智能网联车路云协同系统架构与关键技术研究综述

随着汽车产业电动化、智能化、网联化、共享化的发展驱动, 全球主要强国均将智能网联汽车列为国家战略发展方向. 蜂窝车联网、边缘计算网络和高精度定位系统的技术发展, 为车车、车路、车人和车云系统的全面融合提供了有效支撑. 车辆、道路、云平台与蜂窝车联网(Cellular vehicle-to-everything, C-V2X)网络的融合, 加速打通车内与车外、路面与路侧、云上与云间的信息互通, 为实现车路云一体化的融合感知、群体决策及协同控制提供了重要基础. 首先, 梳理了智能网联车路云协同系统架构与关键技术, 对该领域的演进特征、发展制约因素进行了总体概述; 其次, 阐述了新型车路云协同系统、智能网联C-V2X通信系统、云控系统和车路云协同测试系统的架构设计与工作原理; 然后, 从C-V2X组网、融合定位、测试评价角度, 介绍了车路云协同系统融合V2X网络、融合定位的技术演进与研究进展, 给出了智能网联场景的仿真平台、实车测试及评价指标; 最后, 对智能网联车路云协同系统的协同组网与控制、互操作、边缘智能服务和安全技术层面的发展趋势进行了展望.

A Survey of Architecture and Key Technologies of Intelligent Connected Vehicle-road-cloud Cooperation System

With the development of electrification, intelligence, networking, and sharing in the automotive industry, all major countries have laid out the intelligent connected vehicle as a national strategy. The technological development of cellular vehicle-to-everything (C-V2X), edge computing networks, and high-precision positioning systems provide strong support for the comprehensive integration of the vehicle to vehicle, vehicle to the road, vehicle to pedestrian, and vehicle to cloud. Vehicles, roads, and cloud platforms are integrated with the C-V2X network, information exchange between the in-vehicle, road, and cloud with the out-vehicle, roadside, and different clouds will be accelerated, and the vehicle-road-cloud coordinated fusion perception, group decision, and collaborative control will also be established. Firstly, the architecture and key technologies of the intelligent connected vehicle-road-cloud cooperation system are combed, and its evolution characteristics and development constraints are summarized. Then, the architecture design and working principle of the new vehicle-road-cloud cooperation system, intelligent connected C-V2X communication system, the cloud control system, and vehicle-road-cloud cooperation test system are described. Besides, from the three aspects of C-V2X networking, fusion positioning, and test evaluation, the V2X network and fusion positioning-based technical evolution and research progress of vehicle-road-cloud cooperation system are introduced, and the simulation platform, real vehicle test, and evaluation index of intelligent networking scenario are also proposed. Finally, the development trends of the intelligent connected vehicle-road-cloud cooperation system in the aspects of collaborative networking and control, interoperability, edge intelligent service, and security technology are discussed.