沖和實時更新技術(shù),保證了感知服務(wù)信息的實時性和有效性。車輛控制訪問接口的設(shè)計考慮了底層VCU(Vehicle Control Unit)的控制協(xié)議差異性,該部分接口實現(xiàn)減小了行車策略層和底層控制協(xié)議的耦合度。(4)無人駕駛智能車系統(tǒng)平臺實驗驗證。將無人駕駛智能車系統(tǒng)平臺進(jìn)行應(yīng)用實驗,并對實驗結(jié)果進(jìn)行分析,給出了實驗結(jié)論。
[Abstract]:In recent years, millions of people worldwide have died in accidents every year, 90 percent of which are caused by the driver's wrong driving. This has caused more and more institutions and individuals at home and abroad to study driverless smart vehicles. In this paper, the research and application of driverless intelligent vehicle system platform is taken as the main content, and the design and implementation of the driverless intelligent vehicle system platform is carried out in detail. The main contents of this paper are as follows: (1) Design and implementation of distributed environment aware service. With the increasing complexity of traffic conditions and the increasing complexity of processing perceptual data, the distributed design concept of Robot operating system Ros (Robot operating system Ros) is used for reference in this paper. Different perceptual information processing is distributed on different computing nodes for distributed processing, and the processing result information is provided to other computing nodes in a service manner. The perception service in this paper realizes the virtualization management of hardware devices and the sensing software service. (2) the design and implementation of vehicle control service based on AUTOSAR. AUTOSAR (Auto Tomotive Open system Architecture) standardizes the software hierarchy of Electric Control Unit. It makes the development of automobile software more standardized and improves the reusability and portability of automotive electronic software. The vehicle control service in this paper is designed and implemented based on the RTE (Runtime Environment) layer of AUTOSAR. Control operation methods are designed and implemented for each class of controlled objects. (3) Design and implementation of service access interface for unmanned intelligent vehicle system platform. In the process of implementing the aware service access interface, the localization buffering and real-time updating technology are used to ensure the real-time and validity of the aware service information. The design of vehicle control access interface takes into account the differences of control protocols of the underlying VCU (vehicle Control Unit). This part of the interface reduces the coupling degree between the driving strategy layer and the bottom control protocol. (4) the platform experiment verification of driverless intelligent vehicle system. The application experiment is carried out on the platform of unmanned intelligent vehicle, and the experimental results are analyzed, and the experimental results are given.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U463.6;TP311.52

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本文編號：2079223