自动驾驶技术的未来：单车智能和智能车路协同

doi:10.3969/j.issn.1674-8484.2024.05.001

汽车安全与节能学报 ›› 2024, Vol. 15 ›› Issue (5): 611-633.DOI: 10.3969/j.issn.1674-8484.2024.05.001

• 综述与展望 • 下一篇

自动驾驶技术的未来：单车智能和智能车路协同

刘洋¹(), 占佳豪², 李深³^,^*(), 李小鹏⁴, 陈峻⁵

1.查尔莫斯理工大学建筑与土木学院，哥德堡 SE-41296，瑞典
2.上海大学管理学院，上海 200444，中国
3.清华大学土木水利学院，北京 100084，中国
4.威斯康星大学麦迪逊分校土木与环境工程学院，威斯康星 53706，美国
5.东南大学交通学院，南京 210096，中国

收稿日期:2024-07-25 修回日期:2024-08-08 出版日期:2024-10-31 发布日期:2024-11-07
通讯作者: *李深，助理研究员。E-mail：sli299@tsinghua.edu.cn。
作者简介:刘洋（1991—），男（汉），山东，研究助理教授。E-mail：liuy@chalmers.se。
刘洋博士是瑞典查尔莫斯理工大学研究助理教授、欧盟玛丽居里学者。以一作或通讯作者身份发表论文30余篇，谷歌学术引用1 500余次，2篇入选ESI高被引论文。获得了公路学会优博论文、COTA最佳博士论文荣誉提名、IEEE智能交通系统杂志优秀论文等奖项。主持了4个项目，得到了欧盟委员会 (European Commission)、瑞典国家创新局 (VINNOVA)、智能绿色车辆与交通全国重点实验室的资助。担任Transportation Research Part E编委、IEEE Transactions on Intelligent Vehicles副主编、Communications in Transportation Research编辑部主任、World Transport Convention智能驾驶出行服务技术委员会联合主席等职务。在国际顶级人工智能挑战赛中获得多个奖项，4次获得有着‘数据挖掘领域世界杯’之称的KDD CUP的冠、亚军。
Dr. LIU Yang,He is an Assistant Professor at the Chalmers University of Technology in Sweden and a Marie Curie Fellow of the European Union. As the first or corresponding author, he has published over 30 papers with more than 1,500 citations on Google Scholar, and 2 of his papers have been selected as ESI highly cited papers. He has received several awards, including the Outstanding Doctoral Dissertation Award from the China Highway Society, an Honorable Mention for the COTA Best Dissertation Award, and the Best Paper Award from the IEEE Intelligent Transportation Systems Magazine. He has led four projects, funded by the European Commission, the Swedish Innovation Agency (VINNOVA), and the State Key Laboratory of Intelligent Green Vehicle and Transportation. He serves as an Editorial Board Member for the Transportation Research Part E, Associate Editor for the IEEE Transactions on Intelligent Vehicles, a Managing Editor for the Communications in Transportation Research, and a Co-Chair of the Intelligent Driving and Travel Services Technology Committee for the World Transport Convention. He has won multiple awards in top international artificial intelligence challenges, including four championships and runner-up positions in the KDD Cup, known as the “World Cup of Data Mining.”
李深博士于2018年获得美国威斯康星大学麦迪逊分校博士学位。现为清华大学助理研究员。研究方向主要包括智能交通系统、智能网联汽车、交通大数据挖掘、交通运营与管理。担任国际期刊Communication in Transportation Research青年编委、世界交通运输大会智能驾驶出行服务技术委员会主席。承担了国家自然科学基金海外优青项目、国家自然科学基金面上项目、国家重点研发计划重点专项子课题等，参与了国家自然科学基金国际合作课题、清华奔驰国际科技合作、清华丰田国际科技合作项目以及美国交通运输部、美国威斯康辛州交通厅等多项课题。
Dr. LI Shen,He received his Ph.D. degree from the University of Wisconsin-Madison, USA, in 2018. He is currently a Research Associate at Tsinghua University. His research interests primarily focus on intelligent transportation systems (ITS), intelligent connected vehicles, traffic big data mining, and traffic operations and management. He serves as a Young Editorial Board Member for Communication in Transportation Research. He is the Chair of the Intelligent Driving and Mobility Services Technical Committee for the World Transport Convention. He has been awarded several prestigious research grants, including the Science Fund Program for Excellent Young Scientists (Overseas) from the National Natural Science Foundation of China (NSFC). a General Program project from NSFC, and a sub-project of the National Key R&D Program. He has also participated in various international collaborative projects, including an NSFC international cooperation project, Tsinghua-Mercedes-Benz international technology cooperation, and Tsinghua-Toyota International Technology Cooperation Project. Additionally, he has contributed to multiple projects for the U.S. Department of Transportation and the Wisconsin Department of Transportation.
基金资助:
智能绿色车辆与交通全国重点实验室开放基金课题(KFY2421)

Future of autonomous driving: Single autonomous driving and intelligent vehicle-infrastructure collaboration systems

LIU Yang¹(), ZHAN Jiahao², LI Shen³^,^*(), LI Xiaopeng⁴, CHEN Jun⁵

1. Department of Architecture and Civil Engineering, Chalmers University of Technology, Gothenburg SE-41296, Sweden
2. School of Management, Shanghai University, Shanghai 200444, China
3. School of Civil Engineering, Tsinghua University, Beijing 100084, China
4. Department of Civil and Environmental Engineering, University of Wisconsin-Madison, Wisconsin 53706, United States
5. School of Transportation, Southeast University, Nanjing 210096, China

Received:2024-07-25 Revised:2024-08-08 Online:2024-10-31 Published:2024-11-07

摘要/Abstract

摘要：

随着全球交通拥堵和安全问题的日益突出，自动驾驶技术的广泛应用被认为是解决这些问题的重要途径，单车智能技术（SAD）和智能车路协同系统（i-VICS）是当前自动驾驶领域的两大研究热点。本文阐述了单车智能和车路协同系统的基本概念和关键技术，讨论了单车智能中的感知定位、决策规划和控制执行技术，以及车路协同系统中的协同感知定位、协同通信和分级云控技术，并回顾了不同技术的研究成果；总结了中、美、德、日对自动驾驶技术路线的发展选择，并讨论了不同技术所带来的商业性产业链变革；剖析了单车智能和车路协同所面临的技术挑战，以及自动驾驶技术所面临的社会与法律挑战，并以此展望未来的发展方向，为自动驾驶技术的创新和应用提供参考。

关键词: 自动驾驶技术, 单车智能（SAD）技术, 智能车路协同系统（i-VICS）, 智能交通系统

Abstract:

As global traffic congestion and safety concerns become increasingly prominent, the widespread application of autonomous driving technology is considered a vital solution. Two prominent areas of research in autonomous driving are single autonomous driving (SAD) and intelligent vehicle-infrastructure collaboration systems (i-VICS). This paper explores the fundamental concepts and critical technologies of both. In terms of SAD, the focus is on perception, localization, decision-making, planning, and control execution, while i-VICS is centered on cooperative perception, collaborative localization, vehicle-to-infrastructure communication, and hierarchical cloud control. Furthermore, it reviews the progress of research in these technologies and summarizes the development paths chosen by China, the United States, Germany, and Japan. The transformative impact of these technologies on the commercial and industrial supply chains is also examined. Finally, the paper analyzes the technical challenges faced by both SAD and i-VICS, along with the social and legal challenges of autonomous driving, offering insights into future development directions, and providing a reference for the innovation and application of autonomous driving technology.

Key words: autonomous driving technology, single autonomous driving (SAD), intelligent vehicle-infrastructure collaboration systems (i-VICS), intelligent transportation systems

中图分类号:

U491

刘洋, 占佳豪, 李深, 李小鹏, 陈峻. 自动驾驶技术的未来：单车智能和智能车路协同[J]. 汽车安全与节能学报, 2024, 15(5): 611-633.

LIU Yang, ZHAN Jiahao, LI Shen, LI Xiaopeng, CHEN Jun. Future of autonomous driving: Single autonomous driving and intelligent vehicle-infrastructure collaboration systems[J]. Journal of Automotive Safety and Energy, 2024, 15(5): 611-633.

图/表 13

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O_XY	大地坐标系
a	前轮轴距
φ	绕z轴的横摆角
F_lf、F_lr	前后轮纵向力 (沿轮胎纵向)
F_x_f、F_x_r	前后轮纵向力 (沿车体纵向)
δ_f、δ_r	前后轮转角
v_lf	前轮纵向速度 (沿轮胎纵向)
v_f	前轮合速度
o_xy	车身坐标系
b	后轮轴距
I_z	绕Z轴的转动惯量
F_cf、F_cr	前后轮横向力 (沿轮胎横向)
F_y_f、F_y_r	前后轮横向力 (沿车体横向)
α_f	前轮侧偏角
v_cf	前轮横向速度 (沿轮胎横向)
m	整车质量

O_XY	大地坐标系
a	前轮轴距
φ	绕z轴的横摆角
F_lf、F_lr	前后轮纵向力 (沿轮胎纵向)
F_x_f、F_x_r	前后轮纵向力 (沿车体纵向)
δ_f、δ_r	前后轮转角
v_lf	前轮纵向速度 (沿轮胎纵向)
v_f	前轮合速度
o_xy	车身坐标系
b	后轮轴距
I_z	绕Z轴的转动惯量
F_cf、F_cr	前后轮横向力 (沿轮胎横向)
F_y_f、F_y_r	前后轮横向力 (沿车体横向)
α_f	前轮侧偏角
v_cf	前轮横向速度 (沿轮胎横向)
m	整车质量

自动驾驶技术的未来：单车智能和智能车路协同

Future of autonomous driving: Single autonomous driving and intelligent vehicle-infrastructure collaboration systems

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数据集	年份	数据量/ (M pie)			引用量
数据集	年份	图像	激光	雷达	2023	2022	2021
Cityscapes ^[22]	2016	25	—	—	2 520	2 484	2 175
KITTI ^[23]	2013	15	15	—	2 430	1 610	1 417
NuScenes ^[24]	2019	1.4	400	1.3	1 620	1 093	667
Waymo ^[25]	2020	1	230	—	876	627	367
BDD100K ^[26]	2020	100	—	—	658	660	480
Argoverse ^[27]	2019	490	44	—	377	333	216
Mapillary Vistas ^[28]	2017	25	—	—	299	315	221
ApolloScape ^[29]	2019	147	80	—	127	145	105
CamVid ^[30]	2008	18	√	—	116	134	137

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