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Զ·ѲƺԶƶԶʻں̶ܴʵֵġҪIJǴ࣬ǵʹ÷ʽҲͬҪĿǰ·ʻڵADASǶģζDZ˴֮伸ϢֻаѶϢںʵԶʻĹؼ ·ϵĺܶչڵĺܶ³ڲ䱸лͷ״LIDARȲͬȽʻԱϵͳADAS Щϵͳ·ͨӣǿҪװͷķ⣬糵մŻݺ·ͨȫ֣NHTSAŷ³ȫЭᣨEuro-NCAPȻȫʹijЩϵͳΪǿƹܣһ棬Ҳ߶ǵ Զ·ѲƺԶƶԶʻҲں̶ܴʵ֡ҪIJǴ࣬ǵʹ÷ʽҲͬҪĿǰ·ʻڵADASǶģζDZ˴֮伸ϢûijЩ߶˳зdzȽԶʻܣЩܻδռͷϵͳ״ǰͷǸԵ;ͨЩϵͳӵУΪʻԱṩϢʵԶʻܡ㻹ͻƣʵָܡμͼ1
ͼ1ADASڵĹܴڡ ں ͨʹͬĴ˷ÿִȱ㡣֮ҪԲͬഫϢһ𡣹ڿɼΧڵͷCMOSоƬŨꡢղ»鷳״ȱĿǰеĸ߷ֱʡǿÿִҵȱ㡣 ںһ뷨ΰ֮ڻòͬʹݣʹһϢȷظ֪ΧĻڶϵͳáȫľߡ״ҲйеķֱʣڲʹꡢѩŨкܴơЩղĶͷãͷֱܹɫһֵָʾƺ·꣩ҾкܸߵķֱʡĿǰ·ͼķֱѾﵽ1ءδڣͼķչƽ24ء ״ͷںϡΪĵ䷶ַںϵͳʵֵĹҪԶЩϵͳܹʵֵĹܺ͡ʹòͬĴijһִȫֹϵĻ£ṩһȡִϿȻԭһŨΪͷ״ĵӸŻΪţ¡ʹһʧЧ£ĴںϵͳҲԱijЩĹܡȫܣüʻԱʱӶӹܶԳĿƣϵͳҲͲôˡȻ߶ȺȫԶʻܱṩʱüʻԱ»öԳĿơμʻԱӹ֮ܳǰʱ䷶ΧڣϵͳҪֶԳȵĿơ ںϵͳʾ ںϵĸӳ̶ͬݵҲһĴںʾǣaͷϳࣻbǰͷ϶ģʽǰ״μͼ2ڣǿͨϵͳĺ/ͨһĴںϿƵԪʵ֡
ͼ2ǰ״ǰͷںһʵӦѲƼӳָ߽ͷ볬౨һʵԶ ? ͷ+ гڱ㷺ܣʮֳ죻ڲʱܶڽüüı֮ǰᵽ2018꣬³ij밲װͷԶߵϢһ𣬲ʵȽIJܣ俿һϵͳʵֵġͷʹʻԱܺؿӾ㷨̽壬Լ·ʯͽֵϵıǡͨṩIJ书ܣȷȷʶľ룬ڵջȫڰ£ҲȷĽӽ ? ǰͷ+ģǰ״ һǿǽǰͷĹǰ״һǰ״ܹκ²ߴ150ٶȺ;롣ͷ̽巽棨ȡֵָʾƺ·꣩ʮֳɫͨʹþвͬӳǣFoxͲͬѧԪĶͷϵͳʶǰͨ˺гԼ150ԶΧڵ壬ͬʱ仹ԿɿʵԶƶͳͣѲƵȹܡ £ض֪ⲿ£ͨһִϵͳִܹADASܡȻǵ·кܶԤƵʵֿɿСںϳʵָӺĹ⣬йʵָٵ©˵ߺߣʹɡһ̨ʻʮֹؼ ںϵͳָ ÿϵͳִиԵıƹܲͬһںϵͳУղȡֲɵоġڵĹؼݴԼνݷ͵ӿƵԪECUԲǼһDZ鲼ĶںʱǾҪרſǴںECU֮Ӻ͵¡ݴλҲˣΪҲӰϵͳʵ֡һܵϵͳָеּ ? ʽ ʽļǣеݴ;ƶͬһλɣԲͬġԭʼݡͼ3
ͼ3Сͳʽģļд ŵ㣺 ģ顪ģСɣɱͣҲͣΪֻҪִмݴİװλҲ谲װռС滻ɱͨ͡£账ߣģнϵ͵ĹܰȫҪ ECU봦ECUԻȡȫݣΪݲΪģڵԤѹʧڴɱϵͣγߴС˿ԲĴ ȱ㣺 ģ顪ʵʱҪṩͨţߴGb/s˿ֽܳϸߵŸţEMI ECUECUҪиߴٶݡںܶߴI/O߶Ӧô˵ζŸߵĵɢӽӶECUܵҪͨʹFPD-link IIIȽӿڣһͬϴʹġƺõȶݣ˫ͨЩȱԱ˷ɼϵͳĽҪ ? ȫֲʽϵͳ һֽȻͬļȫֲʽϵͳɱشģиݴһ̶ϽоƶġȫֲʽϵͳֻݻԪݣ/ʶݣصںECUECUһ𣬲վִлӦͼ4
ͼ4ɴģ鴦ECUƶķֲʽϵͳ ȫֲʽϵͳŵȱ㡣 ŵ㣺 ģ顪ģECU֮ʹøʹӼҸӱ˵Ľӿڡںܶ£С1Mb/sCAN߾㹻ˡ ECUECUֻںһ账͡ijЩϵͳ˵һİȫ㹻ˡģС蹦Ҳ͡ںܶദڴڲɵģӲӶECU ȱ㣺 ģ顪ģҪӦôĻͻ۸ҹĸڱش;ƶģĹܰȫҪҲߡȻӸĴɱҲ ECUƶECUֻܻȡݣʵʵĴݡˣҪŴȤʵ֡ Ѱһƽָ ϵͳʹô࣬ԼԲͬͺѡĿչҪ˻һͿɻһŻĿǰܶںϵͳʹôشĴ״ͼ״LIDARʹǰͷڻӾһȫֲʽϵͳʹеĴģںECUһ绷ӺͺͷϵͳеġͳģüʻԱΧĻͼ5ԽADASܼɽʻԱͷϵͳںϵͳУǴںϵԭһ ͼ5Ѱҷֲʽͼʽϡ ƽ̨Ŀϸ֡ԺͿչҪľأЩҲڷָںϵͳʱҪáһضϵͳҲƷǴƽ̨ͳӵĽǶȿȴѷ ˭Щݵġۿߡ ADASǻû۵ϢADASԹADASǰ߾ǵʻԱȻȫƿʱʻԱĸйٷΧ绷ӺҹӣڶǻӾʹܹ֪ΧҾԼִУԶƶָںȻȻؽ϶Ϊһ ˣDzпܽͬһӦڲͬ;ôĴ۾ѡģͨźʹλ÷ܵơԻΪĿǣͨƵ뵽ʾϣΪʻԱṩ360ӳǡΪʲôʹͬͷӾӦõأͷʵֵԶͣͷʵä/ҲԶ ʹõĻӾڴģڽбشȻͨCANߵȼĵʹӽͳȥȻӲԴƵƵѹȻԽǻԽλΧڣҲһЩ⡣Ÿ߶̬ΧHDRֱʡ֡ʺعӣøѡߴӺͷģ鲻ݴƵ⣬ҪӵECUԱлӾȱ봦ɢȿƻΪֽƿ ȻڴģндͬʱʹøߴͨڼϲDzʵ֣ϵͳɱĺͰװռǶʮ ںõĿɿ ںܶںϵͳܹûмʻԱִضܣתƶͼ٣ƣҪԹܰȫ濼ǣȷڲͬºʹϵͳܹȫͿɿСһߣȡôڹܰȫҪ ÷ֲʽķÿؼݻƶߵģЩӵıֻѼͷʹϢģȣ嵥BOMɱߴ硢ĺڰװռ䲻ĻУȴķպĸҲܸߣһμС¹пҪոܺĴܵжģķֲʽϵͳơ áͳģ飬Լϱ棬ʵϵͳİȫת仹δﵽܴģij̶ȡ ȻļʻԱϢϵͳǵĹܵʱرղͨʻԱǸ߶ʻܾûôˡһһִнƶȻͻȻɿƶ˵ڹ·ʻʱϵͳرգʱʻԱȫԶʻ״̬º˯δܵһڼʻԱܹȫƳ֮ǰϵͳҪֹһʱ䣬Ҫм뵽ӡϵͳе̶ֳȣԼȷڹתЩҵƺδȷʶԶʻܵķɻͨʹϵͳȻһΪǰȫģ۰ռôռ䡣 ںϽԶʻ;ʱͼʻȤĹؼһ ഫϢں㷨 صܣ˼˵Լͨشϵͳ֪·Զ滮г·߲ƳԤĿꡣĿǰԣظ֪ģӾ֪ģ顢ײ״״360°ϵͳȣԴЭͬʶ·ߡ˳ϰΪȫʻݻˣ֪ϢҲҪںϣ֪ϢҲҪ䡣 һҪĸഫϢںϣinformation fusionֲͬĴӦͬĹ֪Ŀꡣȷ˵ײ״ҪʶǰԶϰ0.5-150ף·泵ˡ·ϵȡ״Ҫʶϰ0.2-5ף粴е·ءֹǰ˵ϢЭͬã㣬ͨϰǶȡ롢ٶȵںϣ̻ܱͿɴռ䷶Χ
ͼ6֪ģ Ϣںںϣdata fusionԴ1973źŴϵͳ2090ϢĹ㷺չи廯ġϢںϡഫںMSDF (Multi-sensor Data FusionҲӦ˶ ںҪڣòͬʱռĶഫԴüʱлöഫĹ۲ݣһ½зۺϡ֧ʹáöԱһԽʵӦľߺƣʹϵͳñɲָΪֵϢ һأԴںϴ̰裬ͼʾǶԴϵͳ붨꣬ɼݲźתٽԤȡں㷨ļȶġΪֵġһԵĿϢ
ͼ7ԴںϹ öȡĹڶͻȫ桢ϢҪں㷨ϡˣഫϵͳĺѡʵں㷨ڶഫϵͳ˵ϢжԺԣˣϢںϷĻҪǾ³ԺͲд,ԼٶȺ;ȡ¼Ҫֳõں㷨Ҷ˹ͳۣ缼Լ˲ Ҷ˹ͳ
ͼ8ͼ Ӣѧ˹·Ҷ˹Thomas Bayes1763귢һƪУҶ˹ͳһͳѧͳijԣǹ¼ABʵһν""Conditional probabilityָ¼B£¼AĸʣP(A|B)ʾͼƵõP(A B) = P( A | B) * P(B) = P( B | A) * P(A)ɴ˿ƵʵĹʽǰP(A)Ϊ(Prior probability)¼B֮ǰǶ¼Aһʶ ٸӣӾ֪ģͼʶͨٱ־Traffic Sign Recognition, TSR ܼʻҪһTSRʶУͨٱ־ƱľƸ˵ڵӰʶҪšôǹĵģǽͨٱ־ڵ£жأǶ¼AΪͨźű־ȷʶ¼Ϊͨźű־δʶBΪٱ־ڵ¼Ϊٱ־δڵ
ͼ9ڵĽͨٱ־ 㷨ͳƳ¼Aȷʶͨٱ־ĸʣ˴¼AĸʳΪʡͨ鿴Ӿ֪ģļƵ¼ǿͳƼĽͨٱ־жٱڵжûڵģͳ©Ľͨٱ־УжDZڵģжûڵġˣǿԵõֵ
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ϼǿԿٱ־δڵȫ¶ʶ൱ߵģٱƱ赲סʶDZδڵĵͺܶࡣָںʹãΪĿǰͼ㷨ʶٱ־ܵҪοȻʵʵںϹ̱⸴ӵö࣬СʦŬŻ߸ֹµʶʣṩΪʵܼʻ
ͼ9 磨Artificial Neural NetworkANNǻѧϰMachine LearningMLһַʽ˹ܡ֪ѧѧԶѧϢѧѧġȵ㡱 ANNķչ һΣ2040ʼγһ˵ıԵԽѧơ1943꣬ѧMcCullochѧPittsڻѧѧ˵һģ: MPģ͡1949,ѧHebbͨԴϸѧϰĹ۲о,˸ıԪǿȵġҪHebb ڶǷչΣ1957꣬RosenblattչMPģ,˸֪ģͣPerception Model֪㴦Ԫ֪һҪо1960꣬WidrowӦԪģͣAda-line modelԼһЧѧϰWidrow-Hoffѧϰ dzΣ1982ݹѧԺѧHopfieldһŻ;Hopfield,ʹоͻԽչ1984HopfieldһƪУָHopfieldüɵ·ʵ֣ױ̼ԱͼƼ⣬̼ձע ͰʮڣĹâڸˣ⼸ķչǡǡĻᡣһһԪɡԽ࣬ԽνѧϰDeep LearningúܶԪɵﵽѧϰĹܡѧϰߣ2006꣬(DBN)Ǽල̰ѵ㷨ΪṹصŻϣԶṹĿǰѧϰ缼㷺ڼӾʶȻԴʶϡ оڶѧ漰ѧ˹ܡѧԶѧѧѧ֪ѧѧƣЩ˴˽ϡƶоӦõķչ
ͼ10һ˹ϸ ţĻĴϸɣͬģԵ˹ANN˹ϸArtificial neuronҲ˹ԭ˹ԪϸСṹģɡ˹ϸʵϸһ棬ͼʾɫԲĸwΪȨأweightȨֵȨ ˹ϸÿһinput()һȨwϵЩȨؽԾԡʱЩȨضõ-֮ͣһСΪȨؿɸܶʩӲͬӰ죬ȨΪͻмeVcitoryãȨΪƣinhibitoryá źŽϸʱǵֵǶӦȨˣΪͼдԲ롣Բġˡһм(actiZZZation function)ЩµġȨصȫγɵļֵ(actiZZZation ZZZalue)ֵҲһͬɸȻٸݼֵҲϸֵijֵΪǼ跧ֵΪ1.0ͻһֵΪ1źֵСڷֵ1.0һ0˹ϸһ͡
ͼ11ṹ ϸϸһġΪ˴һ˹磬˹ϸҲҪͬʽһΪ˿ͬӷʽⲢҲ㷺ʹõģͼʾϸһһһһ͵ͽǰ磨feed forward networkһƵΪÿһϸǰͣfeedǵһ㣨ͼǻһ)ֱΪֹ ϸͨ㡢ӣγһӵϵͳͨЧѧϰѵʹĽʵԽԽԽԽС侫һĹʱѵϣ˿̹ϵͳΪǽڶѧϰϵͼʶʶʶϵ⡣ ܼʻĿǰķչϿ˹缼µѧϰ㷺Ӿ֪ģijʶ𡢳ʶ𡢽ͨ־ʶϡͨй·ݲɼʹ㷺ȡڲͬ״졢ѩ졢ȣͬ·е··ٹ·ȣʵĻݣΪѧϰṩ˿ɿݻ ˴ݣҲǴȡݣǶԴģǰ粣ƬӾ֪ģϰλá״ɫϢҲǺײ״״ϰ롢ǶȡٶȡٶȵϢ360°ϵͳϲɼijλݡٴݡ ˲ ˲Kalman filteringһϵͳ״̬̣ͨϵͳ۲ݣϵͳ״̬ŹƵ㷨˵˲һoptimal recursiZZZe data processing algorithmŻԻعݴ㷨ڽֵܴ⣬ţЧõġ Kalman˲ڲ֪ܹһϵдڲУƶ̬ϵͳ״̬ڣڼʵֳ֣ܹɼݽʵʱĸºʹ Kalman˲ĿǰӦΪ㷺˲ͨšƵƵȶõ˽ϺõӦá ˲ǶԴںӦõҪֶ֮һΪ˶Ҫؽܿ˲ԭ˴úײ״Ӿ֪ģںĿλõĹ һӣĿǰʻϵͳAdZZZanced DriZZZer Assistance SystemADASϣкײ״ͳ״ģ飬߾ܶϰﳵЧλùб״ԭײϰزݲʱǶȾ롣߾ʶλãôǸںϢȡᣬijλأǽķ֮һ ǻȡijλκʱ̶ģ˲ĿĶ̬Ϣ跨ȥӰ죬õһĿλõĺõĹơƿǶԵǰĿλõĹ(˲)ҲǶڽλõĹ(Ԥ)ǶԹȥλõĹ(ֵƽ)˲һݵǰʱĿļ״̬ԤĿһʱĿ״̬һ̬ѭ̡ ʻϵͳADASĿǰչҪֶͨԴϢںϣΪûȶʡɿĸʻܣ糵ϵͳLane Keeping Assist LKAǰԤForward Collision Warning FCWײ棨Pedestrian Collision WarningPCWͨʶTraffic Sign RecognitionTSRⱨ棨Head Monitoring and WarningHMWȡ ԴϢںϣĿϢΪϢĿɿṩݣӶȷʣ龯ʺ©ʣʵָʻϵͳԼѧϰʵܼʻȫʻĿꡣ Դ α༭˼ (责任编辑：) |
