The invention discloses a vehicle-road collaborative sensing fusion method, which comprises the following steps of S1, acquiring a vehicle end sensing message through vehicle-mounted sensing equipment of a vehicle, acquiring a vehicle-road collaborative sensing message through vehicle-mounted sensing equipment and roadside sensing equipment of other vehicles, and sending the vehicle-road collaborative sensing message to a server; respectively putting the vehicle-end sensing message and the vehicle-road collaborative sensing message into a vehicle-end sensing message cache queue and a vehicle-road collaborative sensing message cache queue according to a time sequence; s2, acquiring a vehicle end sensing message and a vehicle-road collaborative sensing message corresponding to the vehicle end sensing message cache queue and the vehicle-road collaborative sensing message cache queue; s3, synchronizing sensing target coordinate information in the obtained vehicle end sensing message and the vehicle-road collaborative sensing message under the same coordinate system; s4, Kalman filtering processing is carried out on sensing targets of the vehicle end sensing message and the vehicle-road collaborative sensing message after coordinate information synchronization; and S5, fusing measured values obtained by different sensors in the vehicle end sensing message and the vehicle-road collaborative sensing message by adopting an analytic hierarchy process.

    本发明公开了一种车路协同感知融合方法,包括以下步骤,S1、通过自车的车载感知设备获取车端感知消息,通过其他车辆的车载感知设备和路侧感知设备获得车路协同感知消息,并将车端感知消息和车路协同感知消息依时序分别放入车端感知消息缓存队列和车路协同感知消息缓存队列中;S2、获取车端感知消息缓存队列和车路协同感知消息缓存队列对应的车端感知消息和车路协同感知消息;S3、将获取的车端感知消息和车路协同感知消息中的感知目标坐标信息同步于同一坐标系下;S4、将坐标信息同步后的车端感知消息和车路协同感知消息的感知目标进行卡尔曼滤波处理;S5、采用层次分析法对车端感知消息和车路协同感知消息中由不同传感器得到的量测值进行融合。


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    Title :

    Vehicle infrastructure collaborative perception fusion method and system


    Additional title:

    一种车路协同感知融合方法及系统


    Contributors:
    ZHAO YIMING (author) / MA ZE (author) / KUMAKICHI (author) / GUO JIANRUI (author) / XIAN ZHIWEI (author)

    Publication date :

    2023-10-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze





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