Research Article
Cost Analysis of Vehicle-Road Cooperative Intelligence Solutions for High-Level Autonomous Driving: A Beijing Case Study
Table 6
Parameters of intelligent configurations at vehicle side and various intelligence schemes.
| | | Facility | Classification | Cost (¥) | Power (W) | Disassembly of technical components of intelligent driving | | Primary AV | Intermediate AV | Advanced AV | ICV |
| | Communication | Communication module | 4G-LTE | 140 | 10 | 1 | 1 | 1 | — | | 5G-V2X OBU | 5250 | 20 | — | — | — | 1 |
| | Perception | Camera | 2-megapixel | 220 | 10 | 4 | 5 | 4 | 4 | | 8-megapixel | 625 | 15 | 2 | 2 | 1 | 2 | | 12-megapixel | 990 | 20 | — | — | 2 | — | | Millimeter-wave radar | Short-focus | 510 | 5 | 4 | 4 | 4 | 4 | | Long-focus | 940 | 12 | — | — | 2 | — | | 4D-image | 2090 | 20 | — | — | 1 | — | | LiDAR | Semisolid | 6250 | 40 | — | — | 3 | — | | Solid | 3750 | 35 | — | — | — | — |
| | Localization | High-precision localization | Submeter-class | 2300 | 1 | 1 | — | — | 1 | | Decimeter-class | 7400 | 2 | — | 1 | — | — | | Centimeter-class | 13500 | 4 | — | — | 1 | — |
| | Computing | Central computing platform | Low compute | 2000 | 100 | 1 | — | — | 1 | | Middle compute | 5000 | 400 | — | 1 | — | — | | High compute | 10000 | 1000 | — | — | 1 | — |
| | Actuator | Steering system | Electric-power-steering | 1500 | 40 | 1 | — | — | — | | Steering-by-wire | 3500 | 70 | — | 1 | 1 | 1 | | Braking system | Electric-power-braking | 1200 | 50 | 1 | — | — | — | | Braking-by-wire | 2500 | 80 | — | 1 | 1 | 1 |
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