基于ITS的智能车辆技术研究
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摘要
本文介绍了智能交通系统ITS(Intelligent Transportation Systems)的组成。智能交通系统是将先进的信息技术、数据通信传输技术、电子控制技术以及计算机处理技术与先进的行政管理手段结合起来，使其有效地综合运用于交通运输的服务、控制和管理。其目的是使人、车、路密切配合、和谐统一，极大地提高综合交通运输效率，保障交通安全，改善环境质量和提高能源利用率。
文章首先介绍了美、日、欧等国家和地区智能交通的一些发展情况，我国智能交通系统的发展情况。主要从适应智能交通方面，介绍了智能车辆的发展情况，智能交通与智能车辆的关系；世界智能车辆的研究现状，我国智能车辆的研究现状，适应我国智能交通的智能车辆需要具备哪些性能。智能车辆系统(IV：Intelligent Vehicles)利用传感器技术、信号处理技术、通讯技术、计算机技术等，辨识车辆所处的环境和状态，并根据各传感器所得到的信息做出分析和判断，或者给司机发出劝告和报警信息，提请司机注意规避危险；或者在紧急情况下，帮助司机操作车辆(即辅助驾驶系统)，防止事故的发生，使车辆进入一个安全的状态；或者代替司机的操作，实现车辆运行的自动化。智能车辆技术按功能层次可以分为三层，即智能感知／预警系统、车辆驾驶系统和全自动操作系统；智能车辆的研究涉及计算机测量与控制、计算机视觉、传感器数据融合、车辆工程等诸多领域，可以说，智能车辆的研究是计算机视觉与计算机控制研究在车辆工程上的综合。
智能车辆的定位、导航、路径推算、避障是本文的主要内容；主要从机器视觉技术、雷达技术、高精度的数字地图和导航技术，介绍了全球定位系统GPS、车辆组合导航定位、数字地图数据库技术等智能车辆的主要技术，最后得出了适应智能交通系统的智能车辆的模型。智能车辆模型具备定位、导航、避障、信息传递等功能。具备了这些功能的智能车辆能更好的满足智能交通的需要，从而达到缓解交通压力，提高运输效率，提高车辆的安全性能的目的。
This article introduced intelligence transportation system ITS (Intelligent Transportation Systems). The intelligence transportation system is the advanced information technology, the data communication transmission technology, the electronic control technology as- well as the computer processing technology and the advanced administration method unifies, causes its effectively to synthesize utilizes to the transportation service, the control and the management. Its goal is causes the person, the vehicle, the road close coordination, the harmonious unification, enormously enhances the synthesis transportation efficiency, the safeguard traffic safety, the improvement environment quality and raises the energy use factor. The article first introduced national and the local intelligence transportation and so on America, date, Europe some development situations, our country intelligence transportation system development situation. Mainly from the adaption intelligence transportation aspect, briefed,,the intellige
nt vehicles development situation, the intelligent transportation and the intelligent vehicles relations; The world intelligence vehicles research present situation, does our country intelligence vehicles research present situation, which performance adapt our country intelligence transportation intelligent vehicles to need to have. Intelligent vehicles system (IV: Intelligent Vehicles) uses the sensor technology, the signal . processing technology, the communication technology, the computer technology and so on, recognizes environment and condition which the vehicles locates, and the information which obtained arrives according to various sensors makes the analysis and the judgement, or sends out to the driver advises and reports to the police the information, proposes the driver to pay attention dodges the danger; Or in the emergency case, helps the driver to operate the vehicles (namely assistance control loop), prevented the accident the occurrence, causes the vehicles to enter a safe condition; Or
replaces driver's operation, realizes the
vehicles movement automation. The intelligent vehicles technology may divide into three according to the function level, namely intelligent sensation/early warning system, vehicles control loop and entire automatic operating system; The intelligent vehicles research involves the computer survey and the control, the computer vision, the sensor data fusion, the vehicles project and so on many domains, may say, the intelligent vehicles research is the computer vision and the computer control research in the vehicles project synthesis. The intelligent vehicles localization, the navigation, the way calculated, evades bonds is the this article main content; Mainly from the machine vision technology, the radar technology, the high accuracy digital map and the navigation technology satellite, introduced global positioning system GPS, the vehicles combined navigation localization, intelligence and so on digital map data bank technology comes out the main technology, finally has obtained the adapt ion intelligence tra
nsportation system intelligent vehicles model. The intelligent vehicles model has the localization, the navigation, evades bonds, function and so on information transmission.
Had these functions intelligent vehicles to be able the better satisfied intelligent transportation need, thus achieved alleviated the traffic pressure, enhanced the transportation efficiency, enhanced the vehicles the security performance goal.
文章首先介绍了美、日、欧等国家和地区智能交通的一些发展情况，我国智能交通系统的发展情况。主要从适应智能交通方面，介绍了智能车辆的发展情况，智能交通与智能车辆的关系；世界智能车辆的研究现状，我国智能车辆的研究现状，适应我国智能交通的智能车辆需要具备哪些性能。智能车辆系统(IV：Intelligent Vehicles)利用传感器技术、信号处理技术、通讯技术、计算机技术等，辨识车辆所处的环境和状态，并根据各传感器所得到的信息做出分析和判断，或者给司机发出劝告和报警信息，提请司机注意规避危险；或者在紧急情况下，帮助司机操作车辆(即辅助驾驶系统)，防止事故的发生，使车辆进入一个安全的状态；或者代替司机的操作，实现车辆运行的自动化。智能车辆技术按功能层次可以分为三层，即智能感知／预警系统、车辆驾驶系统和全自动操作系统；智能车辆的研究涉及计算机测量与控制、计算机视觉、传感器数据融合、车辆工程等诸多领域，可以说，智能车辆的研究是计算机视觉与计算机控制研究在车辆工程上的综合。
智能车辆的定位、导航、路径推算、避障是本文的主要内容；主要从机器视觉技术、雷达技术、高精度的数字地图和导航技术，介绍了全球定位系统GPS、车辆组合导航定位、数字地图数据库技术等智能车辆的主要技术，最后得出了适应智能交通系统的智能车辆的模型。智能车辆模型具备定位、导航、避障、信息传递等功能。具备了这些功能的智能车辆能更好的满足智能交通的需要，从而达到缓解交通压力，提高运输效率，提高车辆的安全性能的目的。
This article introduced intelligence transportation system ITS (Intelligent Transportation Systems). The intelligence transportation system is the advanced information technology, the data communication transmission technology, the electronic control technology as- well as the computer processing technology and the advanced administration method unifies, causes its effectively to synthesize utilizes to the transportation service, the control and the management. Its goal is causes the person, the vehicle, the road close coordination, the harmonious unification, enormously enhances the synthesis transportation efficiency, the safeguard traffic safety, the improvement environment quality and raises the energy use factor. The article first introduced national and the local intelligence transportation and so on America, date, Europe some development situations, our country intelligence transportation system development situation. Mainly from the adaption intelligence transportation aspect, briefed,,the intellige
nt vehicles development situation, the intelligent transportation and the intelligent vehicles relations; The world intelligence vehicles research present situation, does our country intelligence vehicles research present situation, which performance adapt our country intelligence transportation intelligent vehicles to need to have. Intelligent vehicles system (IV: Intelligent Vehicles) uses the sensor technology, the signal . processing technology, the communication technology, the computer technology and so on, recognizes environment and condition which the vehicles locates, and the information which obtained arrives according to various sensors makes the analysis and the judgement, or sends out to the driver advises and reports to the police the information, proposes the driver to pay attention dodges the danger; Or in the emergency case, helps the driver to operate the vehicles (namely assistance control loop), prevented the accident the occurrence, causes the vehicles to enter a safe condition; Or
replaces driver's operation, realizes the
vehicles movement automation. The intelligent vehicles technology may divide into three according to the function level, namely intelligent sensation/early warning system, vehicles control loop and entire automatic operating system; The intelligent vehicles research involves the computer survey and the control, the computer vision, the sensor data fusion, the vehicles project and so on many domains, may say, the intelligent vehicles research is the computer vision and the computer control research in the vehicles project synthesis. The intelligent vehicles localization, the navigation, the way calculated, evades bonds is the this article main content; Mainly from the machine vision technology, the radar technology, the high accuracy digital map and the navigation technology satellite, introduced global positioning system GPS, the vehicles combined navigation localization, intelligence and so on digital map data bank technology comes out the main technology, finally has obtained the adapt ion intelligence tra
nsportation system intelligent vehicles model. The intelligent vehicles model has the localization, the navigation, evades bonds, function and so on information transmission.
Had these functions intelligent vehicles to be able the better satisfied intelligent transportation need, thus achieved alleviated the traffic pressure, enhanced the transportation efficiency, enhanced the vehicles the security performance goal.
引文
[1] 徐友春等．智能车辆视野及图形变形矫正的研究．公路交通科技，2000(5)
[2] 何克忠．智能机器人的一种体系结构，机器人，1992
[3] 陆化普 等．ITS—新一代道理交通系统，公路交通科技，1997
[4] 苏开娜等．基于道路动态视觉导航的控制策略与仿真，计算机仿真，1998
[5] 王宏等．智能车辆的自主驾驶与辅助导航，机器人，1997
[6] Computer Vision and Highway Automation, Vehicles System Dynamics. ERNST D. DICKMANNS 1999
[7] Development of Collision Avoidance Systems at Deiphi Automotive System, IEEE International Conference on Intelligent Vehicle 1988 Glenn R. Widman, WillamA. Bauson
[8] Lane Detection and Tracking Using Estimated Camara Parameters for Intelligent Vehicles, IEEE International Conference on Intelligent Vehicle 1998 Keiichi Uchimura et al
[9] 王文成 神经网络及其在汽车工程中的应用，北京理工大学出版社，1998．7
[10] 孙增圻等．智能控制的理论与技术，清华大学出版社，广西科学技术出版社，1997．4
[11] 赵振宇，徐用懋 模糊理论和神经网络的基础与应用，清华大学出版社，广西科学技术出版社，1996．6
[12] 黄崇福译．模糊工程，西安交通大学出版社，Prentice Hall，1999．6，Bart Kosko，
[13] Two-stage fuzzy logic controller for traffic signals, Transportation Research Part C, 1999, M. Btrabia, M: S. Kaseko.
[14] Distribute and cooperative fuzzy controllers for traffic intersections group, IEEE Transportations on Systems, 1999 J. H. Lee, J.-H. Kwang
[15] Freeway traffic incident detection using fuzzy CMAC neural networks, IEEE International Conference on Fuzzy Systems, 1998 G. J. Lee
[16] Fuzzy logic control simulator for adaptive traffic management, IEEE International Conference on Fuzzy Systems, 1997, K. Jongwan
[17] Michael D. Wager, Dimitrios Apostolopoulos, Kimberly Shillcutt, Benjamin
Shamah, Reid Simmons." The Science Autonomy System of the Nomad Robot". Field Robotics Center, The Robotics Institute Carnegie Mellon University
[18] Zvi Shiller and Yu-Rwei Gwo. "Dynamic Motion Planning of Autonomous vehicles". In proc. IEEE Int. Conf. Robotics&Automation. 1991
[19] 欧青立，何克钟．室外智能移动机器人的发展及其关键技术研究。机器人，2000，6
[20] 安部正人，陈辛波．汽车的运动和操纵．北京：机械工业出版社，1998
[21] [美]赵亦林．车辆定位与导航系统．北京：电子工业出版社，1999
[22] 冯锡生，赵小琳．GPS及其通讯组网．北京：北京铁道出版社，1996
[23] 赵新华，曹作良．可移动机器人的运动学模型与控制原理。机器人，1994
[24] 冯建农，柳明，吴捷．自主移动式机器人智能导航研究发展，机器人，1997
[25] 王宏，何克忠，张钹．智能车辆的自主驾驶与辅助导航．机器人，1997
[26] Gat, E.,"On Three-Layer Architectures", I and MobileRobots, D. KortenKamp, P. Bonasso and R, Murphyeds, MIT/AAAI Press, Cambridge, MA, 1998.
[27] Moorehead, S., Simmons, R., Apostolopoulos, D. and Wittaker, W.L.,"Autonomous Navigation Field Results of a Planetary Analog Robot in Antarctica", Proceedings oflnternational Symposium on Artifificial Intelligence, Robotics and Automation in space, Noordwijk, TheNetherlands, June 1999.
[28] Noreils, F.,"Integrating Error Recovery in a Mobile Robot Control System", IEEE International Conference on Robotics and Automation, Cincinnati, OH, May 1990.
[29] Shillcutt, K. and Whittaker, W. L.,"Modular Optimization for Robotic Explorers", AAAI Falt Symposium on Integrated Planning for Autonomous Agent Architectures, Orlando, FL, 1998
[30] Shamah, B., Apostolopoulos, D., Rollins, E. and Whittaker, W.L.,"field validation of Nomad's robotic locomotion", Proceedings of the SPIE International Conference on Mobile Robots and Intelligent Transportation Systems, Boston, MA, 1998
[31] Coulter, R.C.,"Implementation of the Pure Pursuit Path Tracking Algorithm", Technical Report CMU-RI-TR-92-01, robotics Institute, Carnegie Mellon
University, January 1992.
[32] Pedersen, L.,"Autonomous Robotic Characterization of Unknown Environments", accepted to the International Conference on robotics and Automation, Seoul, Korea, May 2001.
[33] A. Kelly."An Intelligent Predictive Controller for Autonomous Vehicles", tech. report CMU-RI-TR-94-20, Robotics Institute, Carnegie Mellon University, May, 1994.
[34] 屈求真，刘延柱．人工神经网络及其在汽车工程领域中的应用。世界汽车，1999(7)
[35] 欧阳新，董可文．汽车行使稳定性的影响因素分析。世界汽车，1999(10)
[36] 范永，谭民．机器人控制器的现状及展望。机器人，1999(1)
[37] Intelligent Transport Systems Cases and Policies Edited by Roger R. Stough
[38] Intelligent Vehicle Technologies Theory and Applications Edited by Ljubo Vlacic
[39] Intelligent Vehicle Systems Society of Automotive engineers
[40] 安德．巴斯蒂安博士．大众汽车公司车辆通讯及信息交换系统 99国际智能交通(ITS)技术交流暨展览会
[41] James H.Rillings Research Fellow General Motors．通用汽车公司在智能化交通运输方面的作用 99国际智能交通(ITS)技术交流暨展览会
[42] 李军．ITS与中国汽车工业 中国汽车技术研究中心 99国际智能交通(ITS)技术交流暨展览会
[43] 王容本等，一种基于视觉导航的新型智能车辆系统设计 中国首届智能交通系统(ITS)设计大赛优秀作品集 2000．6
[44] 中国ITS相关汽车技术创新战略研究 张建伟等 智能交通系统(ITS)高级技术交流会
[45] 屠大维．用于车辆防撞控制的行车环境传感研究，中国机械工程，1999．6
[46] 严德生．“驾驶员信息系统”初步设计—移动信息社会中的汽车和交通中国首届智能交通系统(ITS)设计大赛优秀作品集 2000．6
[47] 余文峰．智能车辆体系结构及路径跟踪策略的研究：[硕士学位论文]．南京：南京理工大学机械制造及其自动化 2002
[48] 杨东凯、吴今培、张其善．自动车辆定位系统在智能交通系统中的应用《电子技术应用》1999年第1期
[49] 党宏社、韩崇昭、段战胜．智能车辆系统发展及其关键技术概述 公路 交通科技2002年12月
[50] 刘澜、杜文．智能车辆的技术集成及其人机关系问题人类工效学 2001年9月第7卷第3期
[51] 阮久宏、李贻斌、冯晋祥．用于ITS的智能车辆控制系统结构与性能指标研究 山东交通学院学报第10卷，第2期，2002年10月
[51] 高博车辆导航系统中数据处理、地图匹配和路径规划的研究：[硕士学位论文]．中国人民解放军信息工程大学测绘学院2001年4月
[2] 何克忠．智能机器人的一种体系结构，机器人，1992
[3] 陆化普 等．ITS—新一代道理交通系统，公路交通科技，1997
[4] 苏开娜等．基于道路动态视觉导航的控制策略与仿真，计算机仿真，1998
[5] 王宏等．智能车辆的自主驾驶与辅助导航，机器人，1997
[6] Computer Vision and Highway Automation, Vehicles System Dynamics. ERNST D. DICKMANNS 1999
[7] Development of Collision Avoidance Systems at Deiphi Automotive System, IEEE International Conference on Intelligent Vehicle 1988 Glenn R. Widman, WillamA. Bauson
[8] Lane Detection and Tracking Using Estimated Camara Parameters for Intelligent Vehicles, IEEE International Conference on Intelligent Vehicle 1998 Keiichi Uchimura et al
[9] 王文成 神经网络及其在汽车工程中的应用，北京理工大学出版社，1998．7
[10] 孙增圻等．智能控制的理论与技术，清华大学出版社，广西科学技术出版社，1997．4
[11] 赵振宇，徐用懋 模糊理论和神经网络的基础与应用，清华大学出版社，广西科学技术出版社，1996．6
[12] 黄崇福译．模糊工程，西安交通大学出版社，Prentice Hall，1999．6，Bart Kosko，
[13] Two-stage fuzzy logic controller for traffic signals, Transportation Research Part C, 1999, M. Btrabia, M: S. Kaseko.
[14] Distribute and cooperative fuzzy controllers for traffic intersections group, IEEE Transportations on Systems, 1999 J. H. Lee, J.-H. Kwang
[15] Freeway traffic incident detection using fuzzy CMAC neural networks, IEEE International Conference on Fuzzy Systems, 1998 G. J. Lee
[16] Fuzzy logic control simulator for adaptive traffic management, IEEE International Conference on Fuzzy Systems, 1997, K. Jongwan
[17] Michael D. Wager, Dimitrios Apostolopoulos, Kimberly Shillcutt, Benjamin
Shamah, Reid Simmons." The Science Autonomy System of the Nomad Robot". Field Robotics Center, The Robotics Institute Carnegie Mellon University
[18] Zvi Shiller and Yu-Rwei Gwo. "Dynamic Motion Planning of Autonomous vehicles". In proc. IEEE Int. Conf. Robotics&Automation. 1991
[19] 欧青立，何克钟．室外智能移动机器人的发展及其关键技术研究。机器人，2000，6
[20] 安部正人，陈辛波．汽车的运动和操纵．北京：机械工业出版社，1998
[21] [美]赵亦林．车辆定位与导航系统．北京：电子工业出版社，1999
[22] 冯锡生，赵小琳．GPS及其通讯组网．北京：北京铁道出版社，1996
[23] 赵新华，曹作良．可移动机器人的运动学模型与控制原理。机器人，1994
[24] 冯建农，柳明，吴捷．自主移动式机器人智能导航研究发展，机器人，1997
[25] 王宏，何克忠，张钹．智能车辆的自主驾驶与辅助导航．机器人，1997
[26] Gat, E.,"On Three-Layer Architectures", I and MobileRobots, D. KortenKamp, P. Bonasso and R, Murphyeds, MIT/AAAI Press, Cambridge, MA, 1998.
[27] Moorehead, S., Simmons, R., Apostolopoulos, D. and Wittaker, W.L.,"Autonomous Navigation Field Results of a Planetary Analog Robot in Antarctica", Proceedings oflnternational Symposium on Artifificial Intelligence, Robotics and Automation in space, Noordwijk, TheNetherlands, June 1999.
[28] Noreils, F.,"Integrating Error Recovery in a Mobile Robot Control System", IEEE International Conference on Robotics and Automation, Cincinnati, OH, May 1990.
[29] Shillcutt, K. and Whittaker, W. L.,"Modular Optimization for Robotic Explorers", AAAI Falt Symposium on Integrated Planning for Autonomous Agent Architectures, Orlando, FL, 1998
[30] Shamah, B., Apostolopoulos, D., Rollins, E. and Whittaker, W.L.,"field validation of Nomad's robotic locomotion", Proceedings of the SPIE International Conference on Mobile Robots and Intelligent Transportation Systems, Boston, MA, 1998
[31] Coulter, R.C.,"Implementation of the Pure Pursuit Path Tracking Algorithm", Technical Report CMU-RI-TR-92-01, robotics Institute, Carnegie Mellon
University, January 1992.
[32] Pedersen, L.,"Autonomous Robotic Characterization of Unknown Environments", accepted to the International Conference on robotics and Automation, Seoul, Korea, May 2001.
[33] A. Kelly."An Intelligent Predictive Controller for Autonomous Vehicles", tech. report CMU-RI-TR-94-20, Robotics Institute, Carnegie Mellon University, May, 1994.
[34] 屈求真，刘延柱．人工神经网络及其在汽车工程领域中的应用。世界汽车，1999(7)
[35] 欧阳新，董可文．汽车行使稳定性的影响因素分析。世界汽车，1999(10)
[36] 范永，谭民．机器人控制器的现状及展望。机器人，1999(1)
[37] Intelligent Transport Systems Cases and Policies Edited by Roger R. Stough
[38] Intelligent Vehicle Technologies Theory and Applications Edited by Ljubo Vlacic
[39] Intelligent Vehicle Systems Society of Automotive engineers
[40] 安德．巴斯蒂安博士．大众汽车公司车辆通讯及信息交换系统 99国际智能交通(ITS)技术交流暨展览会
[41] James H.Rillings Research Fellow General Motors．通用汽车公司在智能化交通运输方面的作用 99国际智能交通(ITS)技术交流暨展览会
[42] 李军．ITS与中国汽车工业 中国汽车技术研究中心 99国际智能交通(ITS)技术交流暨展览会
[43] 王容本等，一种基于视觉导航的新型智能车辆系统设计 中国首届智能交通系统(ITS)设计大赛优秀作品集 2000．6
[44] 中国ITS相关汽车技术创新战略研究 张建伟等 智能交通系统(ITS)高级技术交流会
[45] 屠大维．用于车辆防撞控制的行车环境传感研究，中国机械工程，1999．6
[46] 严德生．“驾驶员信息系统”初步设计—移动信息社会中的汽车和交通中国首届智能交通系统(ITS)设计大赛优秀作品集 2000．6
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