The invention discloses a multi-agent asynchronous perception simulation method and system for vehicle-road cooperation, and the method comprises the steps: setting detailed parameters of a vehicle-road cooperation simulation scene, and starting an asynchronous world stream; creating a plurality of vehicle-road cooperative intelligent agents and common traffic participants, and planning traffic behaviors; a multi-source heterogeneous sensor is constructed on the vehicle-road cooperative intelligent agent, and asynchronous sensing is achieved; a data processing module is created on the vehicle-road cooperation intelligent agent, and processing and sharing of sensing data are achieved; a vehicle-road cooperation module is created on the vehicle-road cooperation agent, and cross-agent data fusion is realized; an algorithm training and testing process suitable for the simulation method is established, and integrated training and testing are achieved. The method can be used for vehicle-road collaborative simulation and perception algorithm development, the simulation process is closer to the real environment through asynchronous perception, asynchronous transmission and asynchronous processing, communication delay can be simulated more accurately, and the practicability and reliability of the perception algorithm can be effectively improved.
本发明公开了一种面向车路协同的多智能体异步感知仿真方法及系统,包括:设定车路协同仿真场景的详细参数,开启异步世界流;创建多个车路协同智能体以及普通交通参与者,规划交通行为;在车路协同智能体上构建多源异构传感器,实现异步感知;在车路协同智能体上创建数据处理模块,实现感知数据的处理与共享;在车路协同智能体上创建车路协同模块,实现跨智能体数据融合;建立适用于本仿真方法的算法训练与测试流程,实现一体式训练与测试。本发明可用于车路协同仿真以及感知算法开发,通过异步感知、异步传输与异步处理的方式,使得仿真过程更贴近真实环境,能够更准确地模拟通信延迟,可以有效提升感知算法的实用性和可靠性。
Multi-agent asynchronous perception simulation method and system for vehicle-road cooperation
一种面向车路协同的多智能体异步感知仿真方法及系统
2024-12-31
Patent
Electronic Resource
Chinese
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