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2024 自动驾驶 传感器 数据融合 通信接口
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本文引自《2024 道路车辆 自动驾驶传感器与数据融合单元间数据通信 逻辑接口(征求意见稿)》(ISO 23150 : 2023),介绍了车载环境感知传感器(例如毫米波雷达、激光雷达、摄像头、超声波雷达)和融合单元(基于传感器检测的车辆周围环境的数据生成周围模型数据)之间的逻辑接口。逻辑接口以模块化的语义描述表示并提供目标级别的信息(例如潜在移动目标、道路目标、静态目标)以及有关特征和检测级别以及传感器特有的具体信息。本文适用于具备自动驾驶功能的M类、 N类车辆,其他车辆类型可参照执行。
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GB/T XXXXX-XXXX
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目 次
前 言 ........................................................................... XX
引 言 ........................................................................... 21
1 范围 ............................................................................... 23
2 规范性引用文件 ..................................................................... 23
3 术语和定义 ......................................................................... 23
架构部分 ....................................................................... 23
3.1.1 ............................................................................ 23
融合 fusion ...................................................................... 23
3.1.2 ............................................................................ 23
融合单元 fusion unit ............................................................. 23
3.1.3 ............................................................................ 23
接口 interface ................................................................... 23
3.1.4 ............................................................................ 23
逻辑接口 logical interface ....................................................... 24
3.1.5 ............................................................................ 24
传感器 sensor .................................................................... 24
3.1.6 ............................................................................ 24
传感器簇 sensor cluster .......................................................... 24
3.1.7 ............................................................................ 24
周围模型 surround model .......................................................... 24
3.1.8 ............................................................................ 24
车载通信 in-vehicle communication ................................................ 24
逻辑接口术语 ................................................................... 24
3.2.1 ............................................................................ 24
检测 detection ................................................................... 24
3.2.2 ............................................................................ 24
检测级 detection level ........................................................... 24
3.2.3 ............................................................................ 25
特征 feature ..................................................................... 25
3.2.4 ............................................................................ 25
特征级 feature level ............................................................. 25
3.2.5 ............................................................................ 25
目标 object ...................................................................... 25
3.2.6 ............................................................................ 25
目标级 object level .............................................................. 25
3.2.7 ............................................................................ 25
传感器输入 sensor input .......................................................... 25
结构术语 ....................................................................... 25
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3.3.1 ............................................................................ 25
信号 signal ...................................................................... 25
3.3.2 ............................................................................ 25
逻辑信号组 logical signal group .................................................. 25
3.3.3 ............................................................................ 26
分类 classification .............................................................. 26
测量术语 ....................................................................... 26
3.4.1 ............................................................................ 26
测量周期 measurement cycle ....................................................... 26
3.4.2 ............................................................................ 26
测量量值 measured quantity value ................................................. 26
3.4.3 ............................................................................ 26
跟踪量值 tracked quantity value .................................................. 26
3.4.4 ............................................................................ 26
预测量值 predicted quantity value ................................................ 26
3.4.5 ............................................................................ 26
测量 measurement ................................................................. 26
3.4.6 ............................................................................ 26
跟踪 tracking .................................................................... 26
3.4.7 ............................................................................ 26
预测 prediction .................................................................. 26
3.4.8 ............................................................................ 27
误差 error ....................................................................... 27
3.4.9 ............................................................................ 27
准确性 accuracy .................................................................. 27
3.4.10 ........................................................................... 27
真实性 trueness .................................................................. 27
3.4.11 ........................................................................... 27
精度 precision ................................................................... 27
3.4.12 ........................................................................... 28
测量误差 measurement error ....................................................... 28
3.4.13 ........................................................................... 28
跟踪误差 tracking error .......................................................... 28
3.4.14 ........................................................................... 28
预测误差 prediction error ........................................................ 28
3.4.15 ........................................................................... 28
误差模型 error model ............................................................. 28
3.4.16 ........................................................................... 28
固定 fixation .................................................................... 28
需求级别术语 ................................................................... 28
3.5.1 ............................................................................ 28
有条件 conditional ............................................................... 28
3.5.2 ............................................................................ 29
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必选 mandatory ................................................................... 29
3.5.3 ............................................................................ 29
可选 optional .................................................................... 29
3.5.4 ............................................................................ 29
需求级别 requirement level ....................................................... 29
道路使用者相关实体类型 ......................................................... 29
3.6.1 ............................................................................ 29
潜在移动目标 potentially moving object ........................................... 29
3.6.2 ............................................................................ 29
道路目标 road object ............................................................. 29
3.6.2.1 ........................................................................ 29
道路标线 road marking ............................................................ 30
3.6.2.2 ........................................................................ 30
道路边界 road boundary ........................................................... 30
3.6.2.3 ........................................................................ 30
道路表面 road surface ............................................................ 30
3.6.3 ............................................................................ 30
静态目标 static object ........................................................... 30
3.6.3.1 ........................................................................ 30
一般地标 general landmark ........................................................ 30
3.6.3.2 ........................................................................ 30
交通标志 traffic sign ............................................................ 30
主标志 main sign ................................................................. 30
辅助标志 supplementary sign ...................................................... 31
3.6.3.3 ........................................................................ 31
交通标志牌 traffic sign board .................................................... 31
3.6.3.4 ........................................................................ 31
信号灯 traffic light ............................................................. 31
3.6.4 ............................................................................ 31
可行驶区域 free space area object ................................................ 31
轴和坐标系术语 ................................................................. 31
3.7.1 ............................................................................ 31
参考系 reference frame ........................................................... 31
3.7.2 ............................................................................ 31
轴系 axis system ................................................................. 31
3.7.3 ............................................................................ 32
坐标系 coordinate system ......................................................... 32
3.7.4 ............................................................................ 32
笛卡尔坐标系 cartesian coordinate system ......................................... 32
3.7.5 ............................................................................ 32
球面坐标系 spherical coordinate system ........................................... 32
3.7.6 ............................................................................ 32
道路平面 road plane .............................................................. 32
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GB/T XXXXX-XXXX
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3.7.7 ............................................................................ 33
道路级 road level ................................................................ 33
3.7.8 ............................................................................ 33
车辆簧下质量 vehicle unsprung mass ............................................... 33
3.7.9 ............................................................................ 33
车辆簧载质量 vehicle sprung mass ................................................. 33
3.7.10 ........................................................................... 33
车辆后轴参考点 vehicle rear-axle reference point ................................. 33
3.7.11 ........................................................................... 33
车辆弹簧质量轴系 vehicle sprung mass axis system ................................. 33
3.7.12 ........................................................................... 33
车辆后轴坐标系 vehicle rear-axle coordinate system ............................... 33
3.7.13 ........................................................................... 34
车辆道路级基准点 vehicle road-level reference point .............................. 34
3.7.14 ........................................................................... 34
车辆道路级轴系 vehicle road-level axis system ................................... 34
3.7.15 ........................................................................... 34
车辆道路级坐标系 vehicle road-level coordinate system ............................ 34
3.7.16 ........................................................................... 35
车辆坐标系 vehicle coordinate system ............................................. 35
3.7.17 ........................................................................... 35
传感器轴系 sensor axis system .................................................... 35
3.7.18 ........................................................................... 36
传感器坐标系 sensor coordinate system ............................................ 36
3.7.19 ........................................................................... 36
仿射坐标系 affine coordinate system .............................................. 36
4 缩略语 ............................................................................. 37
5 接口描述结构 ....................................................................... 38
通用 ........................................................................... 38
信号 ........................................................................... 38
接口 ........................................................................... 39
特定信号组 ..................................................................... 40
配置文件 ....................................................................... 40
6 传感器和传感器簇与融合单元的逻辑接口 ............................................... 40
通用 ........................................................................... 40
通用接口报头 ................................................................... 43
通用接口数据体 ................................................................. 43
配置文件:接口版本的唯一性 ..................................................... 44
7 目标级别 ........................................................................... 44
概述 ........................................................................... 44
通用目标级接口 ................................................................. 44
7.2.1 通用 ....................................................................... 44
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7.2.2 通用目标级报头 ............................................................. 45
7.2.3 通用目标级实体 ............................................................. 46
潜在移动目标接口 ............................................................... 47
7.3.1 通用 ....................................................................... 47
7.3.2 潜在移动目标报头 ........................................................... 55
7.3.3 潜在移动目标实体 ........................................................... 56
7.3.4 配置文件:运动类型 ......................................................... 57
7.3.5 配置文件:运动状态矢量 ..................................................... 57
道路目标接口 ................................................................... 59
7.4.1 通用 ....................................................................... 59
7.4.2 道路目标报头 ............................................................... 69
7.4.3 道路目标实体 ............................................................... 70
7.4.4 配置文件:RDOI 颜色模型 .................................................... 72
静止目标接口 ................................................................... 72
7.5.1 通用 ....................................................................... 72
7.5.2 静态目标报头 ............................................................... 97
7.5.3 静态目标实体 ............................................................... 98
7.5.4 配置文件:SOI 的颜色模型 ................................................... 103
7.5.5 配置文件:三维检测的检测参考 .............................................. 103
可行驶区域接口 ................................................................ 106
7.6.1 通用 ...................................................................... 106
7.6.2 可行驶区域报头 ............................................................ 111
7.6.3 可行驶区域实体 ............................................................ 112
8 特征级别 .......................................................................... 114
通用 .......................................................................... 114
通用传感器组特征接口 .......................................................... 114
8.2.1 通用 ...................................................................... 114
8.2.2 通用传感器组特征报头 ...................................................... 114
8.2.3 通用传感器簇特征实体 ...................................................... 115
摄像头特征接口 ................................................................ 116
8.3.1 通用 ...................................................................... 116
8.3.2 摄像头特征报头 ............................................................ 119
8.3.3 摄像头功能实体 ............................................................ 120
8.3.4 配置: 摄像头特征接口(CFI)颜色模型 ....................................... 121
超声波特征接口 ................................................................ 122
8.4.1 通用 ...................................................................... 122
8.4.2 超声波特征接口报头 ........................................................ 125
8.4.3 超声特征实体 .............................................................. 125
9 检测级别 .......................................................................... 126
通用 .......................................................................... 126
传感器通用检测接口 ............................................................ 126
9.2.1 通用 ...................................................................... 126
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