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Unmanned System Technologies Springer’s Unmanned System Technologies (UST) book series publishes the latest developments in unmanned vehicles and platforms in a timely manner, with the highest of quality, and written and edited by leaders in the field. The aim is to provide an effective platform to global researchers in the field to exchange their research findings and ideas. The series covers all the main branches of unmanned systems and technologies, both theoretical and applied, including but not limited to: ● Unmanned aerial vehicles, unmanned ground vehicles and unmanned ships, and all unmanned systems related research in: ● Robotics Design ● Artificial Intelligence ● Guidance, Navigation and Control ● Signal Processing ● Circuit and Systems ● Mechatronics ● Big Data ● Intelligent Computing and Communication ● Advanced Materials and Engineering The publication types of the series are monographs, professional books, graduate textbooks, and edited volumes. 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 Jointly published with China Communications Press Co., Ltd. The print edition is not for sale in China (Mainland). Customers from China (Mainland) please order the print book from: China Communications Press Co., Ltd. © China Communications Press Co., Ltd. 2023 This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whether the whole or part of the material is concerned, specifically the rights of reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publishers, the authors, and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publishers nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publishers remain neutral with regard to jurisdictional claims in published maps and institutional affiliations. This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd. The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore 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 information on the road, vehicle position, and obstacles, so that the vehicle can move safely, reliably a,nd autonomously. Autonomous vehicle integrates automatic control, artificial 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 perception 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 technology 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 theoretical 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, industrialization 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 recognition, 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 development 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 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, 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, development, 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