The invention discloses a cooperative sensing method for automatic driving V2X communication interruption optimization based on machine learning, and relates to the technical field of vehicle environment sensing. According to the invention, the limitation of bicycle perception is exceeded through combined perception in the aspect of perception capability, the problems that a long-distance object is difficult to observe and the sight is blocked by an obstacle in a crowded or complex environment are solved, the perception performance is obviously improved, more reliable information can be provided for an automatic driving downstream module, and the system is suitable for popularization and application. Meanwhile, from the perspective of a machine learning algorithm, information lost due to communication interruption is recovered by utilizing historical information, reliable recovery is realized by extracting multi-scale spatial-temporal characteristics from the historical information, and knowledge is extracted from ideal prior information to perform explicit supervision so as to improve performance. Through application of the method, good cooperative gain is realized under the condition of random V2X communication interruption, and the influence of V2X communication interruption in cooperative sensing is effectively relieved.
本发明公开一种基于机器学习的自动驾驶V2X通信中断优化的协作感知方法,涉及车辆环境感知技术领域。本发明在感知能力方面通过联合感知超越了单车感知的局限性,克服了远距离物体难以被观测问题以及拥挤或复杂环境下视线被障碍物遮挡等问题,显著提升了感知性能,能够为自动驾驶下游模块提供更可靠的信息,同时本发明从机器学习算法的角度出发,利用历史信息来恢复由于通信中断而丢失的信息,通过从历史信息中提取多尺度时空特征来实现可靠的恢复,对理想先验信息提取知识来进行显式监督以提高性能,它的应用在随机V2X通信中断的情况下实现了良好的合作增益,有效地缓解了合作感知中V2X通信中断的影响。
Cooperative sensing method for automatic driving V2X communication interruption optimization based on machine learning
基于机器学习的自动驾驶V2X通信中断优化的协作感知方法
2024-05-14
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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