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1、Edited by William Messner Autonomous Technologies: Applications That Matter AUTOMOTIVE AEROSPACE COMMERCIAL VEHICLEAutonomous Technologies: Applications That MatterOther SAE books of interest Automotive 2030North America By Bruce Morey (Product Code: T-127) Autonomous Vehicles for Safer Driving By R

2、onald K. Jurgen (Product Code: PT-158) V2V/V2I Communications for Improved Road Safety and Efciency By Ronald K. Jurgen(Product Code: PT-154) For more information or to order a book, contact SAE INTERNATIONAL 400 Commonwealth Drive, Warrendale, PA 15096-0001, USA; phone +1-877-606-7323 (U.S. and Can

3、ada only) or +1-724-776-4970 (outside U.S. and Canada); fax +1-724-776-0790; e-mail CustomerServicesae.org; website http:/ /books.sae.org.Autonomous Technologies: Applications That Matter Edited by William Messner Warrendale, Pennsylvania USA Copyright 2014 SAE International eISBN: 978-0-7680-8135-0

4、 400 Commonwealth Drive Warrendale, PA 15096 E-mail: CustomerServicesae.org Phone: +1.877.606.7323 (inside USA and Canada) +1.724.776.4970 (outside USA) Fax: +1.724.776.0790 Copyright 2014 SAE International. All rights reserved. No part of this publication may be reproduced, stored in a retrieval sy

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6、9765. SAE Order Number JPF-AUV-004 DOI 10.4271/JPF-AUV-004 Library of Congress Cataloging-in-Publication Data Autonomous technologies : applications that matter / edited by Dr. William Messner.pages cmIncludes bibliographical references.Summary: “In a unique effort to offer an introduction to the wo

7、rld of autonomous technologies, SAE International and AUVSI are pleased to present the reader with Autonomous Technologies: Applications That Matter. Focusing on nonmilitary use of autonomous mobile devices, the two organizations have teamed up and invited authors from multiple areas of expertise to

8、 discuss how the concept of autonomy is becoming a more natural t with the way we live“-Foreword.ISBN 978-0-7680-7718-61. Autonomous robots. 2. Automobiles-Automatic control. 3. Agricultural machinery-Auto- matic control. 4. Remote submersibles. I. Messner, William C., editor. TJ211.495.A986 2014629

9、.8932-dc232014018432 Information contained in this work has been obtained by SAE International from sources believed to be reliable. However, neither SAE International nor its authors guarantee the accuracy or completeness of any information published herein and neither SAE International nor its aut

10、hors shall be responsible for any errors, omissions, or damages arising out of use of this information. This work is published with the understanding that SAE International and its authors are supplying information, but are not attempting to render engineering or other professional services. If such

11、 services are required, the assistance of an appropriate professional should be sought. ISBN-Print 978-0-7680-7718-6 ISBN-PDF 978-0-7680-8135-0 ISBN-epub 978-0-7680-8137-4 ISBN-prc 978-0-7680-8136-7 To purchase bulk quantities, please contact: SAE Customer Service E-mail: CustomerServicesae.org Phon

12、e: +1-877-606-7323 (inside USA and Canada)+1-724-776-4970 (outside USA) Fax: +1-724-776-0790 Visit the SAE International Bookstore HTTP:/ /BOOKS.SAE.ORG Autonomous Technologies: Applications That Matter is a co-publication with SAE International and the Association for Unmanned Vehicle Systems Inter

13、national, 2700 South Quincy St, Suite 400, Arlington, V A 22206.Table of Contents Introduction .xi William Messner 1. Sensors . 1 Greg Kogut 1.1 Introduction .1 1.2 The History of Automotive Sensors .2 1.3 Proprioceptive Sensors .3 1.3.1 Speed and Position Sensors .3 1.3.2 Accelerometers 4 1.3.3 Yaw

14、-Rate Sensors (Gyroscopic) .4 1.4 Exteroceptive Sensors .5 1.4.1 Vision Sensors 6 1.5 Sensor Fusion.11 1.6 Sensor Processing 12 1.7 Conclusion .13 1.8 References 13 2. Automated Driving: For Real This Time? . 15 Richard Bishop 2.1 Introduction .15 2.2 History: The Long Quest for the Self-Driving Car

15、 .16 2.3 Terminology .19 2.4 Industry Motivation .20 2.5 Technology Basis .21 2.5.1 Camera Sensors .21 2.5.2 Radar Sensors .23 2.5.3 Camera-Radar Sensor Fusion 23 2.5.4 Laser Scanners .24 2.5.5 Low-Latency Vehicle Communications (V2X) 24 2.5.6 Mapping .25 2.6 Operational Scenarios and Functional Req

16、uirements .25 2.6.1 Operating Scenarios 25 2.6.2 Functional Requirements .26 2.7 Industry Activity .26 2.7.1 Highway Driving 27 2.7.2 City Street Driving 30 v 2.7.3 Automated Valet Parking .32 2.7.4 Automated Operation on Unimproved Roads .32 2.7.5 Commentary 33 2.8 Government Stance.33 2.8.1 Asia 3

17、3 2.8.2 Europe .34 2.8.3 United States 35 2.8.4 Collaborative Efforts 35 2.9 Engineering and Human Factors Considerations 36 2.9.1 Situational Awareness 36 2.9.2 Automated Vehicle Behavior in Trafc 36 2.9.3 Test Methods 37 2.9.4 Exceeding Human Performance .37 2.9.5 Driver Monitoring .38 2.9.6 Effec

18、tive Driver-Vehicle Interaction 39 2.10 Deployment Challenges .40 2.10.1 U.S. Legal Situation .40 2.10.2 European Legal Situation .41 2.10.3 Market Dynamics .41 2.11 Looking Down the Road 42 2.11.1 Considerations .42 2.11.2 Rollout .43 2.11.3 Infrastructure and the Public Sector Role 43 2.11.4 Cross

19、-Industry Collaboration 44 2.12 Conclusion .44 2.13 References 45 3. Cargo and Freight 53 Dan Williams 3.1 Introduction .53 3.2 Technologies 56 3.2.1 Longitudinal Control Technologies 56 3.2.2 Lateral Control Technologies .58 3.2.3 Advanced Communication Technologies 61 3.3 Vehicle Applications .62

20、3.3.1 Automated Docking62 3.3.2 Higher-Speed Headway Control and Platooning 63 3.3.3 An Incrementally Adopted Integrated Future 64 3.4 Summary 65 3.5 References 66 vi 4. Agriculture Applications . 69 Marcel Bergerman, John Billingsley, Eldert J. van Henten, Frits K. van Evert, Bradley Hamner, John.

21、F. Reid, Sanjiv Singh, and Stewart Moorhead 4.1 Introduction .69 4.2 Agricultural Robotics .70 4.2.1 Challenges in Meeting Global Food Demand .70 4.2.2 From Mechanization to Autonomous Cyber-Physical Systems .71 4.2.3 Challenges for Robotics and Automation to Drive Mechanization Toward Increased Pro

22、ductivity .72 4.2.4 Opportunities Ahead for Robotic Systems 73 4.3 Autonomous Vehicles in Agriculture .73 4.3.1 Arable Farming 73 4.3.2 Fruit Production 74 4.3.3 Protected Cultivation 77 4.3.4 Pasture Management 80 4.4 The Next Ten Years .84 4.5 2020 and Beyond .85 4.6 References 86 5. Beyond Rosey:

23、 Consumer Robots in the 21st Century 89 Brian Yamauchi 5.1 Chapter Summary .89 5.2 Introduction .90 5.3 Indoor Home Robots 91 5.4 Outdoor Home and Yard Robots 93 5.5 Telepresence Robots 94 5.6 Assistive Robots for the Elderly and Handicapped.97 5.7 Humanoid Robots .97 5.8 The Next Ten Years .98 5.9

24、2020 and Beyond .99 5.10 Conclusion .100 5.11 References 100 6. Landscaping Applications 101 Alex D. Foessel-Bunting and Justin A. Kraft 6.1 Chapter Summary .101 6.2 Introduction .102 6.2.1 Autonomous Lawn Mowing .102 6.2.2 Trends Driving Technology Adoption 103 6.2.3 Value PropositionHomeowner Cust

25、omer .104 vii 6.2.4 Value PropositionCommercial Customer 104 6.3 Requirements and Technologies .105 6.3.1 Environmental Requirements 105 6.3.2 Scheduling and Workow 105 6.3.3 Functional Requirements .106 6.3.4 Positioning Technologies 107 6.3.5 Technology Scouting Opportunities .109 6.4 Selected Aut

26、onomous Landscaping Applications .110 6.4.1 Lawn Mowing Home Gardens 110 6.4.2 Mowing Large Turf and Sports Fields 111 6.4.3 Precise Stadium Mowing .112 6.4.4 Golf Course Maintenance .113 6.4.5 Advertisement and Art on the Turf 114 6.5 Commercialization Considerations 115 6.5.1 Balancing Technology

27、and Service .115 6.6 2020 and Beyond: Commercial Opportunities .117 6.7 Conclusions 120 6.8 References 120 7. Unmanned Maritime Vehicles: New Options for Ocean Operations . 123 Justin Manley and Thomas Altshuler 7.1 Introduction: Unmanned Maritime Vehicles 123 7.2 Remotely Operated Vehicles .125 7.3

28、 Autonomous Underwater Vehicles 126 7.4 Autonomous Surface Vehicles 129 7.5 Rules of the Road 130 7.6 UMVs in Practice: Increasing Return on Investment in Ocean Operations .131 7.7 Todays UMVs: A Stand-Alone Solution .132 7.7.1 Survey .132 7.7.2 Inspection .133 7.7.3 Observing .135 7.7.4 Connectivit

29、y .135 7.7.5 Todays UMVs: A Glimpse of the Potential .135 7.8 The Future: Networked UMVs .136 7.8.1 Survey .137 7.8.2 Inspection .137 7.8.3 Observing .137 7.8.4 Connectivity .137 7.8.5 Apps for Ocean Operations .137 viii 7.9 Conclusion .138 7.10 References 138 8. Unmanned Aircraft Systems in Environ

30、mental Monitoring Applications .139 Everett A. Hinkley, Vincent G. Ambrosia, and Steven S. Wegener 8.1 Chapter Summary .139 8.2 Introduction .140 8.3 Classication of UAS Platforms 141 8.4 Flight Regulations .143 8.4.1 Current Considerations in the United States 143 8.4.2 Looking Ahead to Future Regu

31、lations .144 8.5 UAS Applications in Environmental Monitoring 144 8.5.1 Wildre Applications 145 8.5.2 Forest Health Monitoring .146 8.5.3 Wildlife Surveys 147 8.5.4 Air Quality Monitoring 148 8.5.5 Agriculture and Crop Monitoring 149 8.5.6 Water Science .149 8.5.7 Disaster Event Monitoring .150 8.6

32、Engineering Challenges .152 8.6.1 Safety “Sense and Avoid” .152 8.6.2 Communications .152 8.7 The Next Ten Years .153 8.8 Conclusion .154 8.9 References 155 9. Privacy . 157 Brett Davis 9.1 None of Your Business: Unmanned Systems and Privacy 157 9.1.1 Addressing Concerns 158 9.1.2 Proactive Guidelin

33、es .159 9.1.3 Privacy Legislation 161 9.1.4 Driverless Cars .162 9.1.5 Privacy Law for All Technologies .165 9.2 References 167 10. Conclusion .169 William Messner Index 173 About the Authors .181 ix Foreword In a unique effort to offer an introduction to the world of autonomous technologies, SAE In

34、ternational and AUVSI are pleased to present the reader with Autonomous Technologies: Applications That Matter. Focusing on nonmilitary use of autonomous mobile devices, the two organizations have teamed and invited authors from multiple areas of expertise to discuss how the concept of “autonomy” is

35、 becoming a more natural t with the way we live. From the use of domestic and commercial robots to do tasks such as cleaning and grass mowing, to automated farming, maritime applications, and environmental monitoring (which affects all of us), Autonomous Technologies: Applications That Matter looks

36、at the new opportunities and challenges we are already dealing with: Can we trust driverless cars? And who is responsible for keeping the boundaries on privacy issues clear and straight? Will we become more efcient if we embed autonomous platooning in moving cargo and freight? In addition to gaining

37、 efciency, these technologies also have powerful market incentives. In 2013, a study by Morgan Stanley indicated that self-driving cars could contribute a staggering $5.6 trillion in annual savings around the world. An AUVSI study, also published in 2013, found that unmanned aircraft, employed in th

38、e agriculture sector, could create more than 100,000 jobs in the rst decade after airspace integration, with more than $82.1 billion in revenue in the United States alone. Interestingly enough, most of these “autonomy angles” touch upon one common thread: the exponentially growing world of sensors.

39、Ever more precise and dedicated sensors are making data acquisition and decision support much easier and more informed, too. The scope of this book is practical rather than theoretical, opening the door to future contri- butions to complement it. For now, we kindly thank our authors and reviewers fo

40、r the work and commitment to this project and willingness to share their knowledge. We hope the readers will nd Autonomous Technologies: Applications That Matter useful, easy to read, and a rst, positive step into the realm of autonomous technologies. Sincerely, S A E I n t e r n a t i o n a l AUVSI

41、 xi Introduction William Messner, Tufts University My interest is in the future because I am going to spend the rest of my life there. Charles Kettering What a difference 10 years make! When the U.S. governments Defense Advanced Research Project Agency (DARPA) announced its “DARPA Grand Challenge” i

42、n 2002, offering a U.S. $1 million prize for an autonomous vehicle to drive over 100 miles across the Mojave Desert in less than 10 hours, the task was widely considered to be impossible. At the rst running of the event in March 2004, none of the entrants came close to completing the course. A decad

43、e later, not only have autonomous vehicles met the DARPA Grand Challenge and the DARPA Urban Challenge, but there are credible predictions by major automotive manufacturers of the widespread deployment of autonomous vehicles by 2025, and perhaps even earlier. The rapid advances in technology and qui

44、ck acceptance by consumers have changed the conver- sation from “if” to “when,” with respect to automated civilian driving. The DARPA Challenges galvanized interest in autonomous cars, making them a realistic possibility in the mind of the public, but autonomous and unmanned vehicles have been incre

45、asingly employed in many roles on land, in the water, and in the air over the last 20 years. Military applications have received a great deal of attention, with weaponized unmanned aircraft (drones) being the most prominent. However, unmanned vehicles with varying degrees of autonomy already have ma

46、ny civilian applications. Some of these are quite familiar (such as the Roomba autonomous vacuum cleaner), while others remain largely out of the public eye (such as autonomous farm equipment). Additional applications and more capable vehicles will be rapidly coming to the markets in the years ahead

47、. This book examines a number of economically important areas in which unmanned and autonomous vehicles (also understood here as autonomous technologies) are already in use or soon will be. The intended audience of this book is the technical manager (and curious consumer) who must make decisions abo

48、ut the development of products by their company or the purchase of equipment and systems, or who anticipate changes in their industry. SAE International and AUVSI, co-publishers of this title, believe that the chapters, briey described below, provide the information that will assist the reader in id

49、entifying protable opportunities and avoiding costly misconceptions with respect to civilian applications of autonomous vehicle xiii technologies. Autonomous Technologies: Applications That Matter brings together chapters on how air, water, and ground vehicles are becoming ever more used and appreciated. Since many civilian applications are on land, it is natural that the majority of the chapters pertain to ground vehicles. There are separate chapters on passenger cars, commercial freight hauling, agriculture, and mowing and landscaping that we believ