ACC撞防撞車是不是設計太智障 - 貨車
By Kama
at 2021-11-16T08:58
at 2021-11-16T08:58
Table of Contents
※ 引述《rfvujm (Rfvujm)》之銘言:
: 今天看新聞啦
: 又看到三寶開ACC撞防撞車
: ACC沒考慮前車突然急煞或失去動力的情況嗎
: 前方遠遠有不動的物體就這樣直直給他撞下去?
其實感測器感測距離比人眼還遠,問題在感知上(確認前方是否有車)
自駕技術分
1. Sensing(感測)
2. Perception(感知)
3. Planning(規劃)
4. Control(控制)
最難的一直都是感知
感測到前方有物體是一回事,再進一步確認前方物體是一輛車又是一回事
目前市售車主要配置毫米波雷達+視覺辨識(輔助)
1. 雷達並不是偵測不到靜止物
但為了避免誤作動,選擇只輸出移動物體量測
2. 攝影機會有少數例子無法感知的情況(斜著的貨車、翻覆的貨車等)
3. ACC屬於ADAS(Advanced Driver Assistance Systems)只是輔助駕駛
遇到靜止物體沒反應比誤作動突然煞車影響小的多
[雷達]
https://i.imgur.com/AInOO4D.jpg
(1) 可以量測到靜止物體
(2) 量測物理量:距離、角度、相對速度,但不包含高度資訊
nuScenes數據庫
https://i.imgur.com/7PlilVO.jpg
黃色的點是車用雷達的數據
https://i.imgur.com/s1BEZDB.jpg
無法確定雷達感測到的是前車、人孔蓋、橋墩、懸掛的號誌或看板
避免錯誤偵測造成急煞,只輸出可動的物體量測
為了解決感測靜止物體造成誤作動的問題
一些廠商有在開發4D Imaging Radar
https://i.imgur.com/O5TxpCd.jpg
量測物理量:距離、方位角、高度角、速度
Arbe: Radar Revolution. Delivered
https://www.youtube.com/watch?v=Yc4MfzbbtuI
The RadSee 4D Imaging Radar
https://www.youtube.com/watch?v=h7t-6_wiZKM
[視覺]
視覺是根據演算法得到"距離"的資訊
但要開發一套100%正確的演算法太強人所難
相較於"直接量測"到物理量
演算法"計算"得到物理量
會讓軟體複雜度增加,這對系統強健性而言不是啥好事
當然以上討論的都還停留在輔助駕駛階段
Intel副總裁兼Mobileye總裁/首席執行官在CES演講中提過
https://i.imgur.com/AVwH4KT.jpg
ADAS和自駕差異不在於能力
而是平均失效間隔時間(MTBF, Mean Time Between Failures)
也就是當ADAS往自駕邁進時
除了要滿足功能外,更重要的是確保足夠可靠(極低失效跳脫機率)
關於這點,美國密西根大學M-City自動駕駛實驗室的彭暉提過
https://i.imgur.com/c4vJW1n.jpg
訂定ODD(Operational Design Domain)
Lv4自駕在ODD運作,確保系統安全,是比較負責人的作法
ODD會受當地交通環境複雜度影響
例如:
1. 交通號誌(不同位置、被招牌擋住之類)
2. 車道寬度、車道線清晰程度
3. 用路人習慣、駕駛習慣
需要因地制宜,適合A區域的ODD不能直接套用到B區域
所以如何制定合理的ODD
成為目前自駕車發展討論相當熱烈的議題&難題
補充一下光達
傳統光達(AM lidar)量測到的三維點雲,但不包含速度資訊
速度必須經由不同時間點的數據進行推算
(點雲分類、時間軸前後關聯、過濾雜訊,進而推算該物體速度)
https://i.imgur.com/i3DSwxa.jpg
所以目前有發展FCMW(frequency modulated continuous wave)光達
可以直接量測速度
但光達依舊有些感測問題
1. 鏡像、玻璃材質測不到(光穿透)
2. 黑色物體偵測距離偏短(吸收能量)
3. 惡劣天候感測能力不佳,甚至前車水花、海邊風砂干擾的問題
光達、雷達、攝影機三者互補
會是"安全"且最全面的作法
--
Tags:
貨車
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