汽車專業(yè)英語讀譯教程 第3版 課件 24-U14TB Autonomous Ground Vehicles-Concepts and a Path to the Future

UNIT14

ELECTRICANDAUTONOMOUSVEHICLES

TEXTB

AutonomousGroundVehicles—ConceptsandaPathtotheFuture

PROFESSIONALENGLISHTEXTB

AutonomousGroundVehicles—ConceptsandaPathtotheFuture

本次課學(xué)習(xí)內(nèi)容本次課學(xué)習(xí)目標(biāo)掌握AutonomousGroundVehicles的英文專業(yè)詞匯訓(xùn)練快速閱讀能力，提高閱讀速度NEWWORDSautonomous[???t?n?m?s]adj.自治的;有自治權(quán)的;自主的;有自主權(quán)的augment[??ɡ?ment]

v.增加;提高;擴(kuò)大n.增加;補(bǔ)充物trigger

[?tr?ɡ?(r)]

n.起因，誘因;觸發(fā)器;引爆器v.發(fā)動(dòng);引起;觸發(fā);開動(dòng);起動(dòng)scenario[s??nɑ?ri??]

n.設(shè)想;方案;預(yù)測;(電影或戲劇的)劇情梗概antenna[?n?ten?]n.天線;觸角;觸須high-definition

[?ha??def??n??n]adj.高清晰度的;高分辨率的longitudinal[?l??ɡ??tju?d?nl]adj.縱的;縱向的;縱觀的;經(jīng)度的lanedeparturewarnings(LDW)車道偏離預(yù)警（LDW）lanekeepingassistsystems(LKAS)車道保持輔助系統(tǒng)（LKAS），LKA包括車道偏離預(yù)警LDW、車道偏離預(yù)防LDP（LaneDeparturePrevention）和車道居中控制LCC（lanecenteringcontrol）adaptivecruisecontrolsystems(ACC)自適應(yīng)巡航控制系統(tǒng)（ACC）pointcloud點(diǎn)云;三維點(diǎn)云;點(diǎn)云數(shù)據(jù);點(diǎn)群;云點(diǎn)odometry

測距（程）法real-time(計(jì)算機(jī)處理過程)實(shí)時(shí)的image-basedsensors基于圖像的傳感器PHRASESANDEXPRESSIONStimestamp時(shí)間戳,通常是一個(gè)字符序列，唯一地標(biāo)識(shí)某一刻的時(shí)間。數(shù)字時(shí)間戳是數(shù)字簽名技術(shù)一種變種的應(yīng)用，戳是指格林威治時(shí)間1970年01月01日00時(shí)00分00秒(北京時(shí)間1970年01月01日08時(shí)00分00秒)起至現(xiàn)在的總秒數(shù)。PHRASESANDEXPRESSIONS

Autonomousdrivingstartedinthe1980s.Today,someaspectsoftheseearlyachievementshavereachedseriesproductionintheformofdriverassistancesystemsforcars.Lanedetectionisusedtofacilitatelanedeparturewarnings(LDWs)forthedriverandtoaugmentthedriversheadingcontrolinlanekeepingassistsystems(LKAS).Thedetectionandtrackingofvehiclesdrivingaheadisusedinadaptivecruisecontrolsystems(ACC)tokeepasafeandcomfortabledistance.Morerecently,pre-crashsystemsemergedthattriggerfullbrakingpowertolessendamageifadriverreactstooslowly.AutonomousGroundVehicles—ConceptsandaPathtotheFutureMeanwhile,theattentionofresearchinautonomousvehicleshasswitcheditsfocusfromthewell-structuredenvironmentsencounteredonhighwaysasstudiedinthebeginningtomoreunstructuredenvironments,likeurbantrafficoroff-roadscenarios.Threeelementsarecommontoallautonomousgroundvehicles:sensorstoperceivetheenvironmentandtheownmovement,on-boardcomputers,andactuatorsforvehiclecontrol.Fig.14.7showstheLIDARs,camerasandGlobalPositioningSystem(GPS)antennasusedonthreevehiclesoftheDARPAUrbanChallengeteams.AutonomousGroundVehicles—ConceptsandaPathtotheFutureAutonomousGroundVehicles—ConceptsandaPathtotheFutureFig.14-7threevehiclesoftheDARPAUrbanChallengeteamsForenvironmentperception,bothimage-basedsensorslikemonocularandstereocameras(monochromeandcolor),andrangesensingdeviceslikeRADARandLIDARareused.Thehigh-definitionVelodyneLIDARwitha360°,3-Dviewandrichpointcloudwasdesignedespeciallyforautonomousvehiclesandisusedinmanysystems.RADARsensorsareadditionallyabletodeterminetheobject’srelativevelocitydirectly.Toestimatethevehicle’smotion,measurementsfromodometryandinertialsensorsareincorporated,supportedmainlybyglobalpositionmeasurementsfromGPS.AutonomousGroundVehicles—ConceptsandaPathtotheFutureAlldistributedorcentralizedprocessingonboardthevehiclehastobereal-timecapable.Thisisanimportantprerequisiteforvehiclecontrolalgorithmsandsystemsafetychecks.Actuatorsarenecessaryforclosingthecontrolloop,e.g.,forsteeringwheel,brake,orthrottlecontrol.Theabilitytoperceivethevehicle’slocalenvironmentisoneofthemainchallengesinthefieldofautonomousgroundvehicles.Environmentalconditionslikelightingorcolorsarepermanentlychanging,andtherearealotofstaticaswellasdynamicobjectsinthescenetobetakenintoaccount.AutonomousGroundVehicles—ConceptsandaPathtotheFutureAsaprerequisitefortheperceptionandcontrolmodules,agoodestimationofthevehicle’smotionisnecessary.Especiallywhenthevehicleismovingfastoronnonflatterrain,relevantrotationalongthelongitudinalandlateralaxesoccurs.Workingwithmeasurementswhicharenottakenatoneuniquetimestamp,itbecomesimportanttocompensateforthevehicle’sego-motioninallmeasurements.Areliablepositionestimationisalsoessentialfortrajectorycontrol.Foragoodestimationofthemotion,allmeasurementsregardingtheownvehicleareincorporated.Typicalmeasurementsarevelocityandsteeringanglefromodometryandaccelerations,angularrates,andattitudefrominertialsensors.TheVelodyneLIDARisideallysuitedfordetectingandtrackingobjectsparticipatinginurbantraffic.AutonomousGroundVehicles—ConceptsandaPathtotheFutureAnimpreciselocalizationofanautonomousvehiclemightresultincatastrophicbehavior.Thevehiclecoulddriveonthewrongsideoftheroad,itcouldbelieveagoalpositiontobeinsidealargeobstacle,oritmightevenexpectpedestrianscrossingtheroadtobeonthesidewalk.ItiswellknownthatGPSsignalsgetweakorcorruptedindenseforestsor“urbancanyons.”Incontrast,havingacompletelyautonomousunmannedvehicleinrealpublictrafficisstilllegallyvague.[4]Whoisaccountableforaccidents:the(not-driving)driver,orthecarmanufacturer?AfterlobbyingfromGoogle’sdriverlesscarproject（Fig.14-8）,Nevadahaspassedfirstlawsregardingautonomousvehiclesin2011,atleasttofacilitateresearchinthisfield.AutonomousGroundVehicles—ConceptsandaPathtotheFutureFig.14-8Google’sdriverlesscarItisveryinterestingtoobservethatevencarmanufacturersopposedtooratleastnotpushingautonomousvehiclesinthepastnowinvestigatesuchsystems,uptoautonomousdrivingtestsonpublicroa