基于车路协同的高等级自动驾驶数据交互内容

秒速五厘米 2022-10-16 06:04 193阅读 0赞

### 基于车路协同的高等级自动驾驶数据交互内容 ###

*  基于车路协同的高等级自动驾驶系统组成
 *   *  1. 系统架构
     *  2. 系统功能
     *   *  2.1 RSS各组成单元功能
         *  2.2 VSS各组成单元功能
     *  3. 系统交互
 *  基于车路协同的高等级自动驾驶数据交互内容
 *   *  1. 消息层框架
     *  2. 消息层基本介绍和要求
     *  3. 消息层数据集定义
     *   *  3.1 消息帧（Message Frame）
         *  3.2 消息体（Message）
         *   *  3.2.1 Msg\_BSM
             *  3.2.2 Msg\_CIM
             *  3.2.3 Msg\_RAM
             *  3.2.4 Msg\_RSC
             *  3.2.5 Msg\_RSCV
             *  3.2.6 Msg\_SSM
 *  附录A 基于车路协同的高等级自动驾驶典型应用
 *   *  1. 协同式感知
     *  2. 基于路侧协同的无信号交叉口通行
     *  3. 基于车路协同的自动驾驶车路“脱困”
     *  4. 高精度地图版本对齐及动态更新
     *  5. 自主泊车
     *  6. 基于路侧感知的“僵尸车”识别
     *  7. 基于路侧感知的交通状况识别
     *  8. 基于协同式感知的异常驾驶行为识别

![image-20210527100751683][]

# 基于车路协同的高等级自动驾驶系统组成 #

## 1. 系统架构 ##

![image-20210527100911814][]

![image-20210527100922916][]

## 2. 系统功能 ##

![image-20210527100942769][]

### 2.1 RSS各组成单元功能 ###

![image-20210527101005269][]

![image-20210527101056644][]

### 2.2 VSS各组成单元功能 ###

![image-20210527101114203][]

![image-20210527101121459][]

## 3. 系统交互 ##

![image-20210527101132490][]

![image-20210527101141427][]

![image-20210527101152115][]

![image-20210527101200261][]

![image-20210527101212428][]

![image-20210527101222745][]

# 基于车路协同的高等级自动驾驶数据交互内容 #

## 1. 消息层框架 ##

![image-20210527101308051][]

## 2. 消息层基本介绍和要求 ##

![image-20210527101331577][]

## 3. 消息层数据集定义 ##

![image-20210527101346922][]

![image-20210527101400370][]

![image-20210527101409008][]

![image-20210527101416571][]

### 3.1 消息帧（Message Frame） ###

### 3.2 消息体（Message） ###

#### 3.2.1 Msg\_BSM ####

![image-20210527101537497][]

#### 3.2.2 Msg\_CIM ####

![image-20210527101529578][]

#### 3.2.3 Msg\_RAM ####

![image-20210527101524881][]

#### 3.2.4 Msg\_RSC ####

![image-20210527101553346][]

#### 3.2.5 Msg\_RSCV ####

![image-20210527101606065][]

#### 3.2.6 Msg\_SSM ####

![image-20210527101623596][]

# 附录A 基于车路协同的高等级自动驾驶典型应用 #

## 1. 协同式感知 ##

![image-20210527101901954][]

![image-20210527101915639][]

![image-20210527101923158][]

![image-20210527101933554][]

![image-20210527101940650][]

![image-20210527101948821][]

![image-20210527102007700][]

![image-20210527102015610][]

![image-20210527102022458][]

![image-20210527102034930][]

## 2. 基于路侧协同的无信号交叉口通行 ##

![image-20210527102052387][]

![image-20210527102103170][]

![image-20210527102112714][]

![image-20210527102120937][]

![image-20210527102126804][]

![image-20210527102133049][]

![image-20210527102141491][]

![image-20210527102152132][]

![image-20210527102205623][]

![image-20210527102212875][]

![image-20210527102220345][]

![image-20210527102251637][]

![image-20210527102256937][]

## 3. 基于车路协同的自动驾驶车路“脱困” ##

![image-20210527102318890][]

![image-20210527102327067][]

![image-20210527102334483][]

![image-20210527102341571][]

![image-20210527102348922][]

![image-20210527102400149][]

![image-20210527102406790][]

![image-20210527102415385][]

![image-20210527102420906][]

![image-20210527102430301][]

## 4. 高精度地图版本对齐及动态更新 ##

![image-20210527102450954][]

![image-20210527102500682][]

![image-20210527102506914][]

![image-20210527102514962][]

![image-20210527102520822][]

![image-20210527102528563][]

## 5. 自主泊车 ##

![image-20210527102539834][]

![image-20210527102550333][]

![image-20210527102556699][]

![image-20210527102605586][]

![image-20210527102611082][]

![image-20210527102622364][]

![image-20210527102629337][]

![image-20210527102637261][]

![image-20210527102645435][]

## 6. 基于路侧感知的“僵尸车”识别 ##

![image-20210527102700997][]

![image-20210527102708969][]

![image-20210527102718585][]

![image-20210527102724098][]

![image-20210527102732682][]

## 7. 基于路侧感知的交通状况识别 ##

![image-20210527102754016][]

![image-20210527102800403][]

![image-20210527102808178][]

![image-20210527102814427][]

## 8. 基于协同式感知的异常驾驶行为识别 ##

![image-20210527102832299][]

![image-20210527102840376][]

![image-20210527102845826][]

![image-20210527102854517][]

![image-20210527102901306][]

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