According to the vehicle-road cooperation method and device, the storage medium and the electronic equipment provided by the invention, the roadside terminal equipment uses the VRU position information of the identified VRU objects to cluster each VRU object, and then uses the VRU position information of each VRU object in the VRU cluster obtained by clustering to carry out convex hull identification processing on the VRU cluster, so that the vehicle-road cooperation efficiency is improved. And sending the VRU position information of each convex hull pole identified by the convex hull and the pole sequence information to the vehicle-mounted terminal equipment, so that the vehicle-mounted terminal equipment generates a pole edge graph corresponding to the VRU cluster, and obtains a collision risk detection result between the vehicle and the VRU cluster. According to the vehicle-VRU collision risk detection method and device, the clustering and convex hull recognition technology is utilized, the vehicle-VRU collision risk problem is converted into the vehicle-VRU cluster collision risk detection problem, the data calculation complexity of the vehicle-mounted terminal equipment on the VRU object is reduced, the occurrence frequency of false alarm and missing alarm early warning events can be effectively reduced, and the man-vehicle interaction experience of a motor vehicle driver is improved.

    本公开提供的一种车路协同方法、装置、存储介质及电子设备,路侧终端设备利用识别出的VRU对象的VRU位置信息,对各VRU对象进行聚类,再利用聚类得到的VRU簇中各VRU对象的VRU位置信息,对VRU簇进行凸包识别处理,将凸包识别出的各凸包极点的VRU位置信息和极点顺序信息发送至车载终端设备,以使车载终端设备生成与VRU簇对应的极边图形,并获得车辆与VRU簇之间的碰撞风险检测结果。本公开利用聚类和凸包识别技术,将车‑VRU的碰撞风险问题,转化为车‑VRU簇的碰撞风险检测问题,降低了车载终端设备对VRU对象的数据计算复杂度,能够有效降低误报和漏报的预警事件的发生次数,提升机动车驾驶人的人车交互体验。


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    Titel :

    Vehicle infrastructure cooperation method and device, storage medium and electronic equipment


    Weitere Titelangaben:

    一种车路协同方法、装置、存储介质及电子设备


    Beteiligte:
    GAO TIAN (Autor:in) / YU ZHONGTENG (Autor:in) / LI XIAONA (Autor:in)

    Erscheinungsdatum :

    2024-04-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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