The invention relates to a beyond-visual-range sensing system based on information fusion of a vehicle, a road and an unmanned aerial vehicle. A vehicle end sensing subsystem is used for acquiring structured feature information of the surrounding environment of the vehicle; the road end sensing subsystem is used for acquiring road end surrounding environment structured feature information; the unmanned aerial vehicle subsystem flies for a long time and a short distance in the two road end subsystems on the premise of ensuring safety and is mainly used for acquiring structural feature information of surrounding environments of two road end blind areas; the communication subsystem comprises a road end communication module, a vehicle end communication module and an unmanned aerial vehicle communication module which are connected in a wireless communication mode; and the collaborative perception subsystem fuses the vehicle surrounding environment structured feature information and the road end and unmanned aerial vehicle surrounding environment structured feature information after coordinate conversion by using a particle filter algorithm to obtain beyond-visual-range fusion perception. Compared with the prior art, the automatic driving decision planning capability of the vehicle end is enhanced.
本发明涉及一种基于车、路、无人机信息融合的超视距感知系统,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;无人机子系统在保证安全的前提下在两个路端子系统中进行长时间短距离飞行主要用于获取两个路端盲区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、车端通讯模块以及无人机通讯模块;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、路端和无人机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,本发明增强了车端的自动驾驶决策规划能力。
Over-the-horizon perception system based on vehicle, road and unmanned aerial vehicle information fusion
一种基于车、路、无人机信息融合的超视距感知系统
2022-07-22
Patent
Electronic Resource
Chinese
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