智能网联汽车云控系统及其实现*

doi:10.19562/j.chinasae.qcgc.2020.12.001

汽车工程 ›› 2020, Vol. 42 ›› Issue (12): 1595-1605.doi: 10.19562/j.chinasae.qcgc.2020.12.001

• • 下一篇

智能网联汽车云控系统及其实现^*

李克强¹, 常雪阳¹, 李家文², 许庆¹, 高博麟¹, 潘济安¹

1.清华大学,汽车安全与节能国家重点实验室,北京 100084;
2.启迪云控(北京)科技有限公司,北京 100084

收稿日期:2020-05-15 修回日期:2020-07-12 出版日期:2020-12-25 发布日期:2021-01-13
通讯作者: 李克强,教授,E-mail:likq@tsinghua.edu.cn
基金资助:
*国家重点研发计划项目(2016YFB0100900)和清华大学-阿利昂斯智能出行联合研究中心资助。

Cloud Control System for Intelligent and Connected Vehicles and Its Application

Li Keqiang¹, Chang Xueyang¹, Li Jiawen², Xu Qing¹, Gao Bolin¹, Pan Jian¹

1. Tsinghua University, State Key Laboratory of Automotive Safety and Energy, Beijing 100084;
2. TUS Cloud Control (Beijing) Technology Co., Ltd., Beijing 100084

Received:2020-05-15 Revised:2020-07-12 Online:2020-12-25 Published:2021-01-13

摘要/Abstract

摘要： 本文中提出了基于信息物理系统(cyber-physical system,CPS)理论的智能网联汽车云控系统概念,该系统利用新一代信息与通信技术,将人、车、路、云的物理层、信息层、应用层连为一体,进行融合感知、决策与控制,可实现车辆行驶和交通运行安全、效率等性能的综合提升。在介绍系统架构、工作原理与关键技术的基础上,研究了边缘云上融合感知技术与时变时延下车辆控制技术,开发了面向真实道路的云控系统。通过仿真与道路试验,验证了系统的云端计算、融合感知、融合决策与网联控制的性能,展示了系统实际应用的可行性与先进性。

关键词: 智能网联汽车, 云控系统, 信息物理系统, 融合感知, 网联车辆控制

Abstract: In this paper, the concept of cloud control system for intelligent and connected vehicles is proposed based on the theory of cyber-physical system (CPS). The system uses the new generation of information and communication technologies to integrate the physical layer, cyber layer and application layer of human, vehicles, road infrastructures and cloud for integrated perception, decision-making and control to realize comprehensive improvement of vehicles and traffic safety and efficiency. Based on the introduction of the system architecture, working principle and key technologies, integrated perception technology on edge cloud and vehicle control technology under time-varying delay are studied. Furthermore, a cloud control system for real road is developed. Simulation and field test results verify the performance of cloud computing, integrated perception, decision-making, and connected control of the proposed system, which demonstrates its feasibility and superiority in application

Key words: intelligent connected vehicles, cloud control system, cyber-physical system, integrated perception, networked vehicle control

李克强, 常雪阳, 李家文, 许庆, 高博麟, 潘济安. 智能网联汽车云控系统及其实现^*[J]. 汽车工程, 2020, 42(12): 1595-1605.

Li Keqiang, Chang Xueyang, Li Jiawen, Xu Qing, Gao Bolin, Pan Jian. Cloud Control System for Intelligent and Connected Vehicles and Its Application[J]. Automotive Engineering, 2020, 42(12): 1595-1605.

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智能网联汽车云控系统及其实现^*

Cloud Control System for Intelligent and Connected Vehicles and Its Application

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