The invention discloses a vehicle-road collaborative perception method and device based on vehicle-mounted point clouds, and belongs to the technical field of automatic driving, and the method comprises the steps: constructing an optimization problem of maximizing the total perception quality through employing the driving environment complexity and communication link data rate of each vehicle participating in collaborative perception in a current time slot, and carrying out the optimization problem of maximizing the total perception quality; the point cloud processing task priority and the optimal configuration corresponding to each vehicle are obtained by solving the point cloud processing task priority and the optimal configuration; and each vehicle carries out sampling compression by using the corresponding optimal configuration and returns the compressed data to the roadside server, so that the roadside server carries out target detection by using the priority of the point cloud processing task and issues the detected data to each vehicle for environment perception. The optimization problem in the invention combines and considers the problems of communication resources and processing priorities and the cooperative sensing precision of a plurality of vehicles and a roadside server, thereby solving the technical problem of poor sensing quality caused by large time delay, low precision and limited resources of an existing automatic driving vehicle.

    本发明公开了一种基于车载点云的车路协同感知方法和装置,属于自动驾驶技术领域,所述方法包括:利用各个参与协同感知车辆在当前时隙的驾驶环境复杂度和通信链路数据速率,构建最大化总感知质量的优化问题,对其进行求解得到各个车辆对应的点云处理任务优先级和最优配置;各个车辆利用对应的最优配置进行采样压缩并回传给路边服务器,以使路边服务器利用点云处理任务优先级进行目标检测并下发给各车辆进行环境感知。本发明中的优化问题结合考虑了通信资源、处理优先级的问题以及多个车辆与路边服务器协同感知精度,由此解决现有自动驾驶车辆延时大、精度低和资源有限导致的感知质量差的技术问题。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle-road collaborative sensing method and device based on vehicle-mounted point cloud


    Additional title:

    一种基于车载点云的车路协同感知方法和装置


    Contributors:
    YANG PENG (author) / QIN TIAN (author) / HOU JIAWEI (author)

    Publication date :

    2023-11-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr



    Vehicle speed control method based on vehicle-road cloud collaborative optimization

    WANG XIAO / YU ZHUOPING / ZHANG PEIZHI et al. | European Patent Office | 2021

    Free access

    Cloud computing vehicle-mounted road condition recording device

    PAN HONGLIANG / LIU XIANG / DONG HUAMEI | European Patent Office | 2022

    Free access

    Intelligent vehicle-mounted unit serving vehicle-road collaborative automatic driving

    RAN BIN / ZHAO KEGANG / LI HANCHU et al. | European Patent Office | 2023

    Free access

    Vehicle-mounted laser point cloud scanner

    JIA YANG / XU BINZHI / LI SHENGFU et al. | European Patent Office | 2023

    Free access

    Vehicle-road cloud cooperation system, road condition information processing method and device and vehicle-mounted equipment

    DU YOUHAO / SI SHENGYING / YUAN CHUNCHUN et al. | European Patent Office | 2024

    Free access