Table Of ContentUnmanned System Technologies
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Mingfang Du
Autonomous Vehicle
Technology
Global Exploration and Chinese Practice
Mingfang Du
Tsinghua University
Beijing, China
ISSN 2523-3734 ISSN 2523-3742 (electronic)
Unmanned System Technologies
ISBN 978-981-19-4142-9 ISBN 978-981-19-4143-6 (eBook)
https://doi.org/10.1007/978-981-19-4143-6
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Preface
In recent years, with the development of the economy and society, automobile
automation, networking, and intelligent technology have made great progress.
Autonomous vehicle technology is gradually becoming more and more practical
and has been applied in some specific fields. It is influencing the global economy
and quietly changing human productive activity and lifestyle. Autonomous vehicle
is a type of intelligent vehicle, which can also be regarded as a type of fast-wheeled
autonomous mobile robot. It uses on-board sensors to sense the surrounding environ-
ment of the vehicle and controls the vehicle’s movement according to the informa-
tion on the road, vehicle position, and obstacles, so that the vehicle can move safely,
reliably a,nd autonomously. Autonomous vehicle integrates automatic control, arti-
ficial intelligence, navigation and positioning, machinery, vehicle, and other multi-
disciplinary technology. It is the product of the development of vehicle engineering,
control science, computer science, and artificial intelligence theory and technology.
Autonomous vehicle has a bright future and great social significance. At present,
the US, Germany, the UK, France, Japan, China, and other countries have all made the
development of intelligent vehicles a part of national strategies and are investing more
and more in the development and testing of autonomous vehicles. The situation is
closely related to the arrival of the third historical climax of artificial intelligence. It is
also related to autonomous vehicle’s technical characteristics, industrial advantages,
and impact on urban development. In terms of technology, autonomous vehicle is a
combination of artificial intelligence, big data, Internet of Things, cloud computing,
mobile Internet, advanced communication, intelligent control, cognitive computing,
navigation, transportation, machinery, and other high and new technologies. It is
presently the best application form of artificial intelligence. In terms of industry,
autonomous vehicle is the core unit connecting automotive electronics and Internet
of Vehicles industry chain and can drive the transformation and upgrading of the entire
automotive industry. It may even benefit artificial intelligence, electronic information,
network communication, automation, machinery, intelligent transportation, and other
related industries, powering the transformation and upgrading of related fields. From
the perspective of long-term development, autonomous vehicle will bring about the
reconstruction of automobile-related industry chain and the extension of value chain.
v
vi Preface
From the perspective of urban development, autonomous vehicle and the Internet of
Vehicles are gradually infiltrating into the urban intelligent transportation system and
undertaking the historical mission of the ultimate realization of the future urban green
transportation system. This book systematically discusses the core technology and
industrialization methods of autonomous vehicle. Artificial intelligence city will be
a new historical form for the further development of a new smart city. Autonomous
vehicle and its industrial chain lay the cornerstone of the development of artificial
intelligence city. It is the entrance and pillar of the construction and development of
artificial intelligence city. The development of autonomous vehicle and autonomous
system technology will add bright colors to the development of Digital China, smart
society, and smart city in the new era. It will also contribute to the realization of
“transportation power, manufacturing power, and network power”.
The innovations of this book include the following: fast and robust road percep-
tion algorithm and system based on image pattern recognition, especially traffic
sign recognition and complex road recognition, which are still technical problems
in the field; Intelligent autonomous control of unmanned vehicle and intelligent
decision-making based on machine learning; The Internet of Vehicles system based
on 5G-V2X technology; Planning and design of unmanned vehicle test field and char-
acteristic town; and Artificial intelligence city constructed by unmanned vehicle. The
features of this book are as follows: complete content system, from the core tech-
nology of autonomous vehicle to the Internet of Vehicles, to industrialization and
artificial intelligence city; at the micro level, in order to solve the existing technical
problems as the background, the key technologies are deeply studied, and the theoret-
ical foundation is profound; at the macro level, combining with the industrialization
of unmanned vehicles and the application of intelligent transportation and smart city
in specific scenarios, it pays attention to practicality.
This book consists of 10 chapters, which covers the development overview, general
technology, vehicle radar system, visual lane detection and identification technology,
navigation and positioning technology, motion control and planning decision-making
technology, autonomous vehicle energy power system, vehicle networking, indus-
trialization of autonomous vehicle, and the transition from autonomous vehicle to
artificial intelligence cities. This book systematically and comprehensively expounds
the core technology and industrialization focus of today’s autonomous vehicle, which
can be used as a reference book for the R&D and industrialization of autonomous
vehicle. The content of this book is a comprehensive study of the research achieve-
ments of Prof. Mingfang Du in the doctoral research stage and the practical project
experience in recent years. Except for Chap. 7 which was written by Wang Yawen, the
rest of the book was written by Mingfang Du. The innovation of this book includes
the fast robust road sensing algorithm and system based on image pattern recog-
nition, especially traffic sign recognition and complex road recognition which are
still technical problems in the field; intelligent autonomous control of vehicles and
intelligent decision-making based on machine learning; the vehicle network system
based on 5G-V2X technology; the planning and design of the test ground and char-
acteristic town of autonomous vehicle; and artificial intelligence city, which is based
on autonomous vehicle. The content of the book is comprehensive and detailed at
Preface vii
the same time, starting from solving the existing technical problems and going into
the industrialization of autonomous vehicle in specific scenarios, the application of
intelligent transportation and smart city. In the process of writing this book, the
author has been guided and assisted by Stanford University, Tsinghua University,
Peking University, Beijing Institute of Technology, and experts from Academy of
Military Sciences. It has also been assisted by the Standard and Quota Department
of Ministry of Housing and Urban-Rural Development, the Development Center of
Science, Technology and Industrialization of Ministry of Housing and Urban-Rural
Development, Fujian Network Information Office, Xuzhou Bureau of Industry and
Information Technology, and China Construction Technology Group. In 2011, due
to the need for doctoral research, I began to learn the theory and technology of
autonomous control of unmanned system and participate in the research and devel-
opment of autonomous vehicle and autonomous mobile robots. I especially want
to thank my supervisor Prof. Wang Junzheng of Beijing Institute of Technology,
Academician Li Deyi and Chen Jie, and Prof. Xia Yuanqing who gave me guidance
in the direction of research. Thanks for the guidance and help of Prof. Zeng Rong
and Prof. Zhu Yan of Tsinghua University. Thanks for the responsible and hard work
of editor Liu Bo and Director Xia Wei of People’s Communications Press.
Due to the limited knowledge of the author, there may be mistakes in the book.
Please feel free to contact me with corrections and advice at dumingfang@mail.
tsinghua.edu.cn.
Beijing, China Mingfang Du
August 2019
About This Book
This book covers the development overview of autonomous vehicle, general tech-
nology, vehicle radar system, visual lane detection and identification technology,
navigation and positioning technology, motion control and planning decision-
making technology, autonomous vehicle energy power system, Internet of Vehicles,
autonomous vehicle industrialization and the transition from autonomous vehicle to
artificial intelligence city.
This book provides reference for institutes and enterprises on research, devel-
opment, and industrial application of autonomous vehicle. It can also be used as
undergraduate and postgraduate teaching material for related majors such as artificial
intelligence, automation, computer, and transportation.
ix
Contents
1 Overview of Autonomous Vehicle ............................... 1
1.1 Overview of Research and Development of Autonomous
Vehicle Around the World ................................. 1
1.1.1 Basic Concepts .................................... 1
1.1.2 Research and Development of Autonomous Vehicle
Abroad ........................................... 4
1.1.3 Research and Development of Autonomous Vehicle
in China .......................................... 6
1.1.4 Latest Trends of Commercialization of Autonomous
Vehicle ........................................... 9
1.2 Development of Autonomous Vehicle Test ................... 11
1.2.1 Field Test ......................................... 11
1.2.2 Road Test ......................................... 13
1.3 Bottleneck of Autonomous Vehicle Commercialization ........ 14
1.4 Content Arrangement of This Book ......................... 15
2 General Technology ........................................... 17
2.1 Technical Framework ..................................... 17
2.2 Main Module Functions ................................... 19
2.2.1 Perception Module ................................. 19
2.2.2 Path Planning Module .............................. 22
2.2.3 Motion Control Module ............................. 25
2.3 Hardware Platform and Computing Control Hardware ......... 26
2.3.1 Hardware Platform ................................. 26
2.3.2 Computing Control Hardware ....................... 27
2.4 Robot Operating System (ROS) ............................ 30
2.5 The Ecosystem of Autonomous Vehicle Based on AI + 5G ..... 34
2.5.1 The Architecture of Autonomous Vehicle
Ecosystem Based on AI + 5G ....................... 34
2.5.2 Application of AI in Autonomous Vehicle ............. 34
2.5.3 Application of 5G in Autonomous Vehicle ............. 36
xi
