CN107807633A - A kind of roadside device, mobile unit and automatic Pilot cognitive method and system - Google Patents
A kind of roadside device, mobile unit and automatic Pilot cognitive method and system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
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Abstract
The present invention relates to automatic Pilot technical field, more particularly to a kind of roadside device, mobile unit and automatic Pilot cognitive method and system, roadside device, for detecting target area, obtain the detection data of target in target area, and according to the detection data of target in the target area, the movable information and status information of target in the target area are determined, and the movable information of the target and status information are sent to mobile unit；Mobile unit, the movable information and status information of the target sent for receiving the roadside device.Technical solution of the present invention can provide the environmental information of blind area by roadside device for vehicle, it is enable to environmental information that is real-time, being accurately obtained vehicle blind zone, the accuracy of wagon control is improved, such as truck reversing, handling goods is solved the problems, such as and blind area environmental information can not be known.
Description
Technical field
The present invention relates to automatic Pilot technical field, more particularly to a kind of roadside device, mobile unit and automatic Pilot
Cognitive method and system.
Background technology
Generally, automatic Pilot technology can probably be divided into three parts：Perception, decision-making and control.Perception is automatic Pilot
Basis, with the development of various onboard sensor technologies and artificial intelligence technology, automatic Pilot technology also increasingly tends to be commercial
Change.Wherein, automatic Pilot truck reduces accident rate because it can save human cost, the advantages that reducing oil consumption, market scale
Up to more than trillion, it is considered to be easiest to the segmenting market for landing commercialization.But automatic Pilot truck is mainly used in transporting goods
Thing, except needing solve the problems, such as automatic Pilot, it is also necessary to the technical barrier such as the automatic loading of solution, unloading, reversing, that is,
Environment sensing problem when automatic Pilot truck is moved backward.
In the prior art, when truck is moved backward, it is necessary to there are other people to be aided in from side, inform whether driver's car rear has
Barrier or pedestrian, but this obviously this in automated driving system is infeasible.
In the prior art, there is a kind of reversing early warning system, generally use ultrasonic radar in early warning system of moving backward, ultrasound
The scope that ripple radar can detect is 0.1m~3m or so, and the delay of ultrasonic radar is generally 0.5s~1s.But it is visited
Ranging from it is short, real-time is relatively low, also, do not applied to for automatic Pilot truck, this mode yet because, truck body
Long, sensor is in rear view of vehicle installation and difficult wiring；Truck radius of turn is big, needs to detect in automatic backing and Discharging Process
Distance it is farther, ultrasonic radar can not also meet to require；Truck can often carry additionally car, can not install sensor on trailer.These
Problem has resulted in automatic Pilot truck when unloading reversing, and vehicle rear area is the blind area that can not be perceived, it is impossible in time
Truck is made a policy and controlled exactly, security incident easily occurs.
The content of the invention
The embodiment of the present invention provides a kind of roadside device, mobile unit and automatic Pilot cognitive method and system, with solution
The problem of certainly automatic Pilot truck can not perceive the environmental information of blind area in the prior art.
Concrete technical scheme provided in an embodiment of the present invention is as follows：
A kind of roadside device, including probe unit, trackside processing unit, RSU and trackside antenna, it is specially：
Probe unit, for detecting target area, obtain the detection data of target in target area；
Trackside processing unit, is connected with probe unit and RSU respectively, for the detection according to target in the target area
Data, determine the movable information and status information of target in the target area；
RSU, for by the movable information and status information of the target, mobile unit to be sent to by trackside antenna.
A kind of automatic Pilot cognitive method, including：
Target area is detected, obtains the detection data of target in target area；
According to the detection data of target in the target area, the movable information and shape of target in the target area are determined
State information；
By the movable information and status information of the target, mobile unit is sent to by trackside antenna.
A kind of mobile unit, including OBU, on-board processing unit and car antenna, it is specially：
OBU, it is connected with on-board processing unit, mesh in the target area for receiving roadside device transmission by car antenna
Target movable information and status information, and the movable information of the target and status information are sent to on-board processing unit；
On-board processing unit, the movable information and status information of the target for receiving OBU transmissions.
A kind of automatic Pilot cognitive method, including：
Obtain the movable information and status information of target in the target area that roadside device is sent.
A kind of automatic Pilot sensory perceptual system, including roadside device and mobile unit, it is specially：
Roadside device, for detecting target area, the detection data of target in target area is obtained, and according to the target
The detection data of target in region, determines the movable information and status information of target in the target area, and by the mesh
Target movable information and status information are sent to mobile unit；
Mobile unit, the movable information and status information of the target sent for receiving the roadside device.
Using technical solution of the present invention, vehicle is being got outside the environmental information of onboard sensor acquisition, additionally it is possible to from
Roadside device receives the environmental information of target area, can more comprehensively and accurately obtain the environmental information of vehicle-surroundings, be car
It can make more accurate decision-making and control provides the foundation of more horn of plenty.For truck, truck at present
It is difficult to get blind area (region of truck afterbody, such as unloading area, cargo area or parking areas by onboard sensor
Deng) environmental information, therefore, using technical solution of the present invention, the environment that can provide blind area for vehicle by roadside device is believed
Breath, environmental information that is real-time, being accurately obtained vehicle blind zone is enable to, the accuracy of wagon control is improved, solves
Such as truck reversing, handling goods and the problem of blind area environmental information can not be known.
Brief description of the drawings
Fig. 1 is automatic Pilot sensory perceptual system structural representation in the embodiment of the present invention；
Fig. 2 is roadside device structural representation in the embodiment of the present invention；
Fig. 3 is mobile unit structural representation in the embodiment of the present invention；
Fig. 4 is automatic Pilot cognitive method flow chart in the embodiment of the present invention；
Fig. 5 is automatic Pilot cognitive method flow chart in the embodiment of the present invention；
Fig. 6 is automatic Pilot sensory perceptual system application scenarios structural representation in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, is not whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As shown in fig.1, in the embodiment of the present invention, automatic Pilot sensory perceptual system structural representation.
In the embodiment of the present invention, when being moved backward for the scene of automatic Pilot, particularly automatic driving vehicle, with automatic Pilot
Exemplified by truck, because truck body is long, radius of turn is big, at truck vehicle rear, install sensor is relatively difficult, and needs
Detection range is farther, can not also meet to require by sensor detection on vehicle body, and for automatic Pilot truck, also often have
The situation of trailer, on trailer also can not install sensor, therefore, during the unloading reversing of automatic Pilot truck, on rear side of truck vehicle
Region is the blind area that can not be perceived, and for automatic Pilot, can not perceive posterior region, it is impossible to it is accurate make corresponding decision and
, easily there is security incident in action.
Therefore, in the embodiment of the present invention, there is provided a kind of automatic Pilot sensory perceptual system, including roadside device 1 and vehicle-mounted set
Standby 2, it is effectively and accurately perceived the environmental goals information of vehicle rear area, and as decision-making and the input controlled according to
According to.In the embodiment of the present invention, mobile unit can be DSP (Digital Signal Processing, Digital Signal Processing
Device), FPGA (Field-Programmable Gate Array, field programmable gate array) controller, industrial computer, driving
Computer, ECU (Electronic Control Unit, electronic control unit) or VCU (Vehicle Control Unit, it is whole
Vehicle controller) etc., the application does not do considered critical.
Specifically：
Roadside device 1, for detecting target area, the detection data of target in target area is obtained, and according to the mesh
The detection data of target in region is marked, determines the movable information and status information of target in the target area, and by described in
The movable information and status information of target are sent to mobile unit 2.
Mobile unit 2, the movable information and status information of the target sent for receiving the roadside device 1.
So, the environmental information of target area can be obtained by road measuring device 1 by roadside device 1, mobile unit 2.
Target area can be the region that onboard sensor can not obtain environmental information, such as parking areas, dress unloading area etc..
Refering to Fig. 2, for the structural representation of roadside device 1 in the embodiment of the present invention.
In the embodiment of the present invention, roadside device 1 includes probe unit 10, trackside processing unit 11, roadside unit (Road
Side Unit, RSU) 12 and trackside antenna 13.
Above-mentioned each equipment is simply introduced below：
1) probe unit 10, for detecting target area, the detection data of target in target area is obtained.
In the embodiment of the present invention, roadside device 1 is arranged on close-proximity target zone, the specific installation site root of probe unit 10
Come according to the attribute (such as detection angle and detection range etc.) of the size for the target area for needing to detect, position and probe unit 10
It is comprehensive to determine, to enable probe unit 10 to detect whole target area.
Wherein, probe unit 10 can be camera or laser radar.
Generally, the ultimate range that general camera can detect is 50cm or so, and the ultimate range of laser radar detection can
To reach 100m~150m or so.The model and its installation site of probe unit 10 can be flexibly selected according to the actual requirements.This
Sample, it is possible to based on the probe unit 10, detect target area, the number of targets of the environment of loading dock for example, on rear side of truck
According to.
For example, if probe unit 10 is camera, the detection data for obtaining target in target area is the image of target
Data.
In another example if probe unit 10 is laser radar, the detection data for obtaining target in target area is target
Cloud data.
Further, after installing probe unit 10, it is also necessary to determine and record the position of probe unit 10, it is therefore an objective to use
The movable information and status information of target are calculated in trackside processing unit 11 afterwards.
In particular it is required that the position of measure probe unit 10, including longitude, dimension and height from the ground.Wherein, pass through
Degree and dimension can position to obtain by surveying and drawing machine location equipment, the equipment that height from the ground can be by measuring height, example
Such as obtained by height-gauge measurement.
2) trackside processing unit 11, it is connected respectively with probe unit 10 and RSU12, for according to target in target area
Detection data, determine the movable information and status information of target in the target area.
Wherein, trackside processing unit 11 can be set using Nvdia Jetson TX2 or other suitable processing
It is standby, in the embodiment of the present invention and it is not limited.
Trackside processing unit 11, is specifically used for：
First, according to the detection data of target in the target area, the relative status of target in target area are identified
Information and relative movement information.
Wherein, the relative status information and relative movement information, represent that target is believed relative to the state of probe unit 10
Breath and movable information.For example, position and direction be relative to probe unit 10 for the coordinate system of origin for, wherein, position
The distance and angle of probe unit 10 are set to, direction is to perceive the direction in the visual field in probe unit 10.
Movable information includes speed and/or route, status information include it is following any one or more：Position, class
Type, size.
Wherein, target can be that dynamic object can also be stationary body, such as vehicle, pedestrian, animal, building, base
Infrastructure, plant etc., the type of target is the classification of these objects, and the size of target is the size of target, for motion
Target can also identify its speed and route.
For example, detection data is view data, then can be identified respectively using the image processing techniques based on deep learning
Individual target, and the size of each target, type, relative position, speed and relative route.It is of course also possible to use its
His image processing techniques of the prior art, is identified, in the embodiment of the present invention, and is not limited.
In another example detection data is cloud data, then can be by processing such as cloud data filtering and classification, identifying
Each target, and the size of each target, type, relative position, speed and relative route.
Then, according to the installation site of the probe unit 10 of measure, and the relative status information of the target and relative
Movable information, determine the status information and movable information of the target.
So, according to the installation site of the probe unit 10 of measure and detection direction, it is possible to calculate each target
Absolute position, including longitude and dimension, speed and absolute route, for example, can be obtained each using due north as 0 degree
The actual status information of target and movable information.
Further, it is determined that in the target area after the movable information of target and status information, trackside processing unit
11 are additionally operable to：According to pre-arranged code form, the movable information of the target and status information are encoded.Now, RSU12 has
Body can be realized as follows：By according to the movable information and status information of the target after pre-arranged code said shank, pass through trackside antenna
It is sent to mobile unit.
So, after according to pre-arranged code said shank, the binary data of certain length is formed, transmission safety can be improved
Property and reliability.
3) RSU12, for by the movable information and status information of the target, vehicle-mounted set to be sent to by trackside antenna 13
Standby 2.
Wherein, RSU12 is that a kind of car exchanges (Vehicle to Everything, V2X) roadside unit to the information in the external world
Equipment, there is V2X communication functions.
Wherein, the omnidirectional antenna of trackside antenna 13, for example, V2X communication, is directed downward during installation.
Specifically：(1) by V2X agreements, the movable information of the target and status information are encoded, and is packaged into
V2X messages.
(2) according to setting cycle and transmit power, the V2X messages are sent to vehicle-mounted set by specified frequency channel
Standby 2.
So, V2X messages are sent in the air interface of assigned frequency passage by RSU12, the can of mobile unit 2 from this
The V2X messages are got in frequency channel.
4) fixing device, for installing and fixing the roadside device 1；The fixing device includes pedestal, trackside support
Bar and cross bar, the pedestal are fixedly installed on ground, and trackside cradling piece is fixedly installed on the pedestal, cross bar and trackside branch
Hack lever is connected.
, can be in the loading dock of truck suitable position selected around in fixing device for installing in the embodiment of the present invention
Installation, it is preferred that selecting relatively near from loading dock, broad view position installation.
At the same time it can also set power line, it is installed in trackside cradling piece, for giving the probe unit 10, road respectively
Side processing unit 11 and RSU12 power supplies.
Certainly, fixing device may not be the form of pedestal, trackside cradling piece and cross bar, in the embodiment of the present invention not
Limited, as long as support and normal power supply can be stablized.
In the embodiment of the present invention, between trackside processing unit 11 and probe unit 10, trackside processing unit 11 and RSU12
Communication mode for it is following any one：Ethernet communication, usb communication.
As shown in fig.3, in the embodiment of the present invention, mobile unit structural representation.
In the embodiment of the present invention, mobile unit 2 includes board units (On Board Unit, OBU) 20, on-board processing list
Member 22 and car antenna 21.
Specifically：
OBU20, it is connected with on-board processing unit 22, for receiving the target of the transmission of roadside device 1 by car antenna 21
The movable information and status information of target in region, and the movable information of the target and status information are sent to on-board processing
Unit 22.
Wherein, OBU20 is a kind of V2X mobile units, has V2X communications and high-precision positioning function, high accuracy positioning skill
Art can realize the centimeter-level positioning of vehicle.
In the embodiment of the present invention, OBU20 may be mounted in the driver's cabin of vehicle, and with the automated driving system phase of vehicle
Even, that is, it is connected and on-board processing unit 22.
Wherein, car antenna 21 may be mounted at the top of the driver's cabin of vehicle, and be higher than car body as far as possible, so, can be with
Metal car body is avoided to impact wireless signal.
So, after V2X messages are sent in the air interface of assigned frequency passage by the RSU12 of roadside device 1,
OBU20 cans get V2X messages from the frequency channel.
Specifically：(1) by car antenna 21, the V2X that roadside device 1 is sent is received from the frequency channel specified
Message.
(2) by V2X agreements, the V2X messages received is decoded, mesh is extracted from the V2X messages
Mark the movable information and status information of target in region.
In present example, RSU12 and OBU20 realize and communicated that OBU20 is extracted by V2X protocol-decodings by V2X
Valid data, at this moment, fortune of the data that OBU20 is obtained for trackside processing unit 11 according to the target after pre-arranged code said shank
Dynamic information and status information.
On-board processing unit 22, the movable information and status information of the target for receiving OBU20 transmissions.
Specifically：(1) movable information and state according to the target after pre-arranged code said shank that OBU20 is sent are received
Information.
(2) according to the pre-arranged code form, decoded, obtain the movable information and status information of the target.
Further, onboard sensor is provided with vehicle, the onboard sensor is not shown in figure 3, for example, vehicle-mounted biography
Sensor can be camera on vehicle, laser radar, microwave radar, ultrasonic sensor etc., the onboard sensor
For detecting and obtaining the environmental information of vehicle.
Further, on-board processing unit 22 is additionally operable to：Obtain the environmental information that onboard sensor collects；According to described
The movable information and status information of target, and the environmental information that the onboard sensor obtained collects, vehicle is carried out automatic
Driving Decision-making, and control the vehicle to travel according to the result of decision.
For example, when truck is moved backward or is unloaded, the environment letter of the target of truck rear area is got according to roadside device
Breath and status information, the onboard sensor that can be combined with itself installation on truck get the environment of the other surrounding environment of truck
Information, and then control truck automatic Pilot so that truck can be travelled safely and reliably in reversing or unloading.For example, determine
Truck has target behind, and target is less than zero with respect to the speed of truck, and truck carries out Reduced Speed Now.
So, on-board processing unit 22 is obtained with the position of the target in vehicle rear-side region, size, type, speed
The information such as degree, route, surrounding's ring that these information further can be got with the other sensors installed on vehicle
Environment information is combined, and collectively as the perception data of automated driving system, is not only solved when can be with effectively perceive vehicle backing
The target information of posterior region, also improve the safety and reliability of automatic Pilot.
In the embodiment of the present invention, communication mode between above-mentioned OBU20 and on-board processing unit 22 for it is following any one：
Ethernet communication, usb communication.
It is of course also possible to use other communication modes, in the embodiment of the present invention and it is not limited, in order to realize
Data transfer between each equipment.
In the embodiment of the present invention, there is provided a kind of automatic Pilot sensory perceptual system, including, roadside device 1 and mobile unit 2,
Wherein, roadside device 1 comprises at least probe unit 10, trackside processing unit 11, RSU12 and trackside antenna 13；Mobile unit 2 to
Include OBU20, on-board processing unit 22 and car antenna 21 less, cooperateed with using bus or train route, reasonably utilize roadside device 1 and vehicle-mounted
Equipment 2 so that truck in reversing or unloading, can also high real-time, perceive vehicle rear area environment exactly
Target information, and the input foundation of the decision-making as automatic Pilot and control, accurately can make a policy and control vehicle,
So as to solve the problems, such as that automatic Pilot truck can not perceive environment after car.
Based on above-described embodiment, as shown in fig.4, in the embodiment of the present invention, roadside device end automatic Pilot cognitive method
Flow chart.
Step 400：Target area is detected, obtains the detection data of target in target area.
Step 410：According to the detection data of target in the target area, the motion of target in the target area is determined
Information and status information.
Step 410 specific implementation can be as follows：First, according to the detection data of target in the target area, mesh is identified
Mark the relative status information and relative movement information of target in region；Then, according to the installation site of the probe unit of measure, with
And the relative status information and relative movement information of the target, calculate the status information and movable information of the target.
Wherein, the relative status information and relative movement information, status information of the target relative to probe unit is represented
And movable information；The probe unit is the device of detection target area.
For example, relative status information is the position relative to probe unit, relative movement information is relative to probe unit
Route etc..
Wherein, movable information includes speed and/or route, status information include it is following any one or more：Position
Put, type, size.
Preferably, further to improve the security of information transfer, after step 410 is performed, further comprise：According to
Pre-arranged code form, the movable information of the target and status information are encoded.
Step 420：By the movable information and status information of the target, mobile unit is sent to by trackside antenna.
When performing step 420, specifically include：First, by V2X agreements, the movable information of the target and state are believed
Breath is encoded, and is packaged into V2X messages；Then, according to setting cycle and transmit power, by the V2X messages by specifying
Frequency channel be sent to mobile unit.
So, in the embodiment of the present invention, detected by roadside device and obtain in target area the movable information of target and
Status information, and then be sent to mobile unit so that mobile unit can obtain the environmental information of target area, so as to accurate and
When make a policy and control for automatic Pilot.
Based on above-described embodiment, as shown in fig.5, in the embodiment of the present invention, mobile unit end automatic Pilot cognitive method
Flow chart.
Step 500：Obtain the movable information and status information of target in the target area that roadside device is sent.
Step 500 specific implementation can be as follows：First, by car antenna, road is received from the frequency channel specified
The V2X messages that side apparatus is sent；By V2X agreements, the V2X messages received are decoded, from the V2X messages
Extract the movable information and status information of target in target area.
In the embodiment of the present invention, the RSU of roadside device encapsulates the movable information of target in target area and status information
Into message, it is sent in the air interface of assigned frequency passage, and then the OBU of mobile unit can get roadside device
The V2X messages that RSU is sent.
Further, after performing step 500, in addition to：Obtain the environmental information that onboard sensor collects；According to institute
The movable information and status information of target, and the environmental information that the onboard sensor obtained collects are stated, vehicle is carried out certainly
Dynamic Driving Decision-making, and control the vehicle to travel according to the result of decision.
So, the movable information and status information of target in the target area extracted can be sent to vehicle-mounted place by OBU
Manage unit, and then for automated driving system provide data support, allow its in real time, be accurately obtained vehicle rear area
Environmental information, and other environmental informations for collecting of onboard sensor can be combined, and then can more accurately and reliably do
Go out automatic Driving Decision-making, especially vehicle in reversing or unloading, can further improve the security of vehicle traveling and reliable
Property.
Further description is made to above-described embodiment using a specific application scenarios below.Referring particularly to Fig. 6
It is shown, in the embodiment of the present invention, automatic Pilot sensory perceptual system application scenarios structural representation.
1) roadside device 1 is installed near loading dock, filled referring particularly to shown in Fig. 6, first installation is fixed near loading dock
Put, including pedestal, trackside cradling piece and cross bar.Pedestal is rest on the ground, and trackside cradling piece is located on pedestal, cross bar and trackside branch
Hack lever is connected, and installs power line inside trackside cradling piece, for being powered to roadside device 1.
Probe unit 10 is installed on trackside cradling piece, being oriented towards loading dock for probe unit 10, can be detected
The region of whole loading dock.Trackside processing unit 11 and RSU12 are arranged on cross bar, and the installation direction of trackside antenna 13 is down.
2) OBU20 is arranged in the driver's cabin of vehicle, and is connected with on-board processing unit 22, is led between OBU20 and RSU12
Cross V2X communications.Wherein on-board processing unit 22 is not shown in figure 6.Car antenna 21 is arranged at the top of vehicle cab, and high
In vehicle highest point.
Based on each equipment, realize when vehicle is unloaded and moved backward, can real-time and accurately perceive vehicle back region
Target information, data foundation is provided for automatic Pilot.Specifically：
First, probe unit 10 obtains the detection data of target in target area.
Then, trackside processing unit 11 identifies the movable information and status information of target according to the detection data of target.
Then, the movable information and status information of target are sent to the frequency channel specified by RSU12.
Then, OBU20 gets the movable information and status information of target in target area from the frequency channel specified,
And it is sent to on-board processing unit 22.
Finally, on-board processing unit 22 receives the movable information and status information of target in target area.
So, that is, the target information of vehicle rear area is obtained, and other onboard sensors can be combined, jointly
Input data as automated driving system so that automated driving system accurately can make a policy and control vehicle.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.So, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these changes and modification.
Claims (19)
1. a kind of roadside device, it is characterised in that including probe unit, trackside processing unit, roadside unit RSU and trackside day
Line, it is specially：
Probe unit, for detecting target area, obtain the detection data of target in target area；
Trackside processing unit, is connected with probe unit and RSU respectively, for the detection number according to target in the target area
According to determining the movable information and status information of target in the target area；
RSU, for by the movable information and status information of the target, mobile unit to be sent to by trackside antenna.
2. roadside device as claimed in claim 1, it is characterised in that further comprise：
Fixing device, for installing and fixing the roadside device；The fixing device includes pedestal, trackside cradling piece and horizontal stroke
Bar, the pedestal are fixedly installed on ground, and trackside cradling piece is fixedly installed on the pedestal, cross bar and trackside cradling piece phase
Even.
3. roadside device as claimed in claim 1, it is characterised in that the probe unit is camera or laser radar.
4. the roadside device as described in claim 1,2 or 3, it is characterised in that according to the detection of target in the target area
Data, determine the movable information and status information of target in the target area, and trackside processing unit is used for：
According to the detection data of target in the target area, the relative status information of target in target area and relative is identified
Movable information, wherein, the relative status information and relative movement information represent status information of the target relative to probe unit
And movable information；
According to the relative status information and relative movement information of the installation site of the probe unit of measure, and the target, really
The status information and movable information of the fixed target, wherein, movable information includes speed and/or route, status information bag
Include it is following any one or more：Position, type and size.
5. roadside device as claimed in claim 1, it is characterised in that determine in the target area movable information of target and
After status information, trackside processing unit is further used for：According to pre-arranged code form, by the movable information and shape of the target
State information is encoded；
RSU is specifically used for：By according to the movable information and status information of the target after pre-arranged code said shank, pass through trackside day
Line is sent to mobile unit.
6. the roadside device as described in claim 1 or 5, it is characterised in that by the movable information and status information of the target,
Mobile unit is sent to by trackside antenna, RSU is used for：
By V2X agreements, the movable information of the target and status information are encoded, and are packaged into V2X messages；
According to setting cycle and transmit power, the V2X messages are sent to mobile unit by specified frequency channel.
7. roadside device as claimed in claim 1, it is characterised in that further comprise：
Communication mode between trackside processing unit and probe unit, trackside processing unit and RSU for it is following any one：Ether
Network Communication, usb communication.
A kind of 8. automatic Pilot cognitive method, it is characterised in that including：
Target area is detected, obtains the detection data of target in target area；
According to the detection data of target in the target area, the movable information of target and state letter in the target area are determined
Breath；
By the movable information and status information of the target, mobile unit is sent to by trackside antenna.
9. method as claimed in claim 8, it is characterised in that according to the detection data of target in the target area, it is determined that
The movable information and status information of target in the target area, including：
According to the detection data of target in the target area, the relative status information of target in target area and relative is identified
Movable information, wherein, the relative status information and relative movement information, represent status information of the target relative to probe unit
And movable information；The probe unit is the device of detection target area；
According to the relative status information and relative movement information of the installation site of the probe unit of measure, and the target, really
The status information and movable information of the fixed target, wherein, movable information includes speed and/or route, status information bag
Include it is following any one or more：Position, type and size.
10. method as claimed in claim 8, it is characterised in that determine the movable information and shape of target in the target area
After state information, by the movable information and status information of the target, before being sent to mobile unit by trackside antenna, enter one
Step includes：
According to pre-arranged code form, the movable information of the target and status information are encoded.
11. the method as described in claim 8 or 10, it is characterised in that by the movable information and status information of the target, lead to
Cross trackside antenna and be sent to mobile unit, including：
By V2X agreements, the movable information of the target and status information are encoded, and are packaged into V2X messages；
According to setting cycle and transmit power, the V2X messages are sent to mobile unit by specified frequency channel.
12. a kind of mobile unit, it is characterised in that including board units OBU, on-board processing unit and car antenna, be specially：
OBU, it is connected with on-board processing unit, target in the target area for receiving roadside device transmission by car antenna
Movable information and status information, and the movable information of the target and status information are sent to on-board processing unit；
On-board processing unit, the movable information and status information of the target sent for receiving the OBU.
13. mobile unit as claimed in claim 12, it is characterised in that the mesh of roadside device transmission is received by car antenna
The movable information and status information of target in region are marked, OBU is used for：
By car antenna, the V2X messages that roadside device is sent are received from the frequency channel specified；
By V2X agreements, the V2X messages received are decoded, extracted from the V2X messages in target area
The movable information and status information of target.
14. mobile unit as claimed in claim 12, it is characterised in that on-board processing unit is further used for：
Obtain the environmental information that onboard sensor collects；
According to the movable information and status information of the target, and the environmental information that the onboard sensor obtained collects, it is right
Vehicle carries out automatic Pilot decision-making, and controls the vehicle to travel according to the result of decision.
15. mobile unit as claimed in claim 12, it is characterised in that further comprise：
Communication mode between OBU and on-board processing unit for it is following any one：Ethernet communication, usb communication.
A kind of 16. automatic Pilot cognitive method, it is characterised in that including：
Obtain the movable information and status information of target in the target area that roadside device is sent.
17. method as claimed in claim 16, it is characterised in that obtain the fortune of target in the target area that roadside device is sent
Dynamic information and status information, including：
By car antenna, the V2X messages that roadside device is sent are received from the frequency channel specified；
By V2X agreements, the V2X messages received are decoded, extracted from the V2X messages in target area
The movable information and status information of target.
18. method as claimed in claim 16, it is characterised in that further comprise：
Obtain the environmental information that onboard sensor collects；
According to the movable information and status information of the target, and the environmental information that the onboard sensor obtained collects, it is right
Vehicle carries out automatic Pilot decision-making, and controls the vehicle to travel according to the result of decision.
19. a kind of automatic Pilot sensory perceptual system, it is characterised in that including roadside device and mobile unit, be specially：
Roadside device, for detecting target area, the detection data of target in target area is obtained, and according to the target area
The detection data of middle target, determines the movable information and status information of target in the target area, and by the target
Movable information and status information are sent to mobile unit；
Mobile unit, the movable information and status information of the target sent for receiving the roadside device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710892457.1A CN107807633A (en) | 2017-09-27 | 2017-09-27 | A kind of roadside device, mobile unit and automatic Pilot cognitive method and system |
| CN202011548925.1A CN112731911A (en) | 2017-09-27 | 2017-09-27 | Road side equipment, vehicle-mounted equipment, and automatic driving sensing method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710892457.1A CN107807633A (en) | 2017-09-27 | 2017-09-27 | A kind of roadside device, mobile unit and automatic Pilot cognitive method and system |
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| CN202011548925.1A Division CN112731911A (en) | 2017-09-27 | 2017-09-27 | Road side equipment, vehicle-mounted equipment, and automatic driving sensing method and system |
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