發(fā)布時(shí)間：2018-06-14 13:57

  本文選題：無(wú)人駕駛車輛 + 決策系統(tǒng)��； 參考：《國(guó)防科學(xué)技術(shù)大學(xué)》2015年碩士論文

【摘要】：隨著信息技術(shù)的發(fā)展,無(wú)人駕駛車輛技術(shù)日漸成為科學(xué)研究的重點(diǎn)領(lǐng)域之一,各國(guó)都在其中投入了大量的人力物力。無(wú)人駕駛車輛技術(shù)能夠?qū)⑷祟愸{駛員從枯燥危險(xiǎn)的駕駛工作中解放出來(lái),減少了車輛行為的隨機(jī)性,使車輛的行為變得可預(yù)測(cè),可以極大地提高車輛行駛的穩(wěn)定性。另外,無(wú)人駕駛車輛技術(shù)提高了車輛對(duì)環(huán)境的反應(yīng)速度,增強(qiáng)了車輛的安全性,也可以大大縮短行車間距,從而增加公路的運(yùn)輸能力。同時(shí),無(wú)人駕駛車輛技術(shù)改善了車輛對(duì)環(huán)境的感知精度,消除了因駕駛員個(gè)人問(wèn)題而造成的交通事故。無(wú)人駕駛車輛技術(shù)的核心在于其決策系統(tǒng)的開(kāi)發(fā),當(dāng)前無(wú)人車決策系統(tǒng)開(kāi)發(fā)過(guò)程中面臨著諸多難題,主要包括以下幾點(diǎn):由人工編寫(xiě)的代碼成本高且維護(hù)困難;決策規(guī)則與系統(tǒng)軟件沒(méi)有實(shí)現(xiàn)分離;設(shè)計(jì)過(guò)程中可能存在潛在的缺陷和錯(cuò)誤;軟件開(kāi)發(fā)與安全檢查不同步。針對(duì)以上問(wèn)題,課題組提出了驗(yàn)證驅(qū)動(dòng)的基于代碼自動(dòng)生成的無(wú)人車決策系統(tǒng)開(kāi)發(fā)框架。課題組早期的工作包括設(shè)計(jì)了描述無(wú)人車決策規(guī)則的中間語(yǔ)言,并設(shè)計(jì)實(shí)現(xiàn)了無(wú)人車決策系統(tǒng)輔助開(kāi)發(fā)工具,解決了開(kāi)發(fā)過(guò)程中的前兩個(gè)難題。為了解決無(wú)人車決策系統(tǒng)中的安全性問(wèn)題,本文在代碼自動(dòng)生成技術(shù)的基礎(chǔ)上引入了模型檢驗(yàn)技術(shù),自動(dòng)生成無(wú)人車的模型代碼,并對(duì)無(wú)人車決策系統(tǒng)進(jìn)行環(huán)境建模,通過(guò)形式化驗(yàn)證可以發(fā)現(xiàn)無(wú)人車決策系統(tǒng)設(shè)計(jì)過(guò)程中不易察覺(jué)的缺陷和錯(cuò)誤,解決其安全性不足的問(wèn)題,同時(shí)能夠?qū)踩珯z查與軟件開(kāi)發(fā)過(guò)程同步,降低其維護(hù)成本�；谠摽蚣�,本文將模型檢驗(yàn)?zāi)K集成到已有的無(wú)人車決策系統(tǒng)輔助開(kāi)發(fā)工具UNMANNED_RULE_EDIT(URE)中,為無(wú)人車決策系統(tǒng)的開(kāi)發(fā)工作提供幫助,為其安全性提供保障。
[Abstract]:With the development of information technology, driverless vehicle technology has increasingly become one of the key areas of scientific research, in which countries have invested a lot of manpower and material resources. Driverless vehicle technology can liberate human drivers from the boring and dangerous driving work, reduce the randomness of vehicle behavior, make vehicle behavior predictable, and greatly improve the stability of vehicle driving. In addition, the technology of driverless vehicles can improve the response speed of vehicles to the environment, enhance the safety of vehicles, and greatly shorten the distance between vehicles, thus increasing the transportation capacity of highways. At the same time, the driverless vehicle technology improves the environmental perception accuracy of the vehicle and eliminates the traffic accidents caused by the driver's personal problems. The core of driverless vehicle technology is the development of its decision-making system. At present, there are many difficulties in the development of unmanned vehicle decision system, including the following: the cost of manual code is high and the maintenance is difficult; Decision rules are not separated from system software; there may be potential defects and errors in the design process; and software development and security checking are out of step. In view of the above problems, the research group proposed a verification driven development framework for unmanned vehicle decision system based on automatic code generation. The early work of the research group includes the design of an intermediate language to describe the decision-making rules of the unmanned vehicle, and the design and implementation of an assistant development tool for the decision-making system of the unmanned vehicle, which solves the first two difficult problems in the development process. In order to solve the security problem in the unmanned vehicle decision system, this paper introduces the model checking technology on the basis of the code automatic generation technology, automatically generates the model code of the unmanned vehicle, and carries on the environment modeling to the unmanned vehicle decision system. Through formal verification, we can find the imperceptible defects and errors in the design process of the unmanned vehicle decision system, solve the problem of insufficient security, synchronize the security inspection with the software development process, and reduce the maintenance cost. Based on this framework, the model checking module is integrated into Unmannet\
【學(xué)位授予單位】：國(guó)防科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：U463.6;TP311.52

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