The invention relates to an beyond visual range (BVR) fusion sensing system based on vehicle infrastructure cooperation. A vehicle end sensing subsystem is used for acquiring vehicle surrounding environment structured feature information; a road end sensing subsystem is used for acquiring road end surrounding environment structured feature information; a communication subsystem comprises a road end communication module and a vehicle end communication module which are connected in a wireless communication mode; and a collaborative perception subsystem fuses the vehicle surrounding environment structured feature information and the road end surrounding environment structured feature information after coordinate conversion by using a particle filter algorithm to obtain BVR fusion perception. Compared with the prior art, based on advanced Internet of Vehicles technologies such as LTE-V, 5G and the like, vehicle end sensing information and road end sensing information are fully utilized, and through a target-level sensing fusion technology, the detection view field range and the detection precision of a target are improved, the defect that sensing fails due to the fact that bicycle sensing blind areas exist at intersections, barrier shielding and the like only by means of bicycle sensing is overcome.
本发明涉及一种基于车路协同的超视距融合感知系统,车端感知子系统用于获取车辆周边环境结构化特征信息;路端感知子系统用于获取路端周边环境结构化特征信息;通讯子系统,包括无线通信方式连接的路端通讯模块和车端通讯模块;协同感知子系统利用粒子滤波算法,经过坐标转换后,将车辆周边环境结构化特征信息和路端周边环境结构化特征信息进行融合,得到超视距融合感知。与现有技术相比,本发明基于LTE‑V、5G等先进车联网技术,充分利用车端传感信息及路端传感信息,通过目标级的感知融合技术,来提高目标的检测视场范围及检测精度,克服了仅依靠单车感知手段在路口、障碍物遮挡等存在单车感知盲区而导致感知失效的缺陷。
Beyond visual range (BVR) fusion sensing system based on vehicle infrastructure cooperation
一种基于车路协同的超视距融合感知系统
2021-06-11
Patent
Elektronische Ressource
Chinesisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G16Y / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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