The invention discloses a high-flexibility variable-view-angle roadside sensing device for automatic driving and a beyond-visual-range sensing method, and belongs to the field of intelligent traffic. The roadside device is composed of a power module, a sensing module, a rotating equipment holder, an information processing module, a communication module, an illumination module, a traffic signal lamp module and the like which are installed on a movable telescopic support and can be flexibly placed according to road conditions and sensing requirements. Based on traffic semantics and different working conditions, a sensing angle is adaptively adjusted, and sensing modeling is performed on environmental information in combination with a YOLOv4-5D algorithm based on a visual sensor and a PV-RCNN architecture algorithm based on a laser radar. The communication module broadcasts sensing results of the roadside device to surrounding intelligent vehicles and a cloud according to different working conditions, so that the surrounding intelligent vehicles obtain beyond-visual-range, multi-view-angle and multi-category environment sensing information. According to the invention, the problems of weak sensing capability, existence of sensing blind areas, high equipment cost, poor data operation real-time performance and the like of a current intelligent automobile are solved.

    本发明公开了一种面向自动驾驶的高灵活性可变视角路侧感知装置及超视距感知方法,属于智能交通领域。路侧装置由安装在可移动伸缩支架上的电源模块、感知模块、旋转设备云台、信息处理模块、通信模块、照明模块、交通信号灯模块等部分组成,可依据道路条件及感知需求灵活摆放;基于交通语义及不同工况,自适应调整感知角度,结合基于视觉传感器的YOLOv4‑5D算法及基于激光雷达的PV‑RCNN架构算法对环境信息进行感知建模。通信模块根据不同工况将路侧装置的感知结果广播给周边智能车辆及云端,使周边智能汽车获得超视距、多视角、多类别的环境感知信息。本发明解决了当前智能汽车单车感知能力孱弱,存在感知盲区且设备费用高昂、数据运算实时性差等问题。


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    Title :

    High-flexibility variable-view-angle roadside sensing device for automatic driving and a beyond-visual-range sensing method


    Additional title:

    一种面向自动驾驶的高灵活性可变视角路侧感知装置及超视距感知方法


    Contributors:
    CHEN LONG (author) / LUO TONG (author) / CAI YINGFENG (author) / WANG HAI (author) / LI YICHENG (author) / LIU QINGCHAO (author) / SUN XIAOQIANG (author)

    Publication date :

    2021-11-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze






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