智能网联环境下车载终端的发展现状与挑战

doi:10.3969/j.issn.1674-8484.2024.03.002

汽车安全与节能学报 ›› 2024, Vol. 15 ›› Issue (3): 295-308.DOI: 10.3969/j.issn.1674-8484.2024.03.002

智能网联环境下车载终端的发展现状与挑战

张永升¹(), 李逸椆², 王亮³, 徐志刚⁴^,^*()

1.中车戚墅堰机车车辆工艺研究所股份有限公司，常州213011，中国
2.电子科技大学信息与软件工程学院，成都 610054，中国
3.清华大学车辆与运载学院, 北京 100084，中国
4.长安大学信息工程学院，陕西西安 710000，中国

收稿日期:2024-04-25 修回日期:2024-05-16 出版日期:2024-06-30 发布日期:2024-07-01
通讯作者: *徐志刚，教授。E-mail：xuzhigang@chd.edu.cn。
作者简介:张永升（1987—），男（满族），辽宁，高级工程师。E-mail：zhysmars@163.com。
徐志刚教授长安大学信息工程学院副院长、二级教授、博士生导师，是国家级高层次人才，交通运输部中青年科技创新领军人才、陕西省杰出青年、陕西省青年科技奖和中国交通教育优秀教师奖获得者。主要从事智能交通系统分析、车联网与自动驾驶、车路协同等领域的研究，先后获得国家科技进步二等奖2项，陕西省科学技术一等奖3项、三等奖1项，研究成果在多个省市落地应用。目前兼任国际期刊Journal of Intelligent and Connected Vehicles的副主编和Communications in Transportation Research、Journal of Traffic and Transportation Engineering、《中国公路学报》《交通运输工程学报》等多个期刊的编委和世界交通运输大会车联网与自动驾驶委员会主席、美国土木工程师协会T&DI委员，兼任“车联网”教育部-中国移动联合实验室副主任、交通运输部认定的长安大学自动驾驶测试基地副主任。
Prof. XU Zhigang XU Zhigang is the Vice Dean and Chang’an Scholar Distinguished Professor with the School of Information Engineering at Chang’an University. He is recognized as a national high-level talent, a leading expert on scientific and technological innovation areas certified by the Ministry of Transport, China, a recipient of the Shaanxi Provincial Natural Science Fund for Distinguished Young Scholars, the Shaanxi Provincial Youth Science and Technology Award, and the Excellent Teacher Award of Chinese Transportation Education. his research is focused on intelligent transportation systems, connected and autonomous vehicles, and cooperative vehicle infrastructure systems. He has won 2 National Science and Technology Progress Awards (Second Prize), 3 Shaanxi Provincial Science and Technology Awards (First Prize). His research achievements have been implemented in various provinces and cities in China. Currently, he serves as the Associate Editor of Journal of Intelligent and Connected Vehicles and a editorial board member of Communications in Transportation Research, China Journal of Highway and Transport, Journal of Traffic and Transportation Engineering among others. He is also the Chair of the Connected and Autonomous Vehicles Committee of the World Transport Conference, a member of the T&DI of the American Society of Civil Engineers, the Deputy Director of the Internet of Vehicles Joint Laboratory sponsored by the Ministry of Education and China Mobile. He is also the Deputy Director of the Chang’an University Autonomous Vehicle Test Field (CAVTest) authorized by the Ministry of Transport, China.
基金资助:
国家重点研究发展计划项目(2023YFB4301804);国家自然科学基金项目(52220105001);国家自然科学基金项目(52221005)

Development status and challenges of vehicle terminals in intelligent and connected environments

ZHANG Yongsheng¹(), LI Yizhou², WANG Liang³, XU Zhigang⁴^,^*()

1. CRRC Qishuyan Institute Co., Ltd., Changzhou 213011, China
2. School of Information and Software Engineering, University of Electronic Science and Technology of China, Chengdu 610054, China
3. School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China
4. School of Information Engineering, Chang'an University, Xi'an 710000, China

Received:2024-04-25 Revised:2024-05-16 Online:2024-06-30 Published:2024-07-01

摘要/Abstract

摘要：

随着智能网联技术的快速发展，智能网联汽车装配的智能车载终端功能也相应扩展。经过数十年的进步，智能车载终端系统在多个领域取得了显著的发展，并在自动驾驶领域展现出巨大的潜力。该文从智能车载终端在智能网联环境中的现状入手，描述了智能车载终端系统的架构，并回顾了在车间通信和车路协同赋能下车载终端系统的发展历程；对5G时代车联网无线通信技术的创新对智能车载终端发展的重大影响做了深入分析，并详细回顾了在协同驾驶与控制、边缘计算与雾计算、数字孪生等领域的最新研究成果，同时指出了智能车载终端在信息安全和自动驾驶测试领域面临的挑战。

关键词: 自动驾驶技术, 车载单元, 网联化, 智能网联, 车辆通信

Abstract:

With the rapid advancement of intelligent connected technology, the functionalities of intelligent vehicular terminals equipped in connected vehicles have correspondingly expanded. After decades of development, these intelligent vehicular terminal systems have made significant progress in various domains and demonstrated substantial potential in the field of autonomous driving. This paper begins with the current status of intelligent vehicular terminals within the connected environment, describes the architecture of these systems, and reviews their evolutionary journey facilitated by intra-vehicle communication and vehicle-to-road cooperative empowerment. Furthermore, the paper delves into the profound impact of innovations in vehicular network wireless communication technology in the 5G era on the development of intelligent vehicular terminals. It also thoroughly reviews recent research achievements in cooperative driving and control, edge computing and fog computing, and digital twinning, while also anticipating the challenges these terminals face in information security and autonomous driving testing.

Key words: autonomous driving technology, on-board units, connectivity, vehicle-to-everything (V2X), vehicle communication

中图分类号:

U491

张永升, 李逸椆, 王亮, 徐志刚. 智能网联环境下车载终端的发展现状与挑战[J]. 汽车安全与节能学报, 2024, 15(3): 295-308.

ZHANG Yongsheng, LI Yizhou, WANG Liang, XU Zhigang. Development status and challenges of vehicle terminals in intelligent and connected environments[J]. Journal of Automotive Safety and Energy, 2024, 15(3): 295-308.

图/表 10

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OBU	平台供应商	IEEE WAVE	ETSI ITS	ARIB STD-T109	SAE J2735
LocoMate OBU	Arada Systems	支持	不支持	不支持	支持
PANGEA4	Autotalks	支持	支持	支持	不支持
EVK-3300、 TS3306	Kapsch TrafficCom	支持	支持	不支持	支持
MK5 OBU	Cohda Wireless	支持	支持	不支持	支持
MobiWAVE	Savari Networks	支持	不支持	不支持	支持

OBU	平台供应商	IEEE WAVE	ETSI ITS	ARIB STD-T109	SAE J2735
LocoMate OBU	Arada Systems	支持	不支持	不支持	支持
PANGEA4	Autotalks	支持	支持	支持	不支持
EVK-3300、 TS3306	Kapsch TrafficCom	支持	支持	不支持	支持
MK5 OBU	Cohda Wireless	支持	支持	不支持	支持
MobiWAVE	Savari Networks	支持	不支持	不支持	支持

无线通信技术	描述
蓝牙	为微型、低成本、低功耗设备设计，用于短距离传输数字音频和数据。
Wi-Fi	基于IEEE 802.11标准的无线网络通信技术，为IVI提供互联网服务。
BLE ^[39]	指低功耗蓝牙，适用于短距离射频设备进行连接。
ZigBee ^[40]	一种开放的全球标准无线技术，旨在应对无线物联网网络在低成本和低电池供电设备方面面临的挑战。
UWB ^[41]	指超宽带无线通信技术，具有低功耗、高传输速率、定位精确的特性。
DSRC	提供高速数据传输、中短距离通讯服务，广泛应用于V2V，V2I通信。
LTE ^[42]	一种基于正交频分复用调制方式的无线通信技术，用于车机与交通其他参与方的联系。
60 GHz 毫米波^[43]	在短距离内支持多Gb/s的无线连接，适用于带宽密集型多媒体应用

无线通信技术	描述
蓝牙	为微型、低成本、低功耗设备设计，用于短距离传输数字音频和数据。
Wi-Fi	基于IEEE 802.11标准的无线网络通信技术，为IVI提供互联网服务。
BLE ^[39]	指低功耗蓝牙，适用于短距离射频设备进行连接。
ZigBee ^[40]	一种开放的全球标准无线技术，旨在应对无线物联网网络在低成本和低电池供电设备方面面临的挑战。
UWB ^[41]	指超宽带无线通信技术，具有低功耗、高传输速率、定位精确的特性。
DSRC	提供高速数据传输、中短距离通讯服务，广泛应用于V2V，V2I通信。
LTE ^[42]	一种基于正交频分复用调制方式的无线通信技术，用于车机与交通其他参与方的联系。
60 GHz 毫米波^[43]	在短距离内支持多Gb/s的无线连接，适用于带宽密集型多媒体应用

关键技术指标	DSRC	C-V2X
网络覆盖	有限覆盖	广域覆盖
通信场景	V2V、V2I	V2V、V2I、V2N、V2P
时延	不确定	10 ms(Rel 15标准) ^[50]
可靠性	不保障	>95%(Rel 15标准) ^[50]
峰值速率	6 Mbps	31 Mbps
同步	松散异步	严格的同步要求
调制模式	OFDM	SC-FDM
信道编码	卷积码	Turbo 代码
并发传输	不支持	支持
资源分配	CSMA/CA	基于感知的半持续调度
资源复用	仅支持时分复用	支持时分复用和频分复用

智能网联环境下车载终端的发展现状与挑战

Development status and challenges of vehicle terminals in intelligent and connected environments

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