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

doi:10.3969/j.issn.1674-8484.2024.05.001

Abstract

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

CLC Number:

U491

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.

Figures/Tables 13

References 180

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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