《工程(英文)》 >> 2018年 第4卷 第4期 doi: 10.1016/j.eng.2018.07.015
基于驾驶脑的智能驾驶车辆硬件平台架构
a Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China
b State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China
c Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing 100084, China
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摘要
不同智能驾驶试验平台的传感器型号、数量、安装位置各不相同,导致传感器信息处理模块也各不相同;不同驾驶地图,其提供信息的粒度也没有固定标准,由此构成的智能驾驶系统软件模块的数量、接口各不相同。基于以驾驶脑为核心的智能驾驶车辆软件与硬件架构,决策模块将不直接与传感器信息处理模块发生关联,通过驾驶认知的形式化语言,将驾驶认知形式化,由驾驶脑认知形成决策。驾驶认知的形式化降低了传感器数量、类型、安装位置的变化对整个软件架构的影响,使得软件架构可以在不同传感器配置车辆平台上方便地移植。
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