2024自动驾驶传感器数据融合通信接口资源-CSDN文库

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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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III

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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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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