CN108986510A - A kind of local dynamic map of intelligence towards crossing realizes system and implementation method - Google Patents
A kind of local dynamic map of intelligence towards crossing realizes system and implementation method Download PDFInfo
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- CN108986510A CN108986510A CN201810856907.6A CN201810856907A CN108986510A CN 108986510 A CN108986510 A CN 108986510A CN 201810856907 A CN201810856907 A CN 201810856907A CN 108986510 A CN108986510 A CN 108986510A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
Abstract
The local dynamic map of the intelligence that the present invention relates to a kind of towards crossing realizes system and implementation method, the system includes the vehicle terminal system on vehicle and the trackside subsystem set on crossing, the vehicle terminal system includes vehicle-mounted industrial personal computer and the first car networking communication module all connecting with vehicle-mounted industrial personal computer, GPS module and display, the trackside subsystem includes trackside industrial personal computer and the second car networking communication module connecting with trackside industrial personal computer, the trackside industrial personal computer connects traffic lights, multiple cameras and multiple microwave radars, the first car networking communication module and the first car networking communication module are connected by base station communication.Compared with prior art, the present invention can allow driver to know the traffic condition near crossing, find periphery danger that may be present as early as possible convenient for driver, accident rate can be reduced to a certain extent, furthermore, driver can be also allowed to know the congestion information of front road conditions in advance, dynamic adjusts route, reduces traffic congestion.
Description
Technical field
The present invention relates to the field of intelligent transportation technology in car networking, originally more particularly, to a kind of intelligence towards crossing
Ground dynamic map realizes system and realization side.
Background technique
Car networking refer to realized by various wireless communication technology all vehicles status information (including attribute information and
Quiet, multidate information etc.) and road traffic environment information (including road infrastructure information, traffic, information on services etc.)
Information sharing, and effectively supervised according to motion state of the different functional requirements to all vehicles and integrated service.Vehicle
The information exchange between vehicle and vehicle, Che Yulu, vehicle and people may be implemented in networking.Just as internet connects the computer of each separate unit
Get up, car networking can link together independent automobile.Currently, there are two standards for the car networking communication technology: DSRC and C-
V2X, the latter are the car networking technologies that China is praised highly.The main purpose of car networking is to make traveling safer, more convenient.
For at present, it is mostly base that the application field of car networking, which is a series of many aspects of vehicle safety applications being unfolded based on vehicle,
The application between application and bus or train route between vehicle vehicle, in practical applications, since most of vehicles install car networking not yet
Communication equipment, many security applications can not carry out, and rely solely on the equipment of car networking to do security application, the number got
According to not comprehensive enough (only getting the information of vehicles of installation equipment), such as in some hazardous locations, intersection or corner,
Existing intelligent driving technology does not also realize data visualization to such location, but on this kind of section, often accident frequency
Hair ground and it is urgently to be resolved.Although the control of all traffic lights in intersection, many problems are still had.First,
The intersection of traffic lights control, driver think that amber light is the prelude for being transformed into red light, be it is legal quickly through
The signal of intersection sees amber light and just pulls devil speed-raising, does not drive to crossing stop line toward contact, amber light becomes red again
Lamp, the ramp to stop for being at this moment busy with emergency braking again or being nervously fumbled, makes front vehicle be caught unprepared, and rear-end collision occurs；
In addition having some drivers, amber light has changed into red light at a glance, and vehicle has closed on crossing stop line, just directly made a dash across the red light, had very much
Traffic accident may occur.Second, opposite left vehicle turning, the through vehicles on lateral lane and left-hand rotation when through vehicles are let pass
Curved vehicle has the possibility made a dash across the red light at any time, if not paying attention to observing and avoid, it is possible to collide；Some pedestrians ride
The people of bicycle passes through in the same old way in red signal, walks in wagon flow, if driver can't see or it is absent-minded all
It may be collided with it.4th, when left-hand bend green light, it is current to allow left vehicle turning, but there are also after the clearance of part at this time
Pedestrian, bicycle are current on crossing zebra stripes, have been more than that the through vehicles of stop line are also passing through on belt road,
If left vehicle turning does not pay attention to observing and avoid at this time, it is possible to collide with them；Vehicle during left-hand bend,
Often there is front vehicle seriously to break rules and regulations, quickly surmounts by force from rear side suddenly, at this time since vehicle is being turned, the view of rearview mirror
Angular region becomes smaller, and forms part sight " blind area ".If not paying attention to observing its dynamic, it is easy for colliding.To sum up, intersect
Crossing is relatively common Frequent Accidents, is mostly due to sight blind area and road conditions are unknown causes.But traffic department is to such
Place is designed with the equipment such as camera and microwave radar, but this kind of equipment is all only limitted to accident record purposes.
Therefore, rely solely on intelligent vehicle realize intelligent driving be it is far from being enough, we should make full use of road
There is equipment, perception peripheral information as much as possible is realized and perceived to the intelligence of ambient enviroment, and passes through network for sensing results
Vehicle is passed to map view, the intelligent level of vehicle entirety can not only be greatlyd improve in this way, additionally it is possible to effectively improve
Detection accuracy realizes the abundant shared of perception information.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of intelligence towards crossing
Energyization local dynamic map realizes system and realization side.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of local dynamic map of intelligence towards crossing realizes system, including the vehicle terminal system being set on vehicle
With the trackside subsystem for being set to crossing, the vehicle terminal system include vehicle-mounted industrial personal computer and all connect with vehicle-mounted industrial personal computer the
One car networking communication module, GPS module and display, the trackside subsystem include trackside industrial personal computer and connect with trackside industrial personal computer
The the second car networking communication module connect, the trackside industrial personal computer connection traffic lights, multiple cameras and multiple microwave radars,
The first car networking communication module and the first car networking communication module are connected by base station communication.
Preferably, a camera and a microwave radar are with being combined into one group, respectively at crossing and every road
The junction on road is arranged at least one set of.
A kind of local dynamic map of the above-mentioned intelligence towards crossing realizes the implementation method of system, comprising the following steps:
S1, crossing surrounding is obtained within the set range using data anastomosing algorithm by the camera and microwave radar
The targeted attitude data of pedestrian and vehicle are sent to the trackside industrial personal computer；
Camera radar fix system where the targeted attitude data is transformed into this crossing by S2, the trackside industrial personal computer
Local coordinate under；
All targeted attitude data are mapped on the electronic map at this crossing by S3, the trackside industrial personal computer, obtain this road
The local dynamic map of mouth；
S4, the trackside industrial personal computer send base station by the second car networking communication module for the local dynamic map,
Base station leads to the first car networking of the vehicle that the GPS coordinate of local dynamic map and corresponding crossing is broadcast in all communication ranges
Interrogate module；
The local dynamic map at the crossing that the vehicle-mounted industrial personal computer acquisition of S5, vehicle are being driven towards, by the GPS where vehicle
Coordinate is transformed into the GPS coordinate system at the crossing, then after being matched in local dynamic map, is shown by the display.
Preferably, the targeted attitude data include position coordinates, direction of advance and the forward speed of pedestrian and vehicle.
Preferably, the local coordinate at the crossing be using crossing center as origin, using direction by north as x-axis forward direction, with
Direction by north is that y-axis is positive.
Preferably, the camera radar fix system where the targeted attitude data is transformed into this road in the step S2
Under the local coordinate of mouth specifically:
Wherein, (x0,y0) it is coordinate of the targeted attitude data under camera radar fix system, (x1,y1) it is targeted attitude
Coordinate of the data under the local coordinate at this crossing, β is between camera radar fix system and the local coordinate at this crossing
Rotation angle, a and b are respectively that the local coordinate system at camera radar fix system and this crossing ties up to the offset of x-axis and y-axis.
Preferably, the GPS coordinate system at the crossing is using crossing center as origin, using direct north as x-axis forward direction, with just
South to for y-axis forward direction.
Preferably, the GPS coordinate where vehicle is transformed into the GPS coordinate system at the crossing specifically in the step S5
Are as follows:
Wherein, (xgps,ygps) it is coordinate of the vehicle in the GPS coordinate system at the crossing, (latitude1,longitude1)
For the GPS coordinate of the central point at the crossing, (latitude2,lagitude2) be vehicle GPS coordinate, R is earth radius.
Preferably, the process being matched in local dynamic map in the step S5 includes: to turn the GPS coordinate system at crossing
It is changed to the local coordinate at crossing:
Wherein, (xmap1,ymap1) be crossing local coordinate in coordinate, (xgps1,ygps1) be crossing GPS coordinate
Coordinate in system, δ are the rotation angle between the GPS coordinate system and local coordinate at crossing.
Compared with prior art, the present invention realizes the local dynamic map function of the intelligence towards crossing, passes through C-
The local map data at crossing are sent to vehicle by the car networking technologies such as V2X or DSRC, pass through the posture of target each near crossing
Data can allow driver to know the traffic condition near crossing, find periphery danger that may be present as early as possible convenient for driver,
Accident rate can be reduced to a certain extent, in addition, within the system since driver will be seen that the road being connected with crossing
The traffic condition of road can mitigate congestion according to the congestion dynamic select others travel route of other roads
Phenomenon has many advantages, such as that high reliablity, broad covered area, strong real-time, cost is relatively low, practicability is high.
Detailed description of the invention
Fig. 1 is the system architecture diagram in the present invention；
Fig. 2 is the system flow chart in the present invention；
Fig. 3 is the electronic map pattern diagram in the present invention；
Fig. 4 is the schematic diagram of the local coordinate at camera radar fix system and crossing in the present invention；
Fig. 5 is the local coordinate transfer principle figure of camera radar fix system and crossing in the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
The application provides a kind of local dynamic map realization system and method for the intelligence towards crossing, intersects to reduce
Intersection road conditions are presented to driving the system integration and Data fusion technique by crossing accident rate in the form of map
Member, so that driver can better understand intersection road conditions, reduce unnecessary emergency braking and because blind area caused one
Furthermore series of problems data can also avoid congestion road according to the map, to reduce traffic congestion, promote driving efficiency.
In view of existing vehicle safety technology could not also realize in real time know front cross crossing road conditions function or with
The road conditions at the entire crossing in visual pattern perception front, the real-time implementation system for having built a set of local map of the application creativeness
System, the information data that trackside subsystem is submitted by communication equipments such as intersection camera, radar, traffic lights carry out data and melt
It closes, the traffic lights phase information at crossing, the attitude data of pedestrian and the vehicle data that detects is subjected to a series of coordinate conversions
And be mapped on local electronic map, the local map about the crossing is ultimately formed, through C-V2X the or DSRC communication technology by road
The map datum of mouth is sent to all vehicles for driving towards the crossing, thus can before driver does not reach intersection
Solve the road conditions of intersection.By above system, driver will have sufficient understanding to intersection road conditions, will not be because of friendship
The road conditions of cross road mouth complexity make unnecessary erroneous judgement.
Embodiment
As shown in Figure 1, a kind of local dynamic map of intelligence towards crossing realizes system, including the vehicle being set on vehicle
Terminal system and the trackside subsystem set on crossing.Wherein MEC system is to utilize movement/multiple access edge calculations (Mobile/
Multi-Access Edge Computing, MEC) technology, it will calculate storage capacity and business service ability to network edge
Migration makes to apply, service and localization, short distance, distributed deployment may be implemented in content, to a certain degree solution network hotspot height
The business demand for the technologies scenes such as the big connection of capacity, low-power consumption and low time delay are highly reliable.MEC is moved by sufficiently excavating simultaneously
Intelligent driving service application is given in dynamic network data and information, the perception and analysis and opening of realization mobile network's contextual information,
The intelligent level of mobile network is effectively improved, the depth integration of network and business is promoted.
Vehicle terminal system include vehicle-mounted industrial personal computer and the first car networking communication module all being connect with vehicle-mounted industrial personal computer,
GPS module and display, the first car networking communication module is using Datang Telecom DTVL3000 series.Vehicle can by GPS module
To obtain itself movement state information and location information, movement state information and location information respectively refer to the rate and warp of vehicle
Latitude.Car networking communication module has outfit on trackside subsystem and vehicle, using DSRC communication standard or C-V2X communication mark
It is quasi-.Display is for showing electronic map.
Trackside subsystem includes trackside industrial personal computer and the second car networking communication module connecting with trackside industrial personal computer.Trackside work
Control machine connects traffic lights, multiple cameras and multiple microwave radars.Trackside industrial personal computer is for handling trackside camera, microwave
The data that radar and signal lamp transmit, and carry out data conversion treatment, i.e., data coordinates are converted, and ultimately form the map at the crossing
Data.After electronic map data converts, trackside subsystem will open local dynamic map server, by map datum
By the second car networking communication module of trackside through base station broadcast to surrounding vehicles.Vehicle is by the crossing driven towards according to itself and certainly
The position of body is matched to correct map datum from the map datum as unit of crossing, and this partial data is shown
On Vehicular display device.
The communication pipe that the field network arrangement at crossing is reserved using highway, trackside subsystem will construct a local area network,
Camera, microwave radar, the controller of traffic lights and trackside industrial personal computer will all access in this local area network, camera, micro-
Wave radar and traffic lights data all can be sent to trackside industrial personal computer in such a way that this local area network is using UDP or TCP.
In the present embodiment, crossing connects 4 roads, altogether includes the section in 8 directions, arranges a radar at crossing and take the photograph
As head array, including 6 groups of cameras and microwave radar combination, in addition to respectively in the junction setting one at crossing and every road
Group, is also arranged 2 groups on a diagonal line at crossing, is associated with section with it for covering entire crossing, accomplishes no dead angle monitoring.
The function of trackside industrial personal computer includes target identification and data fusion, and target identification technology is quite mature at present,
It is not the content of the application protection.Data fusion is that the target for coming out camera and detections of radar is associated, target association
It is a pith in Multi-sensor Fusion, because each sensor is there are respective detection error, in reality
Detected value of the same target in each sensor have differences certainly, at this time just algorithm is needed to belong to these together
The observation of one target associates, and is fused into more accurate estimated value.Here we are using measurement --- and track closes
Join algorithm and realizes target association.
As shown in Fig. 2, a kind of local dynamic map of the above-mentioned intelligence towards crossing realizes the implementation method of system, it is being
After system initialization, each camera radar group (totally six groups) can send data to trackside subsystem, and trackside subsystem is again into one
Step is to data processing.Camera data are mainly used for target identification, and microwave radar mainly provides target detailed dynamic data,
The displaying of local dynamic map is realized in the cooperation that this system both makes full use of, it is mainly complete to image recognition in the present embodiment and
Camera is handled with the fused data of microwave radar data, for pedestrian's identification, vehicle identification and all number of targets
According to data fusion all use the prior art.It, will be corresponding according to each target data after getting exact target data
Coordinate system is converted to the local coordinate at crossing, and when six groups of data all map on electronic map, trackside subsystem will be opened
Local dynamic map service is opened, is broadcasted to vehicle all in communication range, vehicle is (each by the crossing driven towards according to oneself
There is unique ID at crossing) on Dynamic Matching to corresponding crossing electronic map, and will be mapped on electronic map from vehicle.The party
Method specifically includes the following steps:
S1, the pedestrian of crossing surrounding within the set range is obtained using data anastomosing algorithm by camera and microwave radar
With the targeted attitude data of vehicle, it is sent to trackside industrial personal computer；
Camera radar fix system where targeted attitude data is transformed into the local of this crossing and sat by S2, trackside industrial personal computer
Under mark system；
All targeted attitude data are mapped on the electronic map at this crossing by S3, trackside industrial personal computer, obtain this crossing
Local dynamic map；
S4, trackside industrial personal computer send base station by the second car networking communication module for local dynamic map, this be incited somebody to action in base station
Ground dynamic map and the GPS coordinate at corresponding crossing are broadcast to the first car networking communication module of the vehicle in all communication ranges；
The local dynamic map at the crossing that the vehicle-mounted industrial personal computer acquisition of S5, vehicle are being driven towards, by the GPS where vehicle
Coordinate is transformed into the GPS coordinate system at the crossing, then after being matched in local dynamic map, is shown by display.
Step S2 and S3 realize map maps process by trackside subsystem, are by eight sections associated by a crossing
On vehicle and pedestrian's data carry out coordinate conversion, so as to by conversion after data be mapped to the local centered on crossing electronically
On figure, the local electronic map that finally completes as shown in figure 3, be to carry out matching presentation with the visual angle of vehicle Shanghai A01,
The attitude data of each target (vehicle and pedestrian), including targeted species, target travel direction, target will be shown in electronic map
Position coordinates and speed, targeted species include pedestrian, non-motor vehicle and motor vehicle, for the different size different shape of target
Label, can also be attached to the moving direction and speed of target.Because the identification of these targets is handled in trackside industrial personal computer, take the photograph
The target information as acquired in head and radar is based on local Coordinate System, so needing to carry out coordinate to targeted attitude data to turn
It changes.
The coordinate system that this system is related to has: camera radar fix system xsensoroysensor, it is with camera and microwave thunder
It is origin up to the position where combination, to monitor direction as y-axis；The local coordinate x at crossingmapoymap, it is to be with crossing center
Origin, using direction road by north as x-axis, using direction road by east as y-axis；The GPS coordinate system x at crossinggpsoygps, it is with crossing
Center is origin, is that y axis is positive with due south direction using direct north as x-axis forward direction.The coordinate being related in this implementation method
Conversion has 7 groups, including 6 groups of camera radar fixs are transformed into crossing local coordinate and 1 group of vehicle GPS coordinate is transformed into crossing
GPS coordinate.
The local coordinate relationship at 6 groups of camera radar fix systems and crossing is as shown in Figure 4.By targeted attitude in step S2
Camera radar fix system where data is transformed into the principle under the local coordinate at this crossing as shown in Fig. 5, are as follows:
Wherein, (x0,y0) it is targeted attitude data in camera radar fix system xsensoroysensorUnder coordinate, (x1,
y1) it is local coordinate x of the targeted attitude data at this crossingmapoymapUnder coordinate, β be camera radar fix system and this
Rotation angle between the local coordinate at crossing, a and b are respectively the local coordinate of camera radar fix system Yu this crossing
In the offset of x-axis and y-axis.For unknown number a, b and β therein, it is only necessary to which bringing two groups of data into can be obtained, detailed process
It is as follows:
1) target 1 is obtained in camera radar fix system xsensoroysensorUnder coordinate (xm,ym), target 1 is at crossing
Local coordinate xmapoymapUnder coordinate (xm′,ym′)；
2) target 2 is obtained in camera radar fix system xsensoroysensorUnder coordinate (xn,yn), target 2 is at crossing
Local coordinate xmapoymapUnder coordinate (xn′,yn′)；
3) above-mentioned two groups of coordinates are brought into formula (1) solution and obtain a, b, sin β, cos β:
Six groups of cameras and microwave radar are combined, need to measure two targets for each camera radar fix system
Coordinate, solved by formula (2) and (3), so as to the conversion of later period coordinate.
The input of formula (1) is microwave radar and the fused targeted attitude data of camera, and wherein forward speed is arrow
Amount, can bring into formula (1).The output of formula (1) is position and speed of the target in the local coordinate at crossing.Crossing
Six groups of cameras and radar can all carry out the conversion of formula (1), conversion process is handled in trackside industrial personal computer, has been handled
Cheng Hou, trackside industrial personal computer will summarize the data and local electronic map master data of all targets, then pass sequentially through local
Dynamic map server and MEC system are sent to base station, and base station is by local electronic map by the frequency broadcast of 5HZ to communication range
Interior vehicle, vehicle is after listening to broadcast message, the advanced row data parsing of meeting, and will be mapped in map from vehicle, finally will
Form the electronic map based on this vehicle.
Because being equipped with GPS module on vehicle, the GPS coordinate of vehicle can be obtained in real time, but the electronics in this system
Map is the coordinate system established for each crossing, needs to convert between the two coordinate systems, i.e., sits the GPS where vehicle
Mark is transformed into the GPS coordinate system at the crossing, specifically:
Wherein, there is a fixed GPS coordinate point, be exactly the GPS coordinate (latitude of crossing central point1,
longitude1), this point can be obtained through actual measurement；(xgps,ygps) it is seat of the vehicle in the GPS coordinate system at the crossing
Mark；Longitude and latitude (latitude2,lagitude2) be vehicle GPS coordinate；R is earth radius.
The local coordinate x at crossingmapoymapWith GPS coordinate system xgpsoygpsIt is not the same coordinate system, needs to carry out two
Rotation between a coordinate system, during being matched in local dynamic map in step s 5, rotation formula is as follows:
Wherein, (xmap1,ymap1) be crossing local coordinate xmapoymapIn coordinate, (xgps1,ygps1) it is crossing
GPS coordinate system xgpsoygpsIn coordinate, δ be crossing GPS coordinate system and local coordinate between rotation angle.By with
Vehicle can be mapped on electronic map after upper rotary course.
It is as follows for the solution procedure of δ in formula (5):
Assuming that target p is in coordinate system xgpsoygpsUpper and coordinate system xmapoymapIt is upper to measure two groups of coordinate (x respectivelypg,ypg)
(xpm,ypm), bringing this group of coordinate into following formula can obtain:
。
Claims (9)
1. a kind of local dynamic map of intelligence towards crossing realizes system, which is characterized in that including the vehicle being set on vehicle
Terminal system and the trackside subsystem set on crossing, the vehicle terminal system include vehicle-mounted industrial personal computer and all with vehicle-mounted industry control
The first car networking communication module, GPS module and the display of machine connection, the trackside subsystem includes trackside industrial personal computer and and road
Second car networking communication module of side industrial personal computer connection, trackside industrial personal computer connection traffic lights, multiple cameras and more
A microwave radar, the first car networking communication module and the first car networking communication module are connected by base station communication.
2. the local dynamic map of a kind of intelligence towards crossing according to claim 1 realizes system, which is characterized in that
One camera and microwave radar with being combined into one group, respectively the junction at crossing and every road be arranged to
It is one group few.
3. a kind of local dynamic map of any intelligence towards crossing of claim 1~2 realizes the implementation method of system,
Characterized by comprising the following steps:
S1, the pedestrian of crossing surrounding within the set range is obtained using data anastomosing algorithm by the camera and microwave radar
With the targeted attitude data of vehicle, it is sent to the trackside industrial personal computer；
Camera radar fix system where the targeted attitude data is transformed into the sheet at this crossing by S2, the trackside industrial personal computer
Under ground coordinate system；
All targeted attitude data are mapped on the electronic map at this crossing by S3, the trackside industrial personal computer, obtain this crossing
Local dynamic map；
S4, the trackside industrial personal computer send base station, base station by the second car networking communication module for the local dynamic map
The first car networking that the GPS coordinate of local dynamic map and corresponding crossing is broadcast to the vehicle in all communication ranges is communicated into mould
Block；
The local dynamic map at the crossing that the vehicle-mounted industrial personal computer acquisition of S5, vehicle are being driven towards, the GPS coordinate where vehicle is turned
It changes in the GPS coordinate system at the crossing, then after being matched in local dynamic map, is shown by the display.
4. the local dynamic map of a kind of intelligence towards crossing according to claim 3 realizes the implementation method of system,
It is characterized in that, the targeted attitude data include position coordinates, direction of advance and the forward speed of pedestrian and vehicle.
5. the local dynamic map of a kind of intelligence towards crossing according to claim 3 realizes the implementation method of system,
It is characterized in that, the local coordinate at the crossing is using crossing center as origin, using direction by north as x-axis forward direction, with by north
Direction is that y-axis is positive.
6. the local dynamic map of a kind of intelligence towards crossing according to claim 5 realizes the implementation method of system,
It is characterized in that, the camera radar fix system where the targeted attitude data is transformed into this crossing in the step S2
Under local coordinate specifically:
Wherein, (x0,y0) it is coordinate of the targeted attitude data under camera radar fix system, (x1,y1) it is targeted attitude data
Coordinate under the local coordinate at this crossing, rotation of the β between camera radar fix system and the local coordinate at this crossing
Gyration, a and b are respectively that the local coordinate system at camera radar fix system and this crossing ties up to the offset of x-axis and y-axis.
7. the local dynamic map of a kind of intelligence towards crossing according to claim 3 realizes the implementation method of system,
It is characterized in that, the GPS coordinate system at the crossing is using crossing center as origin, using direct north as x-axis forward direction, with Due South
To for y-axis forward direction.
8. the local dynamic map of a kind of intelligence towards crossing according to claim 7 realizes the implementation method of system,
It is characterized in that, the GPS coordinate where vehicle is transformed into the GPS coordinate system at the crossing in the step S5 specifically:
Wherein, (xgps,ygps) it is coordinate of the vehicle in the GPS coordinate system at the crossing, (latitude1,longitude1) it is to be somebody's turn to do
The GPS coordinate of the central point at crossing, (latitude2,lagitude2) be vehicle GPS coordinate, R is earth radius.
9. the local dynamic map of a kind of intelligence towards crossing according to claim 7 realizes the implementation method of system,
It is characterized in that, the process being matched in local dynamic map in the step S5 includes: to be converted to the GPS coordinate system at crossing
The local coordinate at crossing:
Wherein, (xmap1,ymap1) be crossing local coordinate in coordinate, (xgps1,ygps1) it is in the GPS coordinate system at crossing
Coordinate, δ are the rotation angle between the GPS coordinate system and local coordinate at crossing.
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| CN110264727A (en) * | 2019-05-27 | 2019-09-20 | 同济大学 | Multi-mode autonomous intelligence unmanned systems and method towards intelligence community parking application |
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