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24720077JournalofHighwayandTransportationResearchandDevelopmentVol124No17Jul12007:1002O0268(2007)07O0107O05:2005O11O13:(50175046):(1946-),,,,1(wrb@jlu1edu1cn)王荣本,郭烈,金立生,顾柏园,余天洪(,130025):论述了安全辅助驾驶技术的研究现状研究的必要性以及研究进展安全辅助驾驶技术包括车道偏离预警与保持前方车辆探测及安全车距保持行人检测驾驶员行为监测车辆运动控制与通讯等分析了各种传感器的优缺点及其在实际应用过程中存在的问题,基于单一传感器不能很好地解决安全辅助驾驶技术可靠性和环境适应能力的要求,应结合激光雷达技术解决图像模糊问题,利用红外传感器增强机器视觉识别的可靠性,未来的安全辅助驾驶技术应该采取多种传感器融合的技术,结合毫米波雷达和激光雷达系统具有深度测量精确的特点,将极大的推动汽车安全辅助驾驶系统的应用和推广:智能交通系统;安全辅助驾驶;车道偏离预警;行人检测;车间通讯:U491:AReviewontheResearchofIntelligentVehicleSafetyDrivingAssistantTechnologyWANGRongOben,GUOLie,JINLiOsheng,GUBaiOyuan,YUTianOhong(SchoolofTransportation,JilinUniversity,JilinChangchun130025,China)Abstract:Thepresentresearchstatus,necessityandprogressonsafetydrivingassistanttechnologyarediscussed1Thesafetydrivingassistanttechnologyincludeslanedeparturewarning,precedingvehicledetectionandsafedistancemaintainingbetweenvehicles,pedestriandetection,driverbehaviormonitoring,vehiclemotioncontrolandinterOvehiclecommunications1Theadvantagesanddisadvantagesofdifferenttypeofsensorsandtheproblemsthatexistedinthepracticalapplicationarerepresented1Thesinglesensorsolutioncannotmeettherequirementofreliabilityandadaptabilitytodifferentcircumstance,sothelaserandradartechnologyarecombinedtosolvetheblurredimageproblem,theinfraredsensorisusedtoenhancethereliabilityofmachinevisionrecognition1Thefuturesafetydrivingassistanttechnologyshouldadoptmultiplesensorsfusiontechnology,associatedwiththecharacteristicthatmillimeterOwaveradarandlaserradarsystemarepreciseindepthmeasurement,topromotetheapplicationandimprovementofthesafetydrivingassistantsystem1Keywords:IntelligentTransportSystems;safetysdrivingassistant;lanedeparturewarning;pedestriandetection;interOvehiclecommunication0,,,,;,(),,,,1998,IVI(IntelligentVehicleInitiative)[1],,,,IVI,,680,412,2004517889,107077,2319,2003,216%1,,,,:111,,,,,,PAPRICA,,,LED,,LED[2]IterisAutoVueTM[3],1,,ValeoValeocs,Iteris,DaimlerChrysler,,,1IterisAutoVueFig11AutoVueLanedeparturewarningsystemofIteris112,,,[4]11211,,,,,,,,,,,,,,,,,,,,,MOBOLAB18Maxi,1CCD,4LED:;;;10824[2],22MOBOLABFig12MOBOLABIntelligentvehicleanditscontrolpanel,[5]2CCD,,,,,,,DEMOÓ[6],,,11212,,,20000,9000,,,[7]DaimlerChryslerChamfer,,,[8],3O,360,,ARGO,,,ARGO3DaimlerChryslerFig13AhierarchyforpedestriantemplateofDaimlerChrysler,CCD,,,,[9],44Fig14PedestriandetectionresultsbasedonInfraredstereovision113,,,10,150071000,(),L1Fletcher,[10],5,,1097,:5Fig15DriverAssistanceSystemarchitectureofAustralia,StephenKrotosky,[11],,,,,,,114,[12],,,,,,YasuhiroSuzuki[13],,Chan,[14],6,,6Fig16Leftradarobservationfieldatanintersection,,YitingLiu3[15],2,,,,,,,,,11024,,,,,,,,,,,1,3,,,,,,,,,,,,,,,,,,:[1]NOOKALAM,ESTOCHENB1Minnesota,USAIntelligentVehicleIn-itiative[C]MTheProceedingsofIEEEIntelligentVehiclesSympos-ium12002:22-271[2]BROGGIA1O[M]1:,2002:33-361[3]Demo2002ShowcasesFrenchAccomplishmentsinSmartCarTechnology[R]1IVsource1net,Jul1yOSeptember,20021[4],,,1[J]1,2005,22(10):114-1191[5]SUNZ,BEBISG,MILLERR1OnOroadvehicledetectionusingopticalsensors:Areview[C]MTheProceedingsofIEEEConferenceonIn-telligentTransportationSystems12004:585-5901[6]BELLUTTAP,MANDUCHIR,MATTHIESL,etal1TerrainPercep-tionforDEMOIII[C]MTheProceedingsofIEEEIntelligentVehiclesSymposium12000:326-3311[7],,,1[J]1,2005,22(11):133-1371[8]GAVRILADM,GEIBELJ1ShapeOBasedPedestrianDetectionandTrack-ing[C]MTheProceedingsofIEEEIntelligentVehiclesSympos-ium12002:8-141[9]BERTOZZIM,BROGGIA,LASAGNIA1InfraredStereoVisionOBasedPedestrianDetection[C]MTheProceedingsofIEEEIntelligentVeh-iclesSymposium12005:24-291[10]FLETCHERL,PETERSSONL,ZELINSKYA1RoadSceneMonotonyDetectioninaFatigueManagementDriverAssistanceSystem[C]MTheProceedingsofIEEEIntelligentVehiclesSymposium12005:484-4891[11]KROTOSKYSJ,CHENGSY,TRIVEDIMM1RealOTimeStereoObasedHeadDetectionUsingSize,ShapeandDisparityConstraints[C]MTheProceedingsofIEEEIntelligentVehiclesSymposium12005:550-5561[12]LILi,SONGJingOyan,WANGFeiOyue,etal1IVS05:NewDevelop-mentsandResearchTrendsforIntelligentVehicles[J]1IEEEITSSoc-ietynewsletter,2005,7(3):20-261[13]SUZUKIY,FUJIIT,TANIMOTOM1ParkingAssistanceUsingMultiOcameraInfrastructure[C]MTheProceedingsofIEEEIntelligentVeh-iclesSymposium12005:106-1101[14]CHANC,BOUGLERB1EvaluationofCooperativeRoadsideandVehicleOBasedDataCollectionforAssessingIntersectionConflicts[C]MTheProceedingsofIEEEIntelligentVehiclesSymposium12005:165-1701[15]LIUY,OZGUNERU,EKICIE1PerformanceEvaluationofIntersectionWarningSystemUsingaVehicleTrafficandWirelessSimulator[C]MTheProceedingsofIEEEIntelligentVehiclesSymposium12005:171-17611117,: