The invention discloses a road-vehicle intelligent fusion sensing method cooperatively considering driving risk and communication load. The method comprises the following steps: S1, acquiring point cloud data with time and pose labels through a sensing unit; s2, the communication unit obtains collaborative sensing data; s3, the calculation unit fuses the point cloud data and performs three-dimensional target detection; s4, the communication unit receives collaborative sensing data requests of other systems; s5, the calculation unit evaluates the driving risk in the sensing area based on the safety field theory; s6, the computing unit allocates available communication resources of the system among the received data requests; s7, performing optimization characterization on the point cloud acquired by the sensing unit; and S8, sending the collaborative awareness data to each system requesting the collaborative awareness data. According to the invention, for sensing tasks under different communication resource constraints, efficient sharing between vehicle and road sensing resources is realized, and reliable environment sensing data is provided for behavior decision of the autonomous vehicle.

    本发明公开了一种协同考虑行车风险和通信负载的路车智能融合感知方法,包括以下步骤:S1、通过感知单元采集具有时间及位姿标签的点云数据;S2、通信单元获取协同感知数据;S3、计算单元融合点云数据并进行三维目标检测;S4、通信单元接收其他系统的协同感知数据请求;S5、计算单元基于安全场理论对感知区域内的行车风险进行评估;S6、计算单元对系统可用的通信资源在接收到的数据请求间进行分配;S7、对感知单元采集到的点云进行优化表征;S8、向请求协同感知数据的各系统发送协同感知数据。根据本发明,针对不同通信资源约束下的感知任务,实现了车路感知资源之间的高效共享,为自动驾驶车辆的行为决策提供了可靠的环境感知数据。


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    Title :

    Road-vehicle intelligent fusion sensing method cooperatively considering driving risk and communication load


    Additional title:

    一种协同考虑行车风险和通信负载的路车智能融合感知方法


    Contributors:
    ZHAO CONG (author) / DING DELONG (author) / JI YUXIONG (author) / DU YUCHUAN (author)

    Publication date :

    2024-01-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze



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