The invention relates to a road sensor arrangement method suitable for vehicle-road cooperation, and the method comprises the following steps: constructing a road coordinate system, selecting road key nodes, and constructing a road geometric model; a camera coverage area is considered, a multi-target optimization model of camera arrangement is constructed, the installation height and angle of the cameras and the distance between the adjacent cameras are optimized based on an MOGWO algorithm, and the position coordinates of the cameras are determined; determining position coordinates of a sensor fixing bracket and the height of the bracket based on the position coordinates and the mounting height of the camera; a multi-target optimization model of millimeter wave radar arrangement is constructed, and the position coordinates and the installation height of the millimeter wave radar are optimized and solved based on an MOGWO algorithm; based on the road geometric model, the position coordinates of the sensor fixing support and the height of the support, the position coordinates of the laser radar are determined, a laser radar arrangement optimization model is constructed, and the installation height of the laser radar is optimized and solved. Compared with the prior art, the method has the advantages of complete arrangement parameters, high practicability and the like.

    本发明涉及一种适用于车路协同的道路传感器布置方法,包括以下步骤:构建道路坐标系,选取道路关键节点,并构建道路几何模型;考虑摄像头覆盖区域,构建摄像头布置的多目标优化模型,基于MOGWO算法优化摄像头安装高度、角度以及相邻摄像头之间的间距,确定摄像头位置坐标;基于摄像头位置坐标、安装高度确定传感器固定支架位置坐标及支架高度;构建毫米波雷达布置的多目标优化模型,基于MOGWO算法优化求解毫米波雷达的位置坐标和安装高度;基于道路几何模型、传感器固定支架位置坐标及支架高度,确定激光雷达位置坐标,并构建激光雷达布置优化模型,优化求解激光雷达的安装高度。与现有技术相比,本发明具有布置参数完备、实用性强等优点。


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    Title :

    Road sensor arrangement method suitable for vehicle-road cooperation


    Additional title:

    一种适用于车路协同的道路传感器布置方法


    Contributors:
    JI YANGJIE (author) / HUANG YANJUN (author) / ZHOU SHANGHANG (author) / YANG ZIRU (author) / ZHOU ZEWEI (author) / ZHANG XINYU (author) / YU ZHUOPING (author)

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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