面向智能网联交通系统的模块化柔性试验场
|
摘要
为了给智能网联试验场设计与建设提供参考,分析了智能网联交通系统中测试技术的研究现状;结合长安大学车联网与智能汽车试验场的测试和研究经验,提出了一种面向智能网联交通系统的模块化柔性试验场,该试验场包括应用场景、感知发布、网络链路和管理服务4个层次。应用场景层通过模拟真实场景中的天气、道路和交通条件,验证智能网联交通设备和服务在不同环境、不同场景的适应性;感知发布层通过摄像头、激光雷达、毫米波雷达等传感设备以及可变情报板等信息发布设备,实现环境数据及交通信息的采集,并下发相应的控制信息和服务信息;网络链路层由车载异构网络构成,通过网络间的协同工作,为应用场景层和感知发布层的设备提供网络信息服务;管理服务层负责下层数据的存储、备份、处理和可视化,并实现下层测试设备的管理与维护。在上述模块化平台的基础上,开发智能网联汽车室内测试台架,配合试验场进行交通场景构建、测试场景复现和单一要素分析,实现智能网联交通的柔性场景测试。结果表明:所提出的试验场具有标准化的测试条件,可控可追踪的测试流程和科学的测试评价体系,能够模拟真实的道路交通场景,提高智能网联相关技术的开发和测试效率。该试验场的建设、推广与应用,能够推进智能网联和无人驾驶技术从理论研究到实际应用的转化,为实现未来交通信息服务和交通系统的创新与变革起到至关重要的作用。
To provide a reference for the design and construction of an intelligent and connected transportation system, this paper reviews the status of testing technology in existing research. Combining the experience of testing and research on connected and autonomous vehicle test-sites at Chang'an University, this paper proposes a modular flexible test bed for an intelligent and connected transportation system. The modular flexible test bed included an application layer, a sensing and releasing layer, a network link layer, and a management service layer. The application layer simulated a real-world intelligent connected environment. The adaption of devices and services in different environments for intelligent connected transportation can be verified by simulating various aspects of weather, roads, and traffic conditions. The sensing and releasing layer collected information of the environment and traffic system and released control and service information, through sensing devices including a camera, light detection and ranging(lidar) device, and millimeter-wave radar, and releasing devices including a variable information board. The network link layer consisted of a heterogeneous vehicular network. Through collaboration among networks, the network link layer could provide transparent transmission and exclusive network information services for devices and services in the application and sensing and releasing layers. The management service layer managed storage, backup, processing, and visualization of the lower layers' data, and implemented the management and maintenance of the lower layers' test devices. Based on the modular test bed mentioned above, an in-door test bench for an intelligent and connected vehicle was developed to cooperate with the test bed for simulating, recreating, and adjusting a traffic scene, so as to realize a flexible intelligent and connected transportation test. The modular flexible test bed for an intelligent and connected transportation system proposed in this paper has a standardized test environment and uses a controllable and traceable test process and scientific test evaluation method. It can verify intelligent and connected devices and services on functionality, application processing, application effects, and service utility, in different dimensions. The construction, promotion, and application of the modular flexible test bed for intelligent and connected transportation systems can promote the transformation of intelligent and connected technology from theoretical research to practical application and will play a crucial role in achieving innovation and reform of future transportation information services and transportation systems.
To provide a reference for the design and construction of an intelligent and connected transportation system, this paper reviews the status of testing technology in existing research. Combining the experience of testing and research on connected and autonomous vehicle test-sites at Chang'an University, this paper proposes a modular flexible test bed for an intelligent and connected transportation system. The modular flexible test bed included an application layer, a sensing and releasing layer, a network link layer, and a management service layer. The application layer simulated a real-world intelligent connected environment. The adaption of devices and services in different environments for intelligent connected transportation can be verified by simulating various aspects of weather, roads, and traffic conditions. The sensing and releasing layer collected information of the environment and traffic system and released control and service information, through sensing devices including a camera, light detection and ranging(lidar) device, and millimeter-wave radar, and releasing devices including a variable information board. The network link layer consisted of a heterogeneous vehicular network. Through collaboration among networks, the network link layer could provide transparent transmission and exclusive network information services for devices and services in the application and sensing and releasing layers. The management service layer managed storage, backup, processing, and visualization of the lower layers' data, and implemented the management and maintenance of the lower layers' test devices. Based on the modular test bed mentioned above, an in-door test bench for an intelligent and connected vehicle was developed to cooperate with the test bed for simulating, recreating, and adjusting a traffic scene, so as to realize a flexible intelligent and connected transportation test. The modular flexible test bed for an intelligent and connected transportation system proposed in this paper has a standardized test environment and uses a controllable and traceable test process and scientific test evaluation method. It can verify intelligent and connected devices and services on functionality, application processing, application effects, and service utility, in different dimensions. The construction, promotion, and application of the modular flexible test bed for intelligent and connected transportation systems can promote the transformation of intelligent and connected technology from theoretical research to practical application and will play a crucial role in achieving innovation and reform of future transportation information services and transportation systems.
引文
[1] 王笑京.新一代智能交通系统的技术特点和发展建议[J].工程研究——跨学科视野中的工程,2014(1):37-42.WANG Xiao-jing.The Technical Features and Development Suggestions of the Next Generation Intelligent Transportation System [J].Journal of Engineering Studies,2014 (1):37-42.
[2] MOHD ZULKEFLI M A,MUKHERJEE P,SUN Z,et al.Hardware-in-the-loop Testbed for Evaluating Connected Vehicle Applications [J].Transportation Research Part C,2017,78:50-62.
[3] WANG J,SHAO Y,GE Y,et al.A Survey of Vehicle to Everything (V2X) Testing [J].Sensors,2019,19 (2):334.
[4] LI L,HUANG W L,LIU Y,et al.Intelligence Testing for Autonomous Vehicles:A New Approach [J].IEEE Transactions on Intelligent Vehicles,2017,1 (2):158-166.
[5] LEE S,LIM A.An Empirical Study on Ad Hoc Performance of DSRC and Wi-Fi Vehicular Communications [J].International Journal of Distributed Sensor Networks,2013,2013 (1):1-12.
[6] AHMED A,MERGHEM-BOULAHIA L,DOMINIQUE G.Enabling Vertical Handover Decisions in Heterogeneous Wireless Networks:A State-of-the-art and a Classification [J].IEEE Communications Surveys & Tutorials,2013,16 (2):776-811.
[7] XU Z,LI X,ZHAO X,et al.DSRC versus 4G-LTE for Connected Vehicle Applications:A Study on Field Experiments of Vehicular Communication Performance [J].Journal of Advanced Transportation,2017,2017:1-10.
[8] CAMPOLO C,VINEL A,MOLINARO A,et al.Modeling Broadcasting in IEEE 802.11p/WAVE Vehicular Networks [J].IEEE Communications Letters,2011,15 (2):199-201.
[9] VINEL A.3GPP LTE Versus IEEE 802.11p/WAVE:Which Technology is Able to Support Cooperative Vehicular Safety Applications?[J].IEEE Wireless Communications Letters,2012,1 (2):125-128.
[10] ZHAO X,LI X,XU Z,et al.An Optimal Game Approach for Heterogeneous Vehicular Network Selection with Varying Network Performance [EB/OL].[2019-01-06].https://arxiv.org/ftp/arxiv/papers/1905:1905.11023.pdf.
[11] 邓晓峰,王润民,徐志刚,等.中国智能网联汽车测试及示范基地发展现状[J].汽车工业研究,2019(1):6-13.DENG Xiao-feng,WANG Run-min,XU Zhi-gang,et al.China’s Development Statue of Intelligent Connected Vehicle Test Site [J].Automotive Industry Research,2019 (1):6-13.
[12] 冉斌,谭华春,张健,等.智能网联交通技术发展现状及趋势[J].汽车安全与节能学报,2018,9(2):119-130.RAN Bin,TAN Hua-chun,ZHANG Jian,et al.Development Status and Trend of Connected Automated Vehicle Highway System [J].Journal of Automotive Safety and Energy,2018,9 (2):119-130.
[13] FENG Y,YU C,XU S,et al.An Augmented Reality Environment for Connected and Automated Vehicle Testing and Evaluation [C] // IEEE.2018 IEEE Intelligent Vehicles Symposium (IV).New York:IEEE,2018:1549-1554.
[14] ZHAO D,PENG H.From the Lab to the Street:Solving the Challenge of Accelerating Automated Vehicle Testing [J].Hitachi Review,2017,67 (1):14-20.
[15] 陈子轩,马万经,郝若辰,等.面向智能网联车的硬件在环仿真平台[C]//第十三届中国智能交通年会学术委员会.第十三届中国智能交通年会优秀论文集.北京:电子工业出版社,2018:48-57.CHEN Zi-xuan,MA Wan-jing,HAO Ruo-chen,et al.Hardware-in-the-loop Simulation Testbed for Intelligent and Connected Vehicle [C] // Academic Board of 13th China ITS Congress.Excellent Papers of 13th China ITS Congress.Beijing:Publishing House of Electronics Industry,2018:48-57.
[16] DUAN X,YANG Y,TIAN D,et al.A V2X Communication System and Its Performance Evaluation Test Bed [C] // IEEE.2014 IEEE 6th International Symposium on Wireless Vehicular Communications (WiVeC 2014).New York:IEEE,2014:1-2.
[17] SHI M,LU C,ZHANG Y,et al.DSRC and LTE-V Communication Performance Evaluation and Improvement Based on Typical V2X Application at Intersection [C] // IEEE.2017 Chinese Automation Congress (CAC).New York:IEEE,2017:556-561.
[18] 边泽强,孟晓风.开放式柔性测试系统及其关键技术[J].电子测试,2007(11):52-56.BIAN Ze-qiang,MENG Xiao-feng.Open Flexible Test System and Its Key Technology [J].Electronic Test,2007 (11):52-56.
[19] GIETELINK O,PLOEG J,DE SCHUTTER B,et al.Development of Advanced Driver Assistance Systems with Vehicle Hardware-in-the-loop Simulations [J].Vehicle System Dynamics,2006,44 (7):569-590.
[20] ZHAO D,LAM H,PENG H,et al.Accelerated Evaluation of Automated Vehicles Safety in Lane-change Scenarios Based on Importance Sampling Techniques [J].IEEE Transactions on Intelligent Transportation Systems,2017,18 (3):595-607.
[21] HOSSAIN E,CHOW G,LEUNG V C M,et al.Vehicular Telematics over Heterogeneous Wireless Networks:A Survey [J].Computer Communications,2010,33 (7):775-793.
[22] GONG S,ZHOU A,WANG J,et al.Cooperative Adaptive Cruise Control for a Platoon of Connected and Autonomous Vehicles Considering Dynamic Information Flow Topology [EB/OL].[2019-01-06].https://arxiv.org/ftp/arxiv/papers/1807/1807.02224.pdf.
[2] MOHD ZULKEFLI M A,MUKHERJEE P,SUN Z,et al.Hardware-in-the-loop Testbed for Evaluating Connected Vehicle Applications [J].Transportation Research Part C,2017,78:50-62.
[3] WANG J,SHAO Y,GE Y,et al.A Survey of Vehicle to Everything (V2X) Testing [J].Sensors,2019,19 (2):334.
[4] LI L,HUANG W L,LIU Y,et al.Intelligence Testing for Autonomous Vehicles:A New Approach [J].IEEE Transactions on Intelligent Vehicles,2017,1 (2):158-166.
[5] LEE S,LIM A.An Empirical Study on Ad Hoc Performance of DSRC and Wi-Fi Vehicular Communications [J].International Journal of Distributed Sensor Networks,2013,2013 (1):1-12.
[6] AHMED A,MERGHEM-BOULAHIA L,DOMINIQUE G.Enabling Vertical Handover Decisions in Heterogeneous Wireless Networks:A State-of-the-art and a Classification [J].IEEE Communications Surveys & Tutorials,2013,16 (2):776-811.
[7] XU Z,LI X,ZHAO X,et al.DSRC versus 4G-LTE for Connected Vehicle Applications:A Study on Field Experiments of Vehicular Communication Performance [J].Journal of Advanced Transportation,2017,2017:1-10.
[8] CAMPOLO C,VINEL A,MOLINARO A,et al.Modeling Broadcasting in IEEE 802.11p/WAVE Vehicular Networks [J].IEEE Communications Letters,2011,15 (2):199-201.
[9] VINEL A.3GPP LTE Versus IEEE 802.11p/WAVE:Which Technology is Able to Support Cooperative Vehicular Safety Applications?[J].IEEE Wireless Communications Letters,2012,1 (2):125-128.
[10] ZHAO X,LI X,XU Z,et al.An Optimal Game Approach for Heterogeneous Vehicular Network Selection with Varying Network Performance [EB/OL].[2019-01-06].https://arxiv.org/ftp/arxiv/papers/1905:1905.11023.pdf.
[11] 邓晓峰,王润民,徐志刚,等.中国智能网联汽车测试及示范基地发展现状[J].汽车工业研究,2019(1):6-13.DENG Xiao-feng,WANG Run-min,XU Zhi-gang,et al.China’s Development Statue of Intelligent Connected Vehicle Test Site [J].Automotive Industry Research,2019 (1):6-13.
[12] 冉斌,谭华春,张健,等.智能网联交通技术发展现状及趋势[J].汽车安全与节能学报,2018,9(2):119-130.RAN Bin,TAN Hua-chun,ZHANG Jian,et al.Development Status and Trend of Connected Automated Vehicle Highway System [J].Journal of Automotive Safety and Energy,2018,9 (2):119-130.
[13] FENG Y,YU C,XU S,et al.An Augmented Reality Environment for Connected and Automated Vehicle Testing and Evaluation [C] // IEEE.2018 IEEE Intelligent Vehicles Symposium (IV).New York:IEEE,2018:1549-1554.
[14] ZHAO D,PENG H.From the Lab to the Street:Solving the Challenge of Accelerating Automated Vehicle Testing [J].Hitachi Review,2017,67 (1):14-20.
[15] 陈子轩,马万经,郝若辰,等.面向智能网联车的硬件在环仿真平台[C]//第十三届中国智能交通年会学术委员会.第十三届中国智能交通年会优秀论文集.北京:电子工业出版社,2018:48-57.CHEN Zi-xuan,MA Wan-jing,HAO Ruo-chen,et al.Hardware-in-the-loop Simulation Testbed for Intelligent and Connected Vehicle [C] // Academic Board of 13th China ITS Congress.Excellent Papers of 13th China ITS Congress.Beijing:Publishing House of Electronics Industry,2018:48-57.
[16] DUAN X,YANG Y,TIAN D,et al.A V2X Communication System and Its Performance Evaluation Test Bed [C] // IEEE.2014 IEEE 6th International Symposium on Wireless Vehicular Communications (WiVeC 2014).New York:IEEE,2014:1-2.
[17] SHI M,LU C,ZHANG Y,et al.DSRC and LTE-V Communication Performance Evaluation and Improvement Based on Typical V2X Application at Intersection [C] // IEEE.2017 Chinese Automation Congress (CAC).New York:IEEE,2017:556-561.
[18] 边泽强,孟晓风.开放式柔性测试系统及其关键技术[J].电子测试,2007(11):52-56.BIAN Ze-qiang,MENG Xiao-feng.Open Flexible Test System and Its Key Technology [J].Electronic Test,2007 (11):52-56.
[19] GIETELINK O,PLOEG J,DE SCHUTTER B,et al.Development of Advanced Driver Assistance Systems with Vehicle Hardware-in-the-loop Simulations [J].Vehicle System Dynamics,2006,44 (7):569-590.
[20] ZHAO D,LAM H,PENG H,et al.Accelerated Evaluation of Automated Vehicles Safety in Lane-change Scenarios Based on Importance Sampling Techniques [J].IEEE Transactions on Intelligent Transportation Systems,2017,18 (3):595-607.
[21] HOSSAIN E,CHOW G,LEUNG V C M,et al.Vehicular Telematics over Heterogeneous Wireless Networks:A Survey [J].Computer Communications,2010,33 (7):775-793.
[22] GONG S,ZHOU A,WANG J,et al.Cooperative Adaptive Cruise Control for a Platoon of Connected and Autonomous Vehicles Considering Dynamic Information Flow Topology [EB/OL].[2019-01-06].https://arxiv.org/ftp/arxiv/papers/1807/1807.02224.pdf.