The invention relates to a method and system for matching roadside perception and vehicle end perception of a vehicle-road cooperation system in real time. The method comprises the steps that 1, road original data is acquired through a road end sensor and transmitted to a road end calculation unit; 2, the road end calculation unit processes the road original data, obtains road end sensing fusion data and transmits the road end sensing fusion data to a road end RSU; 3, the road end RSU converts the road end sensing fusion data into standard sensing shared data and then broadcasts the standard sensing shared data; 4, the vehicle end OBU receives the standard sensing shared data broadcasted by the RSU, converts the standard sensing shared data into road-end sensing fusion data, and transmits the road-end sensing fusion data to the vehicle end calculation unit; and 5, the vehicle end calculation unit receives the sensor original data of the vehicle end and the road end sensing fusion data at the same time, and then real-time target matching is carried out. Compared with the prior art, the method has the advantages that the target representing the vehicle can be accurately found in real time, target matching can be carried out in real time in various environments with different positioning precisions, and sudden change of the matching result is avoided.
本发明涉及一种车路协同系统路侧感知与车端感知实时匹配方法,该方法包括以下步骤:步骤1:通过路端传感器采集道路原始数据并传输至路端计算单元;步骤2:路端计算单元处理道路原始数据并得到路端感知融合数据后传输至路端RSU;步骤3:路端RSU将路端感知融合数据转换为标准感知共享数据后进行广播;步骤4:车端OBU接收路端RSU广播的标准感知共享数据,并将其转换为路端感知融合数据传输至车端计算单元;步骤5:车端计算单元同时接收车端的传感器原始数据和路端感知融合数据后进行实时目标匹配,与现有技术相比,本发明具有能够实时准确找到代表本车的目标、用于各种不同定位精度的环境下实时进行目标匹配以及避免出现匹配结果突变等优点。
Method and system for matching roadside perception and vehicle end perception of vehicle-road cooperation system in real time
车路协同系统路侧感知与车端感知实时匹配的方法及系统
2021-12-07
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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