无人驾驶实践入门——概述
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2022-06-28 15:14:44
无人驾驶导论入门——概述普通人与自动驾驶优缺点:Human:High Traffic Accident RateLearn to Drive From ScratchParking TroubleSelf-Driving Car:More Reliable DrivingLearnable Driving SystemNo Parking Trouble分级:Level 1(Driver Assistance):Driver Fully EngagedLevel 2(P...
无人驾驶实践入门——概述
普通人与自动驾驶优缺点:
Human:
- High Traffic Accident Rate
- Learn to Drive From Scratch
- Parking Trouble
Self-Driving Car:
- More Reliable Driving
- Learnable Driving System
- No Parking Trouble
分级:
Level 1(Driver Assistance):
- Driver Fully Engaged
Level 2(Partial Automation):
- Automatic Cruise Contro
- Automatic Lane Keeping
Level 3(Conditional Automation):
- Human Take Over Whenever Necessary
Level 4(No Human Interference):
- Without Steering Wheel, Throttle or Brake
- Restricted in Geofence
Level 5(Full Automation):
- Better than driver(Without defined)
发展历史:
自动驾驶五个核心部件:
计算机视觉,传感器融合,定位,路径规划以及控制
Apollo架构组成:
- 参考车辆平台
- 参考硬件平台
- 开源软件平台
- 云服务平台
第一步:
- 开发一款线控驾驶车辆
- CAN卡连接汽车内部网络,用于控制
- GPS接收信号,确定位置
- IMU测量车辆运动情况
- LiDAR扫描车辆周围,形成点云
- 摄像头捕获图像,通过计算机视觉感知环境
- 雷达分辨率低,便携,通用,可用于检测障碍物、检测其他车辆速度
本文地址:https://blog.csdn.net/qq_31579991/article/details/107397050