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README
Apache-2.0

欢迎来到智路OS的Gitee仓库!

智路OS是全球首个开源开放的智能网联路侧单元操作系统(简称“智路OS”), 是以高等级自动驾驶技术为牵引,沉淀出来的“车路云网图”一体化的智能交通基础软件平台。智路OS以开源开放,自主可控为核心理念,支撑开发者快速构建智能交通应用。

商务合作伙伴请访问官方网站 :D


目录

1. 介绍

智路OS是一套完整的软件和服务开放系统,由路侧操作系统(airos-edge),车端(airos-vehicle)和云端开发者平台共同构成,为行业提供了统一的车路云开发环境。其中airos-edge自下而上分别由内核层,硬件抽象层、中间件层和服务层构成;airos-vehicle由V2X协议栈和应用服务框架组成;云端开放平台为开发者提供了标定,标注等开箱即用的工具集;开发者可基于智路OS快速搭建一套完整的车路协同或其他智能交通系统。

我们正在持续开源新的模块和功能,请查看依赖条件和安装步骤,做好构建启动智路OS的准备。您可以查看我们提供的版本概述,以更快速地了解智路OS的核心技术体系。

2. 环境准备

基础环境:

  • 系统:Linux及发行版,内核5.4.0及以上版本,建议Ubuntu 18.04及以上版本
  • CPU:X86_64、AArch64
  • 内存:8G
  • Docker:建议v20.10.0及以上版本

运行环境:

如需运行智路OS框架及示例算法,需要安装

  • NVIDIA驱动:455.32.00及以上版本
  • CUDA:11.1及以上版本
  • NVIDIA容器工具:nvidia-docker2

3. 最新版本

智路OS 2.0

2024年4月10日 智路OS 2.0 版正式发布,airos-edge全新升级四大特性:

  • 1.架构升级:重新定义标准服务、应用、设备接入等功能模块,解耦框架与组件,提供更高的扩展能力
  • 2.智路包管理:包管理将智路OS的编译产出按照“模块化”粒度进行规范化组织,规范组件的依赖关系以及组件的粒度,达到一端开发可多端部署的效果,提升研发效率
  • 3.组件开发镜像:包含智路OS SDK、组件开发工具airospkg,为开发者提供工程模板创建、开发、编译、调试、发布等E2E的环境和工具
  • 4.ARM支持:在工程框架上适配了ARM架构,并支持在Orin下编译和运行,提升系统兼容性

路侧操作系统airos-edge技术架构:

智路os-2.0架构

智路OS 2.0路侧操作系统(airos-edge)由内核层,硬件抽象层、框架层、服务层和应用层构成;提供了一系列抽象和框架,屏蔽设备异构性,支持设备接入、服务、应用等组件开发。

4. 历史版本概述

智路OS 1.0

智路OS1.0正式版,除了已发布的1.0Beta内容,还包含:

  • 感知服务框架与感知服务(2D检测,3D检测,行人结构化,机动车结构化,融合,跟踪,拥堵事件检测等)Perception_Pipeline_QuickStart
  • 高精地图引擎定义preview版本,详细内容请参见:[Zhilu_Map_Preview](./docs/05_AirOS Tool/Zhilu_Map_Preview.md)

智路os-1.0版本架构

智路OS 1.0Beta

2022年12月1日发布1.0Beta版本,基于《CSAE+53-2020+合作式智能运输系统+车用通信系统应用层及应用数据交互标准(第一阶段)》(以下简称“DayI”)的车路协同应用场景,开源了V2X协议栈实现,信号灯服务,车端开发框架和云端spat的解析渲染等功能。在本版本中,您可以通过智路OS快速搭建基于信号灯的闭环应用,也可以通过源码和工具自主实现一套基于智路OS的完整的车路协同系统。1.0Beta版包括以下内容:

  • 路侧(airos-edge):根据《道路交通信号控制机信息发布接口规范》(GA/T 1743-2020)协议和DayI(四跨和新四跨)消息集编解码,实现了信号灯服务的完整闭环链路,同时对中间件层进行了调整优化,增加了调试模拟工具,并对基础开发环境进行了升级,详细内容请参见airos-edge

  • 车端(airos-vehicle):开源了车端应用服务开发框架和示例应用demo(闯红灯预警、绿波车速引导),详细内容请参见airos-vehicle

  • V2X消息编解码(airos-v2x-msg):开源了V2X协议栈-消息编解码模块,支持DayI(四跨和新四跨)消息集编解码。详细内容请参见airos-v2x-msg

  • 云端开发者平台:开发者平台为开发者提供了V2X消息解析和信号灯渲染等功能,后续我们还将继续开放设备标定标注等工具集,敬请期待;

  • 模拟器:同时我们也准备了设备模拟器(信号机,OBU,RSU等),方便开发者快速开发和验证。比如信号机和采集卡的模拟器可以产生信号灯的样例数据。详细内容请参考使用教程

智路OS Preview版

2022年8月发布Preview版,面向不同开发者角色提供了不同的源码、SDK和工具。您可以在这个版本对智路OS整体框架进行快速验证。在发布智路OS1.0 beta版本后,我们对代码库进行了优化和调整,请参看1.0 beta版本详细介绍。历史版本issue归档至:Preview_Version_Q&A

  1. 面向应用开发者:与智路OS交互的SDK。通过这些接口,您可以获取脱敏后的真实环境中的全量感知障碍物结构化数据、事件检测结果、交通信号灯消息、局部地图消息等。您可以基于开放数据自行完成如『交通事件检测』和『V2X场景』等应用。

  2. 面向硬件设备开发者:设备抽象层。通过设备抽象层,您可以开发新的设备驱动器,并添加到智路OS的可支持设备列表,我们开放了为ins、lidar、camera,rsu等传感器设备接入的标准接口,同时提供了几种类型设备的测试工具。设备抽象库airos-al支持x86和aarch64平台的编译和使用。

  3. 面向学习研究:OS内核和中间件。您可以通过了解内核和中间件的开发细节并对其进行能力扩展。

智路os-preview版本架构

5. 如果您想快速使用智路OS

快速上手

从1.0 Beta版起,我们提供了快速体验智路OS的用户指南,您可以参考以下文档快速上手您感兴趣的部分。

版本指南:

版本 文档链接
智路OS 2.0 AirOS-Edge 2.0 QuickStart Guide
智路OS 1.0 AirOS-Edge 1.0 QuickStart Guide

功能指南:

版本 文档链接
信号灯Pipeline Traffic Light Pipeline QuickStart Guide
感知Pipeline Traffic Light Pipeline QuickStart Guide
智路OS开发手册 AirOS-Edge Developer Guides
车端应用 AirOS-Vehicle QuickStart Guide
开发者平台 Airos Developer Platform

关于测试与验证

如果您已经基于开源代码,完成了相关研发工作(包括但不限于智能交通应用、设备接入、芯片适配等),希望能够在真实环境进行测试。我们在北京亦庄搭建了一套具备调试、测试、验证的联合实验室,将为您提供专业的实验环境和技术对接,欢迎您前来接洽。

联合实验室地址:中国北京市大兴区北京经济技术开发区宏达中路10号永晖大厦B座4层

联系方式:发送邮件至zhiluos@163.com

6. 授权与许可

智路OS 在 Apache-2.0 license 许可下提供。

7. 联系我们

如果您在使用智路OS的过程中遇到任何问题,欢迎通过以下方式联系我们:

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智路OS是全球首个开源开放的智能网联路侧单元操作系统(简称”智路OS“), 是以高等级自动驾驶技术为牵引,沉淀出来的“车路云网图”一体化的智能交通基础软件平台。智路OS以开源开放,自主可控为核心理念,支撑开发者快速构建智能交通应用。 expand collapse
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