Okuqukethwe[Fihla][Bonisa]
Izinzwa nesofthiwe kuhlanganiswa ezimotweni ezizimele ukuze zihambe, ziqondise, futhi zisebenzise izimoto ezihlukahlukene, okuhlanganisa izithuthuthu, izimoto, amaloli, nama-drones.
Kuye ngokuthi zathuthukiswa kanjani noma zaklanywa kanjani, zingadinga noma zingadingi usizo lomshayeli.
Izimoto ezizimele ngokugcwele zingasebenza ngokuphepha ngaphandle kwabashayeli abangabantu. Abanye, njengaye I-Waymo yakwaGoogle imoto, yayingakwazi ngisho nokuba nesondo lokuqondisa.
Imoto ezimele ngokwengxenye, njenge-a Tesla, ingakwazi ukulawula imoto ngokuphelele kodwa ingase idinge umshayeli ongumuntu ukuze asize uma isistimu iba nokungabaza.
Amadigri ahlukene okuzishintshashintsha afakiwe kulezi zimoto, kusukela kumhlahlandlela womzila kanye nosizo lwamabhuleki ukuya kuma-prototypes azimele, azishayelayo.
Umgomo wezimoto ezingashayeli ukwehlisa isiminyaminya sezimoto, ukungcola, namazinga ezingozi.
Lokhu kungenzeka ngoba izimoto ezizimele ziyakwazi ukuthobela imithetho yomgwaqo kunabantu.
Ukuze uthole idrayivu ebushelelezi, ulwazi oluthile luyadingeka, njengendawo yemoto nanoma yiziphi izinto eziseduze, indlela emfushane nephephe kunazo zonke eya endaweni, namandla okusebenzisa isistimu yokushayela.
Kubalulekile ukuqonda ukuthi kwenziwa nini futhi kanjani imisebenzi edingekayo.
Lesi sihloko sizokhuluma ngezinto eziningi, kuhlanganise izakhiwo zesistimu ezimotweni ezizimele, izingxenye ezidingekayo, namanethiwekhi esikhangiso sezimoto (ama-VANET).
Izingxenye ezidingekayo ezidingekayo ku-Autonomous Vehicle
Izimoto zanamuhla ezizimele zisebenzisa izinzwa ezihlukahlukene, okuhlanganisa amakhamera, i-GPS, amayunithi okulinganisa angaphakathi (IMUs), i-sonar, ukutholwa kokukhanya kwe-laser nobubanzi (i-lidar), ukutholwa komsakazo kanye ne-range (radar), ukuzulazula komsindo, kanye nokusukela (sonar), kanye Amamephu we-3D.
Ndawonye, lezi zinzwa nobuchwepheshe kuhlaziya idatha ngesikhathi sangempela ukuze zilawule isiteringi, ukusheshisa, kanye nokubhuleka.
Izinzwa ze-radar zisiza ekugcineni umkhondo wokuthi izimoto ezizungezile zikuphi. Izimoto zisizwa ngezinzwa ze-ultrasonic ngesikhathi sokupaka.
Ubuchwepheshe obaziwa ngokuthi i-lidar badalwa kusetshenziswa zombili izinhlobo zezinzwa. Ngokubonisa ukukhanya okuvela endaweni ezungeze imoto, izinzwa ze-lidar zingakwazi ukubona amaphethelo emigwaqo futhi zihlonze izimpawu zomzila.
Lezi ziphinde zixwayise abashayeli ngezithiyo eziseduze, njengezinye izimoto, abahamba ngezinyawo namabhayisikili.
Usayizi nebanga lakho konke okuzungezile imoto kukalwa kusetshenziswa ubuchwepheshe be-lidar, obuphinda budale imephu ye-3D evumela imoto ukuthi ibuke indawo eyizungezile futhi ihlonze noma yiziphi izingozi.
Kungakhathalekile isikhathi sosuku, noma kukhanya noma kumnyama, yenza umsebenzi oncomekayo wokuqopha ulwazi ngezinhlobo ezahlukene zokukhanya kwe-ambient.
Imoto isebenzisa amakhamera, i-radar, nezimpondo ze-GPS, kanye nesivalo namakhamera, ukuze ibone indawo eyizungezile futhi ikhombe indawo ekuyo.
Amakhamera ahlola abahamba ngezinyawo, amabhayisikili, izimoto, nezinye izithiyo kuyilapho ethola amasignali omgwaqo, efunda izimpawu zomgwaqo nezimpawu, futhi elandelela ezinye izimoto.
Nokho, bangaba nesikhathi esinzima ezindaweni ezifiphele noma ezinethunzi. Imoto ezihambelayo ingabona lapho iya khona ngokusebenzisa inhlanganisela yesilayidi, i-radar, amakhamera, izinti ze-GPS, nezinzwa ze-ultrasonic ukuze iveze umgwaqo ophambi kwayo ngedijithali.
Isakhiwo seSistimu sezinga eliphezulu
Izinzwa ezibalulekile, ama-actuator, izingxenyekazi zekhompuyutha, nesofthiwe zifakwe ohlwini lwezakhiwo, eziphinda zibonise yonke indlela yokuxhumana noma iphrothokholi kuma-AV.
ukubona
Lesi sigaba sihlanganisa ukuhlonza indawo ye-AV ngokuhlobene nendawo kanye nokuzwa indawo ezungezile ku-AV kusetshenziswa izinzwa ezihlukahlukene.
I-AV isebenzisa i-RADAR, LIDAR, ikhamera, i-real-time kinetic (RTK), nezinye izinzwa kulesi sinyathelo. Amamojula aqaphelayo athola idatha kusuka kulezi zinzwa futhi ayicubungule ngemva kokuyidlulisa.
Ngokuvamile, i-AV iqukethe isistimu yokulawula, i-LDWS, i-TSR, ukuqashelwa kwezithiyo ezingaziwa (UOR), imojula yokumisa imoto kanye nokwenza kwasendaweni (VPL), njll.
Ulwazi oluhlanganisiwe lunikezwa esigabeni sokuthatha izinqumo nokuhlela ngemva kokucutshungulwa.
Isinqumo Nokuhlela
Ukunyakaza nokuziphatha kwe-AV kunqunywa, kuhlelwe, futhi kulawulwa kulesi sinyathelo kusetshenziswa ulwazi olutholwe ngesikhathi senqubo yokubona.
Lesi sigaba, ubuchopho obungasimela, yilapho kukhethwa khona izinto ezifana nokuhlela indlela, ukubikezela isenzo, ukugwema izithiyo, njll.
Inketho isekelwe olwazini oselufinyeleleka manje nangokomlando, okuhlanganisa idatha yemephu yesikhathi sangempela, imininingwane yethrafikhi, izitayela, ulwazi lomsebenzisi, njll.
Kungase kube nemojula yelogi yedatha elandelela amaphutha nedatha ukuze isetshenziswe kamuva.
Control
Imojula yokulawula yenza imisebenzi/izenzo ezihlobene nokulawula ngokomzimba kwe-AV, njengesiteringi, ukubhuleka, ukusheshisa, njll. ngemva kokuthola ulwazi oluvela esinqumweni nemojula yokuhlela.
chassis
Isinyathelo sokugcina sibandakanya ukusebenzisana nezingxenye zomshini ezinamathiselwe ku-chassis, njengemoto yegiya, isiteringi samasondo esiteringini, i-brake pedal motor, nama-pedal motors e-accelerator namabhuleki.
Imojuli yokulawula ikhombisa futhi iphathe zonke lezi zingxenye.
Manje sizokhuluma ngokuxhumana okuvamile kwe-AV ngaphambi kokukhuluma ngokuklama, ukusebenza, nokusetshenziswa kwezinzwa zokhiye ezihlukahlukene.
IRADA
Kuma-AV, ama-RADAR asetshenziselwa ukuskena indawo ezungezile ukuze kutholwe futhi kutholwe izimoto nezinye izinto.
Ama-RADAR avame ukusetshenziswa kuzo zombili izinjongo zempi nezomphakathi, njengezikhumulo zezindiza noma amasistimu e-meteorological, futhi asebenza ku-spectrum ye-millimeter-wave (mm-Wave).
Amabhendi amafrikhwensi ahlukene, afaka phakathi i-24, 60, 77, kanye ne-79 GHz, asetshenziswa ezimotweni zesimanje futhi anebanga lokulinganisa lamamitha angu-5 ukuya kwangu-200 [10].
Ngokubala i-ToF phakathi kwesignali edlulisiwe kanye ne-echo ebuyisiwe, ibanga phakathi kwe-AV nento liyanqunywa.
Kuma-AV, ama-RADAR asebenzisa uhlu lwama-antenna amancane adala iqoqo lama-lobes ukuze kuthuthukiswe ukulungiswa kwebanga kanye nokuhlonza okuqondiwe okuningi. I-mm-Wave RADAR ingahlola ngokunembile izinto eziseduze kunoma iyiphi indlela ngokusebenzisa ukuhluka kwe-Doppler shift ngenxa yokwenyuka kwayo ukungena kanye nomkhawulokudonsa omkhulu.
Njengoba ama-radar e-mm-Wave enobude begagasi ende, afaka amandla okuvimbela ukuvimba kanye nokungcolisa awenza akwazi ukusebenza emvuleni, eqhweni, enkungu, nasekukhanyeni okuphansi.
Ukwengeza, i-Doppler shift ingasetshenziswa ukubala isivinini esihlobene ngamarada e-mm-Wave. Ngenxa yamandla awo, ama-radar e-mm-Wave afaneleka kahle uhla olubanzi lwezinhlelo zokusebenza ze-AV, okuhlanganisa ukutholwa kwezithiyo, nokubonwa kwabahamba ngezinyawo nemoto.
Izinzwa ze-Ultrasonic
Lezi zinzwa zisebenza ebangeni elingu-20–40 kHz futhi zisebenzisa amagagasi e-ultrasonic. Ulwelwesi olukwazi ukumelana ne-magneto olusetshenziselwa ukukala ibanga lento lukhiqiza la maza.
Ngokubala isikhathi sendiza (i-ToF) yegagasi elikhishiwe kusignali enanelayo, ibanga liyanqunywa. Uhla olujwayelekile lwezinzwa ze-ultrasonic lungaphansi kwamamitha angu-3.
Okukhiphayo kwenzwa kuvuselelwa njalo nge-20 ms, okuyivimbela ukuthi ihambisane nezidingo eziqinile ze-ITS ze-QoS. Lezi zinzwa zinebanga elincane lokutholwa kwensimbi futhi ziqondiswe.
Ngakho-ke, ukuze uthole umbono wenkundla egcwele, kudingeka izinzwa eziningi. Kodwa-ke, izinzwa eziningi zizosebenzisana futhi zingaholela ekungalungeni okubalulekile kwebanga.
I-LiDAR
I-spectra ye-905 ne-1550 nm isetshenziswa ku-LiDAR. Njengoba iso lomuntu lisengozini yokulimala kwe-retina kusuka ku-905 nm ububanzi, i-LiDAR yamanje isebenza ebhendini engu-1550 nm ukunciphisa ukulimala kwe-retina.
Kufika kumamitha angu-200 ububanzi be-LiDAR bokusebenza okuphezulu kakhulu. I-Solid-state, i-2D, ne-3D LiDAR yizigatshana ezihlukene ze-LiDAR.
I-laser beam eyodwa ihlakazeka phezu kwesibuko esizungeza ngokushesha ku-2D LiDAR. Ngokubeka ama-lasers ambalwa ku-pod, i-3D LiDAR ingathola isithombe se-3D sendawo ezungezile.
Kubonisiwe ukuthi uhlelo lwe-LiDAR eseceleni komgwaqo lwehlisa isibalo sokushayisana kwezimoto eziya kwabahamba ngezinyawo (V2P) kuzo zombili izindawo eziphambanayo nezingezona eziphambanayo.
Isebenzisa isistimu ye-LiDAR enemigqa engu-16, yesikhathi sangempela, esebenza ngekhompuyutha.
Kunconywa ukusebenzisa okokwenziwa kwesishumeki esizenzakalelayo esijulile inethiwekhi ye-neural (DA-ANN), efinyelela ukunemba okungu-95% kububanzi obungu-30 m.
Kulokhu, kuyaboniswa ukuthi umshini wokusekela ivektha (SVM)-based algorithm ehlanganiswe ne-64D LiDAR yemigqa engama-3 ingathuthukisa kanjani ukuqashelwa kwabahamba ngezinyawo.
Naphezu kokuba nokunemba okungcono kokulinganisa kanye nombono we-3D kune-radar ye-mm-Wave, i-LiDAR yenza kahle kancane esimweni sezulu esibi okuhlanganisa inkungu, iqhwa, nemvula.
amakhamera
Kuye ngobude begagasi bedivayisi, ikhamera ekuma-AV ingaba yi-infrared- noma isekelwe ekukhanyeni okubonakalayo.
Idivayisi ehambisana nokushaja (CCD) nezinzwa zesithombe ezihambisanayo ze-metal-oxide-semiconductor (CMOS) zisetshenziswa kukhamera (CMOS).
Kuya ngekhwalithi yelensi, ububanzi bekhamera bungamamitha angama-250. Amabhendi amathathu asetshenziswa amakhamera abonakalayo—Red, Green, and Blue—ahlukaniswa ubude begagasi obufana neso lomuntu, noma 400–780 nm (RGB).
Amakhamera amabili e-VIS ahlanganiswe nobude obugxilile obumisiwe ukuze bakhe isiteshi esisha esiqukethe ulwazi olujulile (D), okuvumela ukudalwa kombono we-stereoscopic.
Ukubuka kwe-3D kwendawo ezungeze imoto kungatholwa ngenxa yaleli khono ngekhamera (RGB-D).
Izinzwa ze-Passive ezinobude begagasi obuphakathi kuka-780 nm no-1 mm zisetshenziswa ikhamera ye-infrared (IR). Ekukhanyeni okuphezulu, izinzwa ze-IR kuma-AVs zinikeza ukulawula okubonakalayo.
Le khamera isiza ama-AV ngokubonwa kwento, ukulawula ukubuka okuseceleni, ukurekhodwa kwengozi, ne-BSD. Nokho, esimweni sezulu esibi, njengeqhwa, inkungu, nezimo zokukhanya ezishintshayo, ukusebenza kwekhamera kuyashintsha.
Izinzuzo eziyinhloko zekhamera yikhono layo lokuqoqa ngokunembile futhi lirekhode ukuthungwa, ukusatshalaliswa kombala, nokuma kwendawo ezungezile.
I-Global Navigation Satellite System kanye neGlobal Positioning System, Inertial Measurement Unit
Lobu buchwepheshe busiza i-AV ekuhambeni ngokukhomba indawo yayo enembile. Iqembu lamasathelayithi ku-orbit emhlabeni jikelele asetshenziswa yi-GNSS ukuze enze okwasendaweni.
Uhlelo lugcina idatha yendawo ye-AV, isivinini, nesikhathi esinembile.
Isebenza ngokuthola i-ToF phakathi kwesiginali eyamukelwe kanye nokuphuma kwesathelayithi. Izixhumanisi ze-Global Positioning System (GPS) zivame ukusetshenziswa ukuthola indawo ye-AV.
Izixhumanisi ezikhishwe nge-GPS azihlali zinembe ngaso sonke isikhathi, futhi ngokuvamile zengeza iphutha lendawo enenani elimaphakathi elingu-3 m nokuhluka okujwayelekile okungu-1 m.
Ezimeni zamadolobha amakhulu, ukusebenza kuye konakale nakakhulu, kube nephutha endaweni efinyelela ku-20 m, futhi ezimeni ezithile ezinzima, iphutha lendawo ye-GPS lilinganiselwa ku-100 m.
Ukwengeza, ama-AV angasebenzisa uhlelo lwe-RTK ukuze anqume ngokunembile indawo yemoto.
Kuma-AVs, indawo nesiqondiso semoto kunganqunywa kusetshenziswa ukubala okufile (DR) kanye nokuma kwe-inertial.
Inzwa Fusion
Ukuze uthole ukuphathwa okufanele nokuphepha kwemoto, ama-AV kufanele athole ulwazi olunembile, lwesikhathi sangempela wendawo, isimo, nezinye izici zemoto njengesisindo, ukuzinza, isivinini, njll.
Lolu lwazi kufanele luqoqwe ama-AV kusetshenziswa izinzwa ezahlukahlukene.
Ngokuhlanganisa idatha etholwe kuzinzwa eziningana, indlela yokuhlanganisa inzwa isetshenziselwa ukukhiqiza ulwazi olubumbene.
Indlela ivumela ukuhlanganiswa kwedatha engacutshunguliwe etholwe emithonjeni ehambisanayo.
Ngenxa yalokho, ukuhlanganiswa kwenzwa kwenza i-AV iqonde ngokunembile indawo eyizungezile ngokuhlanganisa yonke idatha ewusizo eqoqwe kuzinzwa ezihlukahlukene.
Izinhlobo ezahlukahlukene zama-algorithms, okuhlanganisa izihlungi ze-Kalman nezihlungi ze-Bayesian, zisetshenziselwa ukwenza inqubo yokuhlanganisa kuma-AV.
Ngenxa yokuthi isetshenziswa ezinhlelweni eziningi, okuhlanganisa ukulandela ngomkhondo kwe-RADAR, amasistimu wokuzulazula ngesathelayithi, ne-optical odometry, isihlungi se-Kalman sibonakala sibalulekile ukuze imoto isebenze ngokuzenzakalelayo.
Amanethiwekhi e-Vehicular Ad-Hoc (VANETs)
Ama-VANET ayisigaba esisha esisha samanethiwekhi esikhangiso seselula angakha ngokuzenzakalelayo inethiwekhi yamadivayisi eselula/izimoto. Ukuxhumana kwemoto ukuya emotweni (V2V) kanye nemoto-kuya-ingqalasizinda (V2I) kungenzeka ngama-VANET.
Inhloso eyinhloko yalobu buchwepheshe ukukhulisa ukuphepha emgwaqeni; isibonelo, ezimeni eziyingozi njengezingozi nokuminyana kwezimoto, izimoto zingasebenzisana zodwa kanye nenethiwekhi ukuze zidlulisele ulwazi olubalulekile.
Okulandelayo yizici eziyinhloko zobuchwepheshe be-VANET:
- I-OBU (on-board unit): Iwuhlelo lokulandelela olusekelwe ku-GPS olubekwe emotweni ngayinye olubavumela ukuthi baxhumane kanye namayunithi aseceleni komgwaqo (RSU). I-OBU ifakwe izinto eziningi ze-elekthronikhi, okuhlanganisa i-resource command processor (RCP), amadivaysi enzwa, kanye indawo yomsebenzisi, ukuthola ulwazi olubalulekile. Inhloso yayo eyinhloko ukusebenzisa inethiwekhi engenantambo ukuxhumana phakathi kwama-RSU amaningi nama-OBU.
- I-Roadside Unit (RSU): Ama-RSU amayunithi ekhompiyutha angashintshi abekwe ezindaweni eziqondile emigwaqweni, ezindaweni zokupaka, nasezimpahleni zokuxhumana. Inhloso yayo enkulu ukuxhumanisa izimoto ezizimele nengqalasizinda, futhi isiza nasekufakeni izimoto endaweni. Ukwengeza, ingasetshenziswa ukuxhumanisa imoto kwamanye ama-RSU kusetshenziswa ahlukahlukene ama-topology enethiwekhi. Ukwengeza, asetshenziswe emithonjeni yamandla e-ambient kuhlanganise namandla elanga.
- Iziphathimandla Ezithenjwayo (TA): Kuyinhlangano elawula zonke izinyathelo zenqubo ye-VANETs, iqinisekisa ukuthi ama-RSU asemthethweni kuphela nama-OBU ezimoto angabhalisa futhi ahlanganyele. Ngokuqinisekisa i-ID ye-OBU kanye nokuqinisekisa imoto, inikeza ukuphepha. Ukwengeza, ithola ukuxhumana okulimazayo nokuziphatha okuyinqaba.
Ama-VANET asetshenziselwa ukuxhumana kwezimoto, okubandakanya ukuxhumana kwe-V2V, V2I, ne-V2X.
Imoto 2 Ukuxhumana Kwezimoto
Ikhono lezimoto ukuthi zixoxe zodwa futhi zishintshisane ngolwazi olubalulekile olumayelana nokuminyana kwezimoto, izingozi, nemikhawulo yesivinini kwaziwa ngokuthi ukuxhumana phakathi kwezimoto (IVC).
Ukuxhumana kwe-V2V kungakha inethiwekhi ngokuhlanganisa amanodi ahlukahlukene (Izimoto) ndawonye kusetshenziswa i-mesh topology, ingxenye noma egcwele.
Ahlukaniswa njengezinhlelo ze-single-hop (SIVC) noma i-multi-hop (MIVC) kuye ngokuthi mangaki ama-hop asetshenziselwa ukuxhumana phakathi kwezimoto.
Ngenkathi i-MIVC ingasetshenziselwa ukuxhumana kwebanga elide, njengokugadwa kwethrafikhi, i-SIVC ingasetshenziselwa izinhlelo zokusebenza zebanga elifushane ezifana nokuhlanganisa umzila, i-ACC, njll.
Izinzuzo eziningi, ezihlanganisa i-BSD, i-FCWS, i-automated emergency braking (AEB), kanye ne-LDWS, zinikezwa ngokuxhumana kwe-V2V.
Vehicle 2 Infrastructure Communication
Izimoto zingakwazi ukuxhumana nama-RSU ngenqubo eyaziwa ngokuthi ukuxhumana komgwaqo nemoto (RVC). Isiza ekutholeni amamitha okupaka, amakhamera, izimpawu zomzila kanye nezimpawu zomgwaqo.
Ukuxhumana kwe-Ad hoc, okungenantambo, nokuqondiswa kabili phakathi kwezimoto nengqalasizinda.
Ukuze kulawulwe futhi kugadwe ithrafikhi, idatha yengqalasizinda isetshenziswa. Zisetshenziselwa ukulungisa amapharamitha ejubane avumela izimoto ukuthi zikhulise ukonga uphethiloli futhi zilawule ukuhamba kwethrafikhi.
Uhlelo lwe-RVC lungahlukaniswa lube yi-Sparse RVC (SRVC) kanye ne-Ubiquitous RVC kuye nengqalasizinda (URVC).
Uhlelo lwe-SRVC luhlinzeka ngezinsizakalo zokuxhumana kuphela ezindaweni ezishisayo, njengokuthola izindawo zokupaka ezivulekile noma amagalaji kaphethiloli, kuyilapho uhlelo lwe-URVC luhlinzeka ngokusebenza kuwo wonke umzila, ngisho nangesivinini esiphezulu.
Ukuze kuqinisekiswe ukutholakala kwenethiwekhi, uhlelo lwe-URVC ludinga ukutshalwa kwezimali okukhulu.
Imoto 2 Konke Ukuxhumana
Imoto ingaxhuma nezinye izinhlangano nge-V2X, okuhlanganisa abahamba ngezinyawo, izinto eziseceleni komgwaqo, izisetshenziswa, kanye neGridi (V2P, V2R, ne-V2D) (V2G).
Besebenzisa lolu hlobo lokuxhumana, abashayeli bangagwema ukushaya abahamba ngezinyawo abasengozini, abashayeli bamabhayisikili, nabagibeli bezithuthuthu.
Uhlelo lwe-Pedestrian Collision Warning (PCW) lungaxwayisa umshayeli womgibeli oseceleni komgwaqo ngaphambi kokuba kwenzeke inhlekelele ngenxa yokuxhumana kwe-V2X.
Ukuze uthumele imilayezo ebalulekile yabahamba ngezinyawo, i-PCW ingakwazi ukusebenzisa i-Bluetooth ye-smartphone noma i-Near Field Communication (NFC).
Isiphetho
Ubuchwepheshe obuningi obusetshenziselwa ukwakha izimoto ezizimele bungaba nomthelela omkhulu endleleni ezisebenza ngayo.
Ngokuyisisekelo, imoto yakha imephu yendawo eyizungezile isebenzisa uxhaxha lwezinzwa ezinikeza ulwazi mayelana nomzila oyizungezile nezinye izimoto endleleni yayo.
Le datha ibe isihlaziywa ngesistimu yokufunda ngomshini eyinkimbinkimbi, ekhiqiza isethi yezenzo ezizokwenziwa yimoto. Lokhu kuziphatha kuyashintshwa njalo futhi kubuyekezwe njengoba isistimu ifunda kabanzi mayelana nendawo ezungezile yemoto.
Naphezu kwemizamo yami emihle kakhulu yokukwethula isifinyezo sesakhiwo sesistimu yezimoto ezizimele, kuningi okuqhubekayo ngemuva kwezigcawu.
Ngethemba ukuthi uzothola lolu lwazi lubalulekile futhi ulusebenzise.
shiya impendulo