摘要
面向办公园区、科技园区等结构化园区环境,设计基于4G/5G移动网络的智能无人驾驶系统,支持用户对园区无人车进行实时调度和使用,推进安全、有序、便捷的园区智能交通体系的构建。园区智能无人车系统主要由无人车平台和调度系统构成。无人车平台在园区观光车的基础上进行底盘线控改装,并设计加装组合导航、视觉传感器、激光雷达、毫米波雷达等多传感器,实现地图创建、自主循迹、自动避障、车道保持、多车调度等功能。调度系统基于4G/5G移动网络及WebSocket协议,实现车端、云端和用户端的信息交互。用户可通过手机等移动终端,在园区路线任一点自由调度无人车。云端服务器负责对所有园区无人车和用户进行管理,具备智能调度、状态监控、数据存储等功能。
Aimed at the environment of structured parks such as office park and science and technology park,an intelligent unmanned driving system based on 4 G/5 G mobile network is designed,which supports users to schedule and use the unmanned vehicles in real time,and promotes the construction of a safe,orderly and convenient intelligent transportation system.The park intelligent unmanned vehicle system is mainly composed of the unmanned vehicle platform and the dispatching system.The unmanned vehicle platform is reconstructed on the basis of the park sightseeing car,which is equipped with integrated navigation,vision sensor,lidar,millimeter wave radar and other sensors to realize the functions of mapping,autonomous tracking,obstacle recognition and avoidance,lane keeping,vehicles dispatching and so on.The dispatching system is designed based on the 4 G/5 G mobile network and WebSocket protocol,which realizes the information interaction among the vehicle,the cloud and the client.Users can dispatch unmanned vehicles freely at any point in the park route through mobile terminals such as mobile phones.The cloud server is responsible for the management of all the unmanned vehicles and users,such as intelligent dispatching,status monitoring,data storage and so on.
作者
白阳
韩斌
欧阳光
BAI Yang;HAN Bin;OUYANG Guang(China Academy of Electronics and Information Technology,Beijing 100041,China)
出处
《中国电子科学研究院学报》
北大核心
2022年第1期50-56,81,共8页
Journal of China Academy of Electronics and Information Technology
基金
国家科技部科技创新2030“新一代人工智能”重大资助项目(2018AAA0102400)
国家自然科学基金(U19B2029、U19B2033、U20B2071、U20B2073)。
关键词
智能无人驾驶系统
移动互联网络
自主循迹
自主避障
车道保持
多车调度
intelligent unmanned driving system
mobile internet
autonomous tracking
autonomous obstacle-avoiding
lane keeping
vehicles dispatching
