Implementation of In-vehicle Multi-sensor Information Fusion Gateway for Cooperative Driving

Ting-Ying Wei, Zhiliang Qiu, C. Young, Y. Lo
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引用次数: 5

Abstract

Active safety is an important feature of a modern vehicle to provide precaution warning or compensatory control before the pre-crash stage of vehicle safety. All vehicle signals and information are acquired by several in-vehicle sensors on ECUs or surrounding vehicles, and integrated in vehicle gateway through in-vehicle or vehicle-to-vehicle communications. The information exchanged among the host and surrounding vehicles provides comprehensive vehicle and driving status of each vehicle, so the driver can drive more safely with the cooperative driving mechanism. The demonstration system consists of a vehicle gateway, which is based on a heterogeneous multi-core processor, consisting of one ARM core for I/O control and system management and two DSP cores for intensive computation of information fusion. After reaching within the communication limit, the vehicles set up time synchronization and then exchange vehicle information. The acquired sensor data and received vehicle information are time aligned and fed into PAC DSPs for information fusion, which consists of four phases, signal processing, location mapping, trajectory prediction and risk assessment. The risk assessment evaluates the probability of car crash and broadcast the warning message to its surrounding vehicles, if the risk level is raised beyond a threshold. The cooperative driving is fulfilled by sharing the vehicle information and emergency warning through wireless communication, so a driver can be aware of the dangerous situation and also be suggested an adequate response earlier.
面向协同驾驶的车载多传感器信息融合网关实现
主动安全是现代车辆在碰撞前阶段提供预防、预警或补偿性控制的重要特征。所有车辆信号和信息由ecu或周围车辆上的多个车载传感器采集,并通过车载或车对车通信集成到车辆网关中。主机与周围车辆之间的信息交换提供了每辆车的全面车辆和行驶状态,驾驶员可以通过协同驾驶机制更安全地驾驶。演示系统由基于异构多核处理器的车载网关组成,其中一个ARM内核用于I/O控制和系统管理,两个DSP内核用于信息融合的密集计算。在达到通信限制后,车辆建立时间同步,然后交换车辆信息。采集到的传感器数据与接收到的车辆信息进行时间对齐,并送入PAC dsp进行信息融合,包括信号处理、位置映射、轨迹预测和风险评估四个阶段。风险评估评估汽车碰撞的可能性,并向周围车辆广播警告信息,如果风险水平超过阈值。协同驾驶是通过无线通信共享车辆信息和紧急预警来实现的,驾驶员可以提前意识到危险情况,并得到适当的响应建议。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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