智东西-自动驾驶系列课第5课课件-激光雷达在辅助驾驶和无人驾驶中的应用-镭神智能董事长胡小波

ISO 16787:2017 covers the assisted parking system (APS) for light-duty vehicles, e.g. passenger cars, pick-up trucks, light vans and sport utility vehicles (motorcycles excluded) equipped with such APS. This document establishes minimum functionality requirements that the driver can expect of the system, such as the detection of suitable parking spaces, calculation of trajectories and lateral control of the vehicle. Information on the presence of relevant obstacles in the driving path of the vehicle can also be included in the functionality of such systems. This document also sets minimum requirements for failure indication as well as performance test procedures. It includes rules for the general information strategy, but does not restrict the kind of information or display system.

该系统主要应用在室内影像导航，不需要激光雷达传感器，只需要一个中央摄像头、PC作为图像处理外设。在VS应用opencv就可以对小车进行定位，并且进行路径规划，到达指定的目的地。

上册（卷Ⅰ）的内容包括智能车辆系统和实现方式的概述、车辆纵向和横向控制系统、特殊的车辆系统、定位、导航和轨迹控制、驾驶辅助系统、安全和舒适系统等。 下册（卷Ⅱ）的内容包括主动行人保护、泊车辅助、碰撞救援系统、ADAS地图数据、驾驶人疲劳检测与预警等章节。

驾驶员辅助驾驶手册的电子版，大家可以下载学习下，里面内容还是很全的

GB∕T 33577-2017 智能运输系统 车辆前向碰撞预警系统 性能要求和测试规程

基于Frenet优化轨迹的无人车动作规划实例，使用Python实现，主要为高速场景，具体参考博客：https://blog.csdn.net/AdamShan/article/details/80779615

源代码来源于辅助驾驶仿真软件Prescan，主要涉及一些AEB的算法，比较基础，属于入门级别