{"resolved":true,"match_type":"uuid","source_type":"original_book","book_id":"cd4f7678-cd9b-4971-bde0-e9ad46a6cc71","title":"人工智能与大数据技术导论","author":null,"edition":null,"publisher":null,"year":null,"isbn":"9787302517986","requested_by":"printed_page","book":{"source_type":"original_book","book_id":"cd4f7678-cd9b-4971-bde0-e9ad46a6cc71","id":"cd4f7678-cd9b-4971-bde0-e9ad46a6cc71","uuid":"cd4f7678-cd9b-4971-bde0-e9ad46a6cc71","title":"人工智能与大数据技术导论","normalized_title":"人工智能与大数据技术导论","author":null,"edition":null,"publisher":null,"year":null,"isbn":"9787302517986","isbns":["9787302517986"],"parsed":true,"ai_readable":true,"document_type":"book","page_count":490,"navigation_url":"https://workshop.closeclaw.top/ai/book/cd4f7678-cd9b-4971-bde0-e9ad46a6cc71","title_url":"https://workshop.closeclaw.top/ai/title/%E4%BA%BA%E5%B7%A5%E6%99%BA%E8%83%BD%E4%B8%8E%E5%A4%A7%E6%95%B0%E6%8D%AE%E6%8A%80%E6%9C%AF%E5%AF%BC%E8%AE%BA","fixed_page_url_template":"https://workshop.closeclaw.top/ai/book/cd4f7678-cd9b-4971-bde0-e9ad46a6cc71/page/{printed_page}","path_api_url_template":"https://workshop.closeclaw.top/api/ai/book/cd4f7678-cd9b-4971-bde0-e9ad46a6cc71/page/{printed_page}","read_url":"https://workshop.closeclaw.top/api/ai/read/cd4f7678-cd9b-4971-bde0-e9ad46a6cc71","page_url":"https://workshop.closeclaw.top/api/ai/books/cd4f7678-cd9b-4971-bde0-e9ad46a6cc71/page","search_url":"https://workshop.closeclaw.top/api/ai/books/cd4f7678-cd9b-4971-bde0-e9ad46a6cc71/search"},"page":{"printed_page":51,"pdf_page":67,"physical_index":67,"physical_index_base":0,"printed_page_status":"recognized","page_sha256":"65e431b0cbdb7b1a095ea4012d81609efd9d5cf20015ea112ad9655d47a23e22"},"chapter":"第2章","content":"自动驾驶系统分为4个层级：感知层、识别层、决策层、执行层。自动驾驶各层级及其相互关系如图2-17所示。\n\n1. 感知（传感）\n\n(1) 车载摄像头\n\n以摄像头为代表的机器视觉传感器是自动驾驶的核心感知技术。视觉系统不仅能够识别目标距汽车的距离，还能够识别目标的纹理和色彩，这是车载雷达所不能做到的。相比于其他传感器，摄像头的优势在于：技术成熟，成本较低；可以通过较小的数据量获得最为全面的信息。但是，摄像头识别也存在一定局限性：受光线、天气影响大：物体识别基于机器学习数据库，需要的训练样本大，训练周期长，难以识别非标准障碍物；由于广角摄像头的边缘畸变，得到的距离准度较低。\n\n目前摄像头的应用主要有以下几种：\n\n●单目摄像头：一般安装在前挡风玻璃上部，用于探测车辆前方的环境。\n\n●后视摄像头：一般安装在车尾，用于探测车辆后方的环境，应用于倒车可视系统。\n\n●立体摄像头，或称双目摄像头：利用两个经过精确标定的摄像头同时探测车辆前方的环境，实现更高的识别精度和更远的探测范围。\n\n●环视摄像头：一般至少包括4个摄像头，分别安装在车辆前、后、左、右侧，实现360°环境感知，应用于自动泊车和全景泊车系统。\n\n(2)超声波雷达\n\n超声波雷达主要是利用超声波原理，由探头发送超声波撞击障碍物后反射此声波，计算出车体与障碍物间的实际距离。超声波雷达现在主要应用于倒车雷达。\n\n第2章 AI产业\n\n51","previous_page":50,"next_page":52}