The invention discloses a communication perception integrated scheduling method based on point cloud voxelization, which is applied to the field of vehicle-road collaborative perception. The method comprises the following steps: in each time slot, an intelligent vehicle observes radar point cloud data, identifies surrounding traffic subjects through a local lightweight target detection network, uploads observed radar point cloud data distribution, vehicle positions and identification results to a base station through a UU interface, and forwards the observed radar point cloud data distribution, vehicle positions and identification results to an edge computing node; the edge computing node obtains a blind area where radar point cloud data needs to be transmitted of each intelligent vehicle based on the received data, determines a communication link in a current traffic scene, solves a communication resource allocation scheme based on a designed optimization target and constraint conditions, the base station issues a corresponding scheduling instruction to the intelligent vehicle, and the intelligent vehicle performs scheduling according to the scheduling instruction. And communicating with other vehicles through a PC5 interface, and transmitting observed radar point cloud data. According to the invention, the real-time performance is ensured, the waste of communication resources is reduced, and the efficiency of cooperative sensing is improved.
本发明公开了一种基于点云体素化的通信感知一体化调度方法,用于车路协同感知领域。本发明方法包括:在每个时隙,智能车辆观测雷达点云数据,通过本地轻量级目标检测网络识别周围的交通主体,并通过UU接口将观测的雷达点云数据分布、车辆位置、识别结果上传给基站,基站转发给边缘计算节点,边缘计算节点基于接收的数据获取各智能车辆需要传输雷达点云数据的盲区,确定当前交通场景中的通信链路,基于设计的优化目标和约束条件求取通信资源分配方案,基站下发相应的调度指令给智能车辆,智能车辆根据调度指令,通过PC5接口与其他车辆通信,传输所观测的雷达点云数据。本发明保证实时性,减少了通信资源浪费,提高了协同感知的效率。
Communication perception integrated scheduling method based on point cloud voxelization
一种基于点云体素化的通信感知一体化调度方法
2024-05-24
Patent
Electronic Resource
Chinese