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Masensa ndi mapulogalamu amaphatikizidwa m'magalimoto odziyimira pawokha kuti aziyenda, kuyendetsa, ndi kuyendetsa magalimoto osiyanasiyana, kuphatikiza njinga zamoto, magalimoto, magalimoto, ndi ma drones.
Kutengera ndi momwe adapangidwira kapena kupangidwira, angafunike kapena sangafunikire thandizo la driver.
Magalimoto odziyimira okha amatha kugwira ntchito mosatekeseka popanda madalaivala aumunthu. Ena, monga Waymo wa Google galimoto, sinkakhoza ngakhale kukhala ndi chiwongolero.
Galimoto yodzilamulira pang'ono, monga a Tesla, akhoza kutenga ulamuliro wonse wa galimotoyo koma angafunike dalaivala waumunthu kuti awathandize ngati dongosololi likukayikira.
Madigiri osiyanasiyana odzipangira okha amaphatikizidwa m'magalimoto awa, kuchokera kumayendedwe amsewu ndi chithandizo cha braking mpaka ma prototypes odziyimira pawokha, odziyendetsa okha.
Cholinga cha magalimoto opanda dalaivala ndikuchepetsa kuchuluka kwa magalimoto, utsi, komanso ngozi.
Izi ndizotheka chifukwa magalimoto odziyimira pawokha ndi odziwa kwambiri kutsatira malamulo apamsewu kuposa anthu.
Kuti muyende bwino, zidziwitso zina ndizofunikira, monga malo agalimoto kapena zinthu zilizonse zapafupi, njira yayifupi komanso yotetezeka yopita komwe mukupita, komanso kuthekera koyendetsa galimoto.
Ndikofunikira kumvetsetsa nthawi komanso momwe mungagwire ntchito zofunika.
Nkhaniyi ifotokoza zambiri, kuphatikizapo kamangidwe kadongosolo zamagalimoto odziyimira pawokha, magawo ofunikira, ndi ma network ad hoc (VANETs).
Zofunikira zofunika pagalimoto ya Autonomous Vehicle
Magalimoto amasiku ano odziyimira pawokha amagwiritsa ntchito masensa osiyanasiyana, kuphatikiza makamera, GPS, mayunitsi oyezera inertial (IMUs), sonar, laser illumination diagnosis ndi range (lidar), kuzindikira mawayilesi ndi radar (radar), kuyenda kwamawu, ndi kuyambira (sonar), ndi Mapu a 3D.
Pamodzi, masensa awa ndi matekinoloje amasanthula deta mu nthawi yeniyeni kuti athe kuwongolera chiwongolero, kuthamanga, ndi mabuleki.
Masensa a radar amathandiza kudziwa komwe kuli magalimoto ozungulira. Magalimoto amathandizidwa ndi masensa akupanga panthawi yoimika magalimoto.
Tekinoloje yotchedwa lidar idapangidwa pogwiritsa ntchito mitundu yonse iwiri ya masensa. Powonetsa kuwala kochokera kumalo ozungulira galimoto, masensa a lidar amatha kuzindikira m'mphepete mwa misewu ndikuzindikira zolembera.
Izi zimachenjezanso oyendetsa galimoto za zopinga zina, monga magalimoto ena, oyenda pansi, ndi njinga.
Kukula ndi mtunda wa chilichonse chozungulira galimotoyo amayezedwa pogwiritsa ntchito ukadaulo wa lidar, womwe umapanganso mapu a 3D omwe amalola kuti galimotoyo iziwona mozungulira ndikuzindikira zoopsa zilizonse.
Kaya ndi nthawi ya tsiku, kaya ndi yowala kapena yachisoni, imagwira ntchito yabwino kwambiri yojambulitsa zambiri mumitundu yosiyanasiyana ya kuwala kozungulira.
Galimotoyi imagwiritsa ntchito makamera, ma radar, ndi tinyanga ta GPS, limodzi ndi ma lidar ndi makamera, kuti izindikire malo omwe ili pafupi ndi komwe ili.
Makamera amayang'ana anthu oyenda pansi, okwera njinga, magalimoto, ndi zopinga zina pomwe amazindikiranso zizindikiro zapamsewu, kuwerenga zikwangwani za pamsewu, komanso kuyang'anira magalimoto ena.
Komabe, zingakhale zovuta m'madera amdima kapena amthunzi. Galimoto yodziyimira yokha imatha kuwona komwe ikupita pogwiritsa ntchito makina osakanikirana a lidar, radar, makamera, tinyanga ta GPS, ndi masensa a ultrasonic kuti ajambule msewu womwe uli patsogolo pake ndi digito.
Zomangamanga zapamwamba za System
Masensa ofunikira, ma actuators, hardware, ndi mapulogalamu amalembedwa muzomangamanga, zomwe zimasonyezanso njira yonse yolankhulirana kapena protocol mu AVs.
likukula
Gawoli limaphatikizapo kuzindikira komwe kuli AV mogwirizana ndi chilengedwe komanso kuzindikira chilengedwe chozungulira AV pogwiritsa ntchito masensa osiyanasiyana.
AV imagwiritsa ntchito RADAR, LIDAR, kamera, real-time kinetic (RTK), ndi masensa ena pa sitepe iyi. Ma module ozindikira amalandira deta kuchokera ku masensa awa ndikuwongolera pambuyo podutsa.
Kawirikawiri, AV imakhala ndi dongosolo lolamulira, LDWS, TSR, zopinga zosadziwika (UOR), gawo la galimoto ndi malo (VPL), etc.
Chidziwitso chophatikizidwa chimaperekedwa ku siteji ya kupanga zisankho ndikukonzekera pambuyo pokonzedwa.
Chisankho & Kukonzekera
Mayendedwe ndi machitidwe a AV amaganiziridwa, kukonzedwa, ndikuwongoleredwa pa sitepe iyi pogwiritsa ntchito chidziwitso chomwe chalandilidwa panthawi yozindikira.
Gawo ili, lomwe ubongo ukanayimira, ndipamene zosankha zimapangidwira pazinthu monga kukonzekera njira, kulosera zochita, kupewa zopinga, ndi zina.
Chisankhocho chimachokera ku chidziwitso chomwe chikupezeka pano komanso mbiri yakale, kuphatikizapo mapu a nthawi yeniyeni, ndondomeko ya magalimoto, zochitika, zambiri za ogwiritsa ntchito, ndi zina zotero.
Pakhoza kukhala gawo la zolemba zomwe zimasunga zolakwa ndi deta kuti zigwiritsidwe ntchito mtsogolo.
Control
Chigawo chowongolera chimagwira ntchito / zochita zokhudzana ndi kulamulira kwakuthupi kwa AV, monga chiwongolero, braking, kuthamanga, ndi zina pambuyo polandira zambiri kuchokera ku chisankho ndi gawo lokonzekera.
galimotoyo
Gawo lomaliza limaphatikizapo kuyanjana ndi zida zamakina zomwe zimayikidwa pa chassis, monga mota ya giya, chiwongolero cha ma wheel, brake pedal motor, ndi ma pedal motors a accelerator ndi brake.
Ma module owongolera amawonetsa ndikuwongolera zigawo zonsezi.
Tsopano tikambirana za kulumikizana kwanthawi zonse kwa AV tisanalankhule za mapangidwe, magwiridwe antchito, ndikugwiritsa ntchito masensa makiyi osiyanasiyana.
RADAR
Mu ma AV, ma RADAR amagwiritsidwa ntchito kusanthula chilengedwe kuti apeze ndikupeza magalimoto ndi zinthu zina.
Ma RADAR nthawi zambiri amagwiritsidwa ntchito pazolinga zankhondo komanso za anthu wamba, monga ma eyapoti kapena machitidwe anyengo, ndipo amagwira ntchito mu mawonekedwe a millimeter-wave (mm-Wave).
Magulu osiyanasiyana afupipafupi, kuphatikiza 24, 60, 77, ndi 79 GHz, amagwiritsidwa ntchito pamagalimoto amakono ndipo ali ndi miyeso ya 5 mpaka 200 m [10].
Powerengera ToF pakati pa chizindikiro chotumizidwa ndi echo yobwerera, mtunda pakati pa AV ndi chinthucho umatsimikiziridwa.
Mu ma AVs, ma RADAR amagwiritsa ntchito tinyanga tating'onoting'ono tomwe timapanga ma lobes kuti apititse patsogolo kusanja kosiyanasiyana komanso kuzindikiritsa chandamale zingapo. mm-Wave RADAR imatha kuwunika bwino zinthu zapafupi mbali iliyonse pogwiritsa ntchito kusintha kwa Doppler chifukwa chakuchulukira kwake komanso bandwidth yayikulu.
Popeza ma radar a mm-Wave ali ndi kutalika kwa mawonekedwe, amakhala ndi mphamvu zoletsa kutsekereza ndi kuwononga chilengedwe zomwe zimawathandiza kuti azigwira ntchito mumvula, matalala, chifunga, komanso kuwala kochepa.
Kuphatikiza apo, kusintha kwa Doppler kumatha kugwiritsidwa ntchito kuwerengera liwiro lachibale kudzera pa ma radar a mm-Wave. Chifukwa cha kuthekera kwawo, ma radar a mm-Wave ndi oyenererana ndi ma AV osiyanasiyana, kuphatikiza kuzindikira zopinga, kuzindikira oyenda pansi ndi magalimoto.
Akupanga zomverera
Masensa awa amagwira ntchito mumtundu wa 20-40 kHz ndipo amagwiritsa ntchito mafunde akupanga. Kakhungu kolimbana ndi maginito komwe kumagwiritsidwa ntchito poyeza mtunda wa chinthucho kumatulutsa mafundewa.
Powerengera nthawi yowuluka (ToF) ya mafunde otulutsidwa kupita ku siginecha yolumikizana, mtunda umatsimikiziridwa. The mmene osiyanasiyana akupanga masensa ndi zosakwana 3 mamita.
Kutulutsa kwa sensor kumatsitsimutsidwa pa 20 ms iliyonse, zomwe zimalepheretsa kuti zigwirizane ndi zofunikira za ITS za QoS. Masensa awa ali ndi kagawo kakang'ono kozindikira matabwa ndipo amawongolera.
Chifukwa chake, kuti mupeze masomphenya athunthu, masensa ambiri amafunikira. Komabe, masensa ambiri amalumikizana ndipo atha kubweretsa zolakwika zambiri.
LiDAR
Mawonekedwe a 905 ndi 1550 nm amagwiritsidwa ntchito ku LiDAR. Popeza diso la munthu limatha kuwonongeka kwa retina kuchokera pamtundu wa 905 nm, LiDAR yamakono imagwira ntchito mu bandi ya 1550 nm kuti ichepetse kuwonongeka kwa retina.
Kufikira 200 metres ndiye LiDAR yogwira ntchito kwambiri. Solid-state, 2D, ndi 3D LiDAR ndi magulu ang'onoang'ono a LiDAR.
Mtengo umodzi wa laser umabalalika pagalasi lomwe limazungulira mwachangu mu 2D LiDAR. Poyika ma lasers angapo pa pod, 3D LiDAR imatha kupeza chithunzi cha 3D chozungulira.
Zasonyezedwa kuti njira ya LiDAR yam'mphepete mwa msewu imachepetsa kuchuluka kwa magalimoto oyenda pansi (V2P) m'madera onse odutsa ndi osadutsa.
Imagwiritsa ntchito makina a 16, nthawi yeniyeni, yogwira ntchito ya LiDAR.
Amalangizidwa kuti agwiritse ntchito chojambulira chozama cha auto-encoder neural network (DA-ANN), yomwe imakwaniritsa kulondola kwa 95% pamtunda wa 30 m.
Mu, zikuwonetsedwa momwe makina othandizira vekitala (SVM)-based algorithm ophatikizidwa ndi 64-line 3D LiDAR angathandizire kuzindikira oyenda pansi.
Ngakhale ili ndi miyeso yolondola kwambiri komanso masomphenya a 3D kuposa radar ya mm-Wave, LiDAR sichita bwino nyengo yoyipa kuphatikiza chifunga, matalala, ndi mvula.
makamera
Kutengera kutalika kwa chipangizocho, kamera mu ma AV imatha kukhala infrared- kapena yowonekera-yowala.
Chipangizo chophatikizana chachaji (CCD) ndi ma sensor azithunzi owonjezera a metal-oxide-semiconductor (CMOS) amagwiritsidwa ntchito mu kamera (CMOS).
Kutengera mtundu wa mandala, kutalika kwa kamera kumakhala pafupifupi 250 m. Magulu atatu omwe amagwiritsidwa ntchito ndi makamera owoneka - Ofiira, Obiriwira, ndi Buluu - amasiyanitsidwa ndi kutalika kwa diso la munthu, kapena 400-780 nm (RGB).
Makamera awiri a VIS amaphatikizidwa ndi utali wokhazikika kuti apange njira yatsopano yomwe ili ndi chidziwitso chakuya (D), kulola kupanga masomphenya a stereoscopic.
Mawonedwe a 3D a malo ozungulira galimoto amatha kupezeka chifukwa cha kuthekera uku kudzera pa kamera (RGB-D).
Masensa a Passive okhala ndi kutalika kwa mafunde pakati pa 780 nm ndi 1 mm amagwiritsidwa ntchito ndi kamera ya infrared (IR). Pakuwunikira kwambiri, masensa a IR mu AVs amapereka chiwongolero chowoneka.
Kamera iyi imathandizira ma AV ndi kuzindikira zinthu, kuyang'anira mbali, kujambula ngozi, ndi BSD. Komabe, nyengo ikakhala yovuta, monga chipale chofewa, chifunga, ndi kusintha kwa kuwala, kachitidwe ka kamera kamasintha.
Ubwino waukulu wa kamera ndikutha kusonkhanitsa ndikujambula mawonekedwe, kugawa mitundu, ndi mawonekedwe a chilengedwe.
Global Navigation Satellite System ndi Global Positioning System, Inertial Measurement Unit
Tekinoloje iyi imathandiza AV kuyenda molunjika pomwe ili. Gulu la ma satelayiti omwe amazungulira padziko lapansi pano amagwiritsidwa ntchito ndi GNSS kuti apezeke.
Dongosolo limasunga zambiri za malo a AV, liwiro, ndi nthawi yolondola.
Imagwira ntchito pozindikira ToF pakati pa siginecha yolandilidwa ndi kutulutsa kwa satellite. Magulu a Global Positioning System (GPS) amagwiritsidwa ntchito nthawi zambiri kupeza malo a AV.
Ma coordinates otengedwa ndi GPS sakhala olondola nthawi zonse, ndipo nthawi zambiri amawonjezera cholakwika chokhala ndi mtengo wa 3 m komanso kusiyanasiyana kwa 1 m.
M'mizinda ikuluikulu, magwiridwe antchito amasokonekera, ndikulakwitsa pamalo ofikira 20m, ndipo pakavuta kwambiri, cholakwika cha GPS chimakhala pafupifupi 100m.
Kuphatikiza apo, ma AV amatha kugwiritsa ntchito makina a RTK kuti adziwe bwino malo omwe galimotoyo ili.
Mu ma AVs, malo ndi mayendedwe agalimoto amathanso kuzindikirika pogwiritsa ntchito kuwerengera kwakufa (DR) ndi malo osasinthika.
SENSOR Fusion
Pakuwongolera bwino kwagalimoto ndi chitetezo, ma AV amayenera kudziwa zenizeni, zenizeni zenizeni za malo, momwe alili, ndi zinthu zina zamagalimoto monga kulemera, kukhazikika, kuthamanga, ndi zina zambiri.
Izi ziyenera kusonkhanitsidwa ndi ma AV pogwiritsa ntchito masensa osiyanasiyana.
Mwa kuphatikiza zomwe zapezedwa kuchokera ku masensa angapo, njira yophatikizira ma sensor imagwiritsidwa ntchito kuti ipange chidziwitso chogwirizana.
Njirayi imalola kuphatikizika kwa deta yosasinthika yopezedwa kuchokera kumagwero owonjezera.
Zotsatira zake, kuphatikizika kwa sensa kumathandizira AV kumvetsetsa bwino malo ake pophatikiza zonse zothandiza zomwe zasonkhanitsidwa kuchokera ku masensa osiyanasiyana.
Mitundu yosiyanasiyana ya ma algorithms, kuphatikiza zosefera za Kalman ndi zosefera za Bayesian, zimagwiritsidwa ntchito popanga njira yophatikizira mu ma AV.
Chifukwa imagwiritsidwa ntchito pamapulogalamu angapo, kuphatikiza kutsata kwa RADAR, makina oyenda pa satellite, ndi odometry optical, fyuluta ya Kalman ikuwoneka ngati yofunika kuti galimoto iziyenda yokha.
Vehicular Ad-Hoc Networks (VANETs)
Ma VANET ndi gulu laling'ono lamanetiweki am'manja a ad hoc omwe amatha kupanga ma network a mafoni / magalimoto. Kuyankhulana kwa galimoto ndi galimoto (V2V) ndi galimoto-to-infrastructure (V2I) ndi kotheka ndi VANETs.
Cholinga chachikulu cha teknoloji yotereyi ndikuwonjezera chitetezo cha pamsewu; mwachitsanzo, m'malo oopsa monga ngozi ndi kuchulukana kwa magalimoto pamsewu, magalimoto amatha kulumikizana wina ndi mnzake komanso pamaneti kuti apereke chidziwitso chofunikira.
Zotsatirazi ndi zigawo zikuluzikulu za teknoloji ya VANET:
- OBU (on-board unit): Ndi njira yotsata GPS yokhazikitsidwa pagalimoto iliyonse yomwe imawalola kuti azilumikizana wina ndi mnzake komanso ndi mayunitsi am'mphepete mwa msewu (RSU). OBU ili ndi zida zingapo zamagetsi, kuphatikiza resource command processor (RCP), zida zama sensor, ndi mawonekedwe osuta, kupeza zambiri zofunika. Cholinga chake chachikulu ndikugwiritsa ntchito maukonde opanda zingwe kuti alankhule pakati pa ma RSU angapo ndi ma OBU.
- Roadside Unit (RSU): Ma RSU ndi mayunitsi apakompyuta okhazikika omwe ali pamalo enieni m'misewu, malo oimikapo magalimoto, ndi mphambano. Cholinga chake chachikulu ndikulumikiza magalimoto odziyimira pawokha ndi zomangamanga, komanso zimathandizira pakuwongolera magalimoto. Kuphatikiza apo, itha kugwiritsidwa ntchito kulumikiza galimoto ndi ma RSU ena pogwiritsa ntchito zosiyanasiyana ma network topology. Kuphatikiza apo, akhala akuyendetsedwa ndi magwero amphamvu ozungulira kuphatikiza mphamvu ya dzuwa.
- Ulamuliro Wodalirika (TA): Ndi bungwe lomwe limayang'anira gawo lililonse la njira ya VANETs, kuwonetsetsa kuti ma RSU ovomerezeka okha ndi ma OBU amagalimoto amatha kulembetsa ndikulumikizana. Potsimikizira ID ya OBU ndikutsimikizira galimotoyo, imapereka chitetezo. Kuphatikiza apo, imapeza kulumikizana koyipa komanso machitidwe osamvetseka.
Ma VANET amagwiritsidwa ntchito polankhulana pamagalimoto, kuphatikiza V2V, V2I, ndi V2X kulumikizana.
Kuyankhulana kwa Galimoto 2
Kutha kwa magalimoto kuti azilankhulana wina ndi mnzake ndikugawana zidziwitso zofunika zokhudzana ndi kuchuluka kwa magalimoto pamsewu, ngozi, komanso kuletsa kuthamanga kumatchedwa inter-vehicle communication (IVC).
Kulumikizana kwa V2V kumatha kupanga maukonde polumikizana ndi ma node osiyanasiyana (Magalimoto) palimodzi pogwiritsa ntchito ma mesh topology, mwina pang'ono kapena odzaza.
Amagawidwa m'magulu a single-hop (SIVC) kapena multi-hop (MIVC) kutengera kuchuluka kwa ma hop omwe amagwiritsidwa ntchito polumikizirana pakati pagalimoto.
Ngakhale MIVC itha kugwiritsidwa ntchito pakulankhulana kwanthawi yayitali, monga kuyang'anira magalimoto, SIVC itha kugwiritsidwa ntchito pazinthu zazifupi monga kuphatikiza njira, ACC, ndi zina.
Zopindulitsa zambiri, kuphatikiza BSD, FCWS, automated emergency braking (AEB), ndi LDWS, zimaperekedwa kudzera mu kulumikizana kwa V2V.
Vehicle 2 Infrastructure Communication
Magalimoto amatha kulumikizana ndi ma RSU kudzera munjira yomwe imadziwika kuti msewu wapamsewu kupita kugalimoto (RVC). Imathandiza kuzindikira mamita oimika magalimoto, makamera, zolembera zamsewu, ndi zizindikiro zamagalimoto.
Ad hoc, opanda zingwe, ndi bidirectional kulumikizana pakati pa magalimoto ndi zomangamanga.
Poyang'anira ndi kuyang'anira magalimoto, deta ya zomangamanga imagwiritsidwa ntchito. Amagwiritsidwa ntchito kusintha magawo osiyanasiyana othamanga omwe amalola magalimoto kukulitsa kuchuluka kwamafuta komanso kuyendetsa bwino magalimoto.
Dongosolo la RVC limatha kupatulidwa kukhala Sparse RVC (SRVC) ndi Ubiquitous RVC malinga ndi zomangamanga (URVC).
Dongosolo la SRVC limangopereka njira zoyankhulirana pamalo omwe ali ndi malo ambiri, monga kupeza malo oimikapo magalimoto otseguka kapena malo opangira mafuta, pomwe makina a URVC amapereka njira yonse, ngakhale pa liwiro lalikulu.
Kuti mutsimikizire kutetezedwa kwa netiweki, dongosolo la URVC likufunika ndalama zambiri.
Galimoto 2 Chilichonse Kulumikizana
Galimoto imatha kulumikizana ndi mabungwe ena kudzera pa V2X, kuphatikiza oyenda pansi, zinthu zam'mphepete mwa msewu, zida, ndi Gridi (V2P, V2R, ndi V2D) (V2G).
Pogwiritsa ntchito kulankhulana kotereku, madalaivala angapeŵe kugunda anthu amene ali pangozi, okwera njinga, ndi okwera njinga zamoto.
Dongosolo la Pedestrian Collision Warning (PCW) limatha kuchenjeza dalaivala wa wokwera m'mphepete mwa msewu ngozi isanachitike chifukwa cha kulumikizana kwa V2X.
Pofuna kutumiza mauthenga ofunikira oyenda pansi, PCW ikhoza kugwiritsa ntchito foni yamakono ya Bluetooth kapena Near Field Communication (NFC).
Kutsiliza
Matekinoloje ambiri omwe amagwiritsidwa ntchito popanga magalimoto odziyimira pawokha amatha kukhudza kwambiri momwe amagwirira ntchito.
Pachiyambi chake, galimotoyo imapanga mapu a malo ake pogwiritsa ntchito masensa angapo omwe amapereka chidziwitso cha njira yozungulira ndi magalimoto ena omwe akuyenda.
Deta iyi imawunikidwa ndi makina ovuta ophunzirira makina, omwe amapanga zinthu zingapo kuti galimotoyo igwire. Makhalidwewa amasinthidwa ndikusinthidwa nthawi zonse pamene makina amaphunzira zambiri za malo ozungulira galimotoyo.
Ngakhale ndayesetsa kukuwonetsani mwachidule za zomangamanga zamagalimoto odziyimira pawokha, pali zambiri zomwe zikuchitika kuseri kwazithunzi.
Ndikukhulupirira kuti mupeza chidziwitsochi kukhala chofunikira ndikuchigwiritsa ntchito.
Siyani Mumakonda