The invention discloses a vehicle intersection and road section track data fusion method based on multiple sensors, and aims to solve the problem that a track connection method for extending an intersection to a road section is lacked in a vehicle track connection method in the prior art. Comprising the steps of delimiting a target intersection and a target road section matching area corresponding to the target intersection; acquiring trajectory data detected by each sensor in the target intersection and the target road section; constructing screening conditions to respectively screen out an intersection track set and a road section track set; and constructing a matching algorithm to respectively match the intersection track set and the road segment track set, setting the intersection track and the road segment track of which the matching times are greater than a preset threshold value M as fixed matching, and outputting a matching scheme. Trajectory sets of intersections and road sections are obtained by screening multi-sensor data, and the trajectory sets are matched, so that trajectories among multiple sensors can be joined at the same time, joining is performed from the global perspective, trajectory joining efficiency is improved, and trajectory information of vehicles on roads can be sensed accurately in real time.

    本发明公开了一种基于多传感器的车辆路口和路段轨迹数据融合方法,为了解决现有技术车辆轨迹衔接方法中缺乏路口延伸至路段时的轨迹衔接方法的问题。包括:划定目标路口及其对应的目标路段匹配区域;获取目标路口和目标路段内各传感器检测到的轨迹数据;构建筛选条件分别筛选出路口轨迹集合和路段轨迹集合;构建匹配算法分别对路口轨迹集合和路段轨迹集合进行匹配,对匹配次数大于预设阈值M的路口轨迹和路段轨迹设置为固定匹配,输出匹配方案。通过筛选多传感器数据获取路口和路段的轨迹集合,对轨迹集合进行匹配,能够同时衔接多传感器间的轨迹,从全局角度衔接,提高轨迹衔接效率,便于实时精确的感知道路上车辆的轨迹信息。


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    Title :

    Vehicle intersection and road section trajectory data fusion method based on multiple sensors


    Additional title:

    一种基于多传感器的车辆路口和路段轨迹数据融合方法


    Contributors:
    LI DEWEN (author) / JI JIANMIN (author) / RONG DINGDING (author) / SHEN BIN (author) / NI XUHUANG (author)

    Publication date :

    2024-01-26


    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



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