自主駕駛車之智慧感測技術發展藍圖

Development Roadmap of Intelligent Perception Technology for Autonomous Driving Vehicles

林景昱 ； 藍迪 ； 連豊力

《機械工業雜誌》 421期 (2018/04) Pp. 60-69

摘要

近年來各大車廠皆以發展自主駕駛車輛做為主要的技術發展目標之一，在學術界，許多相關研究主題也都是針對自主駕駛的議題蓬勃發展。自主駕駛技術主要可分為四個區塊:環境感測、定位、路徑規劃以及車輛控制。其中的感測系統乃是藉由分析不同感測器的資料，讓自主駕駛車輛本身能夠得知附近的環境概況，以進行後續的定位導航與控制決策。本文將介紹目前感測技術在自主駕駛車輛上的發展，並針對影像、距離感測以及感測融合的應用進行探討。

關鍵字

自主駕駛車 ； 環境感知 ； 感測器融合

並列摘要

A large number of automotive manufacturers are devoted to the development of autonomous driving vehicles in recent years. Similarly, many researches have also been dedicated to the development of autonomous driving techniques and vehicles. An autonomous driving system typically comprises four main technologies: environment perception, localization, path planning, and motion control. By analyzing the data collected from different onboard sensors, the system has the ability to understand the environment surrounding the host vehicle. In this article, recent development of environment perception technology is discussed. Furthermore, some applications of environment perception based on visual sensors, range/distance sensors, and sensor fusion technologies are also included.

並列關鍵字

Autonomous driving vehicle ； Environment perception ； Sensor fusion