The invention relates to a fusion sensing positioning system based on vehicle-road cooperation, and belongs to the technical field of vehicle-road cooperation. The system comprises an intelligent vehicle-mounted sensing and positioning subsystem, a roadside sensing and positioning subsystem, a V2X communication subsystem and a roadside edge collaborative sensing subsystem. The roadside edge collaborative sensing subsystem performs fusion calculation on the positioning information of the vehicles in the surrounding environment acquired by the vehicle-mounted sensing and positioning subsystem and the positioning information of the vehicles in the road environment acquired by the roadside sensing and positioning subsystem through space coordinate conversion by using a particle filtering algorithm; and position compensation is carried out on the fusion set target according to the designed collaborative sensing position and time offset compensation method. According to the invention, based on the advanced V2X communication technology, the road side sensing information and the vehicle side sensing information are utilized, and the sensing fusion technology of the edge collaborative sensing subsystem in the MEC server is utilized, so that the positioning precision and the sensing visual field range of the road vehicle are improved, and the problem of road side sensing failure is solved.

    本发明涉及一种基于车路协同的融合感知定位系统,属于车路协同技术领域。通过采用该系统包括智能车载感知定位子系统、路侧感知定位子系统、V2X通信子系统、路侧边缘协同感知子系统。路侧边缘协同感知子系统利用粒子滤波算法,经过空间坐标转换,将车载感知定位子系统获取的周围环境车辆的定位信息和路侧感知定位子系统获取的道路环境车辆的定位信息进行融合计算,并根据所设计的协同感知位置和时间偏移补偿方法对融合集合目标进行位置补偿。本发明基于先进的V2X通信技术,利用路侧感知信息和车端感知信息,通过MEC服务器中的边缘协同感知子系统的感知融合技术,提升了道路车辆的定位精度和感知视野范围,弥补了路侧感知失效的问题。


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    Title :

    Fusion sensing positioning system based on vehicle infrastructure cooperation


    Additional title:

    一种基于车路协同的融合感知定位系统


    Contributors:
    JIANG JIANCHUN (author) / ZENG XIN (author) / ZENG SUHUA (author) / XIA YUNJUN (author) / LIAN HAONING (author)

    Publication date :

    2023-05-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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