The invention relates to a graph matching-based multi-sensor space-time calibration method for a vehicle-road cooperation system, and the method comprises the following steps: S1, collecting the self-positioning data of a networked vehicle and the sensing data of the networked vehicle for the surrounding traffic flow when the networked vehicle passes through the sensing range of a plurality of roadside sensors, and collecting the sensing data of the plurality of roadside sensors for the traffic flow; s2, a graph matching method is adopted to match vehicle IDs collected by the roadside multiple sensors, and networking vehicle tracks are identified in multi-target track data collected by the roadside multiple sensors; s3, calculating space-time parameters from the networked vehicle positioning data coordinate system to the roadside multi-sensor data coordinate system by adopting a Gaussian-Newton method; and S4, according to the obtained space-time parameters, converting data acquired by the roadside multiple sensors to realize space-time synchronization of the roadside multiple sensors. Compared with the prior art, the method has the advantages that rapid and automatic parameter calibration is carried out on the roadside multiple sensors, and time-space synchronization of the roadside multiple sensors is achieved.
本发明涉及一种基于图匹配的车路协同系统多传感器时空标定方法,包括以下步骤:S1、联网车辆经过路侧多传感器感知范围,收集联网车辆的自身定位数据和其对周围交通流的感知数据,收集路侧多传感器对于交通流的感知数据;S2、采用图匹配方法对路侧多传感器采集到的车辆ID进行匹配,在路侧多传感器采集到的多目标轨迹数据中对联网车辆轨迹进行识别;S3、采用高斯‑牛顿方法解算由联网车辆定位数据坐标系至路侧多传感器数据坐标系的时空参数;S4、根据得到时空参数,对路侧多传感器采集数据进行变换,实现路侧多传感器的时空同步。与现有技术相比,本发明具有对路侧多传感器进行快速、自动的参数标定,实现路侧多传感器的时空同步等优点。
Multi-sensor space-time calibration method for cooperative vehicle infrastructure system based on graph matching
一种基于图匹配的车路协同系统多传感器时空标定方法
2023-05-30
Patent
Electronic Resource
Chinese
IPC: | G06V / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Cooperative Infrastructure-Based Vehicle Positioning
IEEE | 2016
|Vehicle infrastructure cooperative multi-hop method based on reinforcement learning
European Patent Office | 2023
|European Patent Office | 2022
|Multi-sensor multi-vehicle cooperative positioning system and method
European Patent Office | 2023
|