CN109996176A - Perception information method for amalgamation processing, device, terminal and storage medium - Google Patents
Perception information method for amalgamation processing, device, terminal and storage medium Download PDFInfo
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- CN109996176A CN109996176A CN201910420656.1A CN201910420656A CN109996176A CN 109996176 A CN109996176 A CN 109996176A CN 201910420656 A CN201910420656 A CN 201910420656A CN 109996176 A CN109996176 A CN 109996176A
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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
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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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
- G08G1/0125—Traffic data processing
-
- 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
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The embodiment of the invention discloses a kind of perception information method for amalgamation processing, device, terminal and storage mediums, wherein, this method comprises: obtaining the perception information set of running environment by trackside sensory perceptual system, it wherein, include the perception sub-information transmitted by distinct device in trackside sensory perceptual system in perception information set；Virtual perception sub-information is introduced in perception information set, and utilizes blending algorithm, fusion treatment is carried out to perception information set, wherein virtual perception sub-information is used to be associated with the perception sub-information transmitted by distinct device.The embodiment of the present invention solves the problems, such as that the sensing range of vehicle-mounted sensing device in driving conditions is smaller and vehicle upper affixes one's name to the higher cost of more sensing device, extend the perception investigative range in driving conditions, the lower deployment cost for reducing bicycle sensing device peomotes the popularization of intelligent transport technology.
Description
Technical field
The present embodiments relate to field of intelligent transportation technology more particularly to a kind of perception information method for amalgamation processing, dress
It sets, terminal and storage medium.
Background technique
Intelligent driving is used as " intelligence manufacture " and " internet+" product of the time, causes automobile industry ecology and business
The complete upgrading and remodeling of mode, for promoting national science and technology progress, economic development and social harmony and promoting overall national strength
Etc. have great meaning.
Environment sensing is the basis of intelligent driving technology.Ambient enviroment is perceived by installing sensing device on vehicle, it is real
Existing intelligentized auxiliary drives.However, vehicle sensory device due to position fix or visual angle effectively etc. factors, cause perceive model
It is with limit, and then the perception information obtained is difficult to meet the requirement of intelligent driving, especially in terms of automatic Pilot, to guarantee to drive
Safety is sailed, the demand to comprehensive environmental information is higher.In addition, if each car is respectively mounted a variety of sensing devices, car owner needs
The lower deployment cost undertaken is also relatively high.
Summary of the invention
The embodiment of the present invention provides a kind of perception information method for amalgamation processing, device, terminal and storage medium, to extend row
Perception investigative range during vehicle reduces the lower deployment cost of bicycle sensing device.
In a first aspect, the embodiment of the invention provides a kind of perception information method for amalgamation processing, this method comprises:
The perception information set of running environment is obtained by trackside sensory perceptual system, wherein wrap in the perception information set
Include the perception sub-information transmitted by distinct device in the trackside sensory perceptual system；
Virtual perception sub-information is introduced in the perception information set, and utilizes blending algorithm, to the perception information
Set carries out fusion treatment, wherein the virtual perception sub-information is used to be associated with the perception letter transmitted by the distinct device
Breath.
Second aspect, the embodiment of the invention also provides a kind of perception information fusion treatment device, which includes:
Perception information set obtains module, for obtaining the perception information set of running environment by trackside sensory perceptual system,
Wherein, the perception sub-information in the perception information set includes the perception transmitted by distinct device in the trackside sensory perceptual system
Sub-information；
Fusion treatment module is calculated for introducing virtual perception sub-information in the perception information set, and using fusion
Method carries out fusion treatment to the perception information set, wherein the virtual perception sub-information is set for being associated with by the difference
The perception sub-information of standby transmission.
The third aspect, the embodiment of the invention also provides a kind of terminals, comprising:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the perception information method for amalgamation processing as described in any embodiment of the present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the perception information method for amalgamation processing as described in any embodiment of the present invention when the program is executed by processor.
The embodiment of the present invention on road by laying distributed trackside sensory perceptual system, using in trackside sensory perceptual system
Distinct device, to the perception information set of vehicle transmission running environment；Mobile unit receives perception information set, and believes in perception
Virtual perception sub-information is introduced in breath set, using blending algorithm, the fusion treatment to perception information set is realized, to will melt
Processing result is closed to be applied in Driving Decision-making.On the one hand, the embodiment of the present invention is by dividing the acquisition tasks of environment sensing information
It fits over and is executed in trackside sensory perceptual system, using the wider advantage of trackside end sensing device investigative range, solved in driving conditions
The lesser problem of the sensing range of vehicle-mounted sensing device extends the perception investigative range in driving conditions, supplements vehicle-mounted sense
The blind area known can provide more environment sensing information for vehicle, ensure that the reasonability that Driving Decision-making is formulated, also, empty
The introducing of quasi- perception sub-information, ensure that the accuracy and integrality of fusion treatment result, further ensures Driving Decision-making system
Fixed accuracy, it is ensured that the realization safety of intelligent driving；On the other hand, due to the embodiment of the present invention need not rely on it is vehicle-mounted
Sensing device acquires environmental data, solves the problems, such as that vehicle upper affixes one's name to the higher cost of more sensing device, reduces bicycle
The lower deployment cost of sensing device peomotes the popularization of intelligent transport technology.
Detailed description of the invention
Fig. 1 is the flow chart for the perception information method for amalgamation processing that the embodiment of the present invention one provides；
Fig. 2 is the trackside sensory perceptual system that the embodiment of the present invention one provides and a kind of structural schematic diagram that terminal is communicated；
Fig. 3 is the flow chart of perception information method for amalgamation processing provided by Embodiment 2 of the present invention；
Fig. 4 is the flow chart for the perception information method for amalgamation processing that the embodiment of the present invention three provides；
Fig. 5 is the flow chart for another perception information method for amalgamation processing that the embodiment of the present invention three provides；
Fig. 6 is the structural schematic diagram for the perception information fusion treatment device that the embodiment of the present invention four provides；
Fig. 7 is a kind of structural schematic diagram for terminal that the embodiment of the present invention five provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the flow chart for the perception information method for amalgamation processing that the embodiment of the present invention one provides, and the present embodiment is applicable
In based on the cooperation between trackside sensory perceptual system and terminal, the environment sensing information obtained from trackside sensory perceptual system is melted
Conjunction processing, the case where driving for auxiliary.This method can be executed by perception information fusion treatment device, which can
It is realized in a manner of using software and/or hardware, and can be integrated in and arbitrarily be able to carry out the operation of perception information fusion treatment
In terminal, which includes but is not limited to mobile unit and mobile terminal etc., such as car networking communication equipment (Vehicle To
X, V2X equipment), smart phone and PC etc..
In the present embodiment, perception information of the trackside sensory perceptual system for the terminal transmission environment on vehicle, this is
System may include the roadside devices such as a variety of sensing devices, computing device and the communication device being mounted on road.Wherein, dress is calculated
Set including but not limited to trackside computing unit (Road Side Computing Unit, RSCU), communication device includes but unlimited
In roadside unit (Road Side Unit, RSU), the type of sensing device include but is not limited to imaging sensor (camera),
The deployment quantity of millimetre-wave radar, laser radar and ultrasonic sensor etc., each type of sensing device can be according to reality
It needs to be configured.Each computing device can be connect with multiple sensing devices under at least one type, and by connecting therewith
Environment sensing information is transmitted to the terminal on vehicle by the communication device connect, and outside broadcast environment perception may be implemented in communication device
The function of information.In addition, computing device and communication device also can integrate as an equipment.
Terminal on vehicle can be interacted at least one communication device, obtain the perception letter of current driving environment
Breath, and fusion treatment is carried out, so that the fusion treatment result is applied in Driving Decision-making.For example, can integrate in the terminal
On board unit (On board Unit, OBU) receives perception information for being communicated with communication device.In vehicle driving mistake
Cheng Zhong, terminal can obtain required perception information according to communication distance from random communication means.
(area size can in each target area in the distributed deployment process of trackside sensory perceptual system, road
Adaptability setting) it is deployed with a certain number of sensing devices, computing device and communication device.Guaranteeing sufficiently to obtain to work as
On the basis of the perception information of preceding running environment, in trackside sensory perceptual system the deployment closeness of each equipment can according to demand into
Row setting, the present embodiment are not especially limited, such as can be according to the communication distance and/or perception detection model between distinct device
The number of partitions enclosed determines.The distance between computing device and communication device need to meet longer communication distance requirement.
Fig. 2 is as an example, show a kind of trackside sensory perceptual system provided in an embodiment of the present invention and terminal communicated
Structural schematic diagram, but should not be construed as the specific restriction to the present embodiment.As shown in Fig. 2, including distribution in trackside sensory perceptual system
Sensing device, trackside computing unit and the roadside unit of formula deployment, in target area, each trackside computing unit is used for more
The environmental data of a sensing device acquisition carries out preliminarily fusion treatment, i.e. the trackside sensory perceptual system environment that is transmitted to vehicle termination
Perception information is the data for having carried out preliminary treatment, and the perception information that preliminary fusion treatment obtains is sent to corresponding road
Side unit, then the terminal on vehicle is sent by the roadside unit.Wherein, it can integrate sending module on roadside unit, the transmission
Module can subscribe to the theme (topic) of perception information in advance, and received perception information is broadcasted.Below in conjunction with attached drawing
The technical solution of the embodiment of the present invention is described in detail:
As shown in Figure 1, perception information method for amalgamation processing provided in this embodiment may include:
S110, the perception information set that running environment is obtained by trackside sensory perceptual system, wherein wrapped in perception information set
Include the perception sub-information transmitted by distinct device in trackside sensory perceptual system.
With vehicle driving, the terminal on vehicle can obtain current driving environment by trackside sensory perceptual system in real time
Perception information set.Illustratively, terminal can call multithreading to realize during obtaining perception information set, and one
The perception sub-information that the lasting monitoring of separated time journey is transmitted by distinct device in trackside sensory perceptual system, and perception listened to is believed
Breath is put into queue, and another part thread then periodically reads empty queue, obtains the perception information set of processing to be fused.Its
In, it can refer to the communication device directly carried out data transmission with the terminal to the equipment of terminal transmission perception sub-information, such as
Roadside unit, the perception sub-information of each equipment transmission correspond to certain sensing region, the corresponding perception of difference perception sub-information
There may be overlapped in region.
The perception information that current driving environment is obtained by the trackside sensory perceptual system disposed on road, for each car
Speech, it is only necessary to the terminal that deployment is interacted with trackside sensory perceptual system obtains required perception information from trackside sensory perceptual system, because
This, can save the cost that bicycle disposes more sensing device；Also, sensing device acquires environmental data in trackside sensory perceptual system
Visual angle it is wider, it is also more flexible, especially for rely on bicycle sensing device acquisition environmental data during exist perception
The case where blind area, the deployment based on sensing device and computing device in trackside sensory perceptual system is comprehensive, then can overcome the perception
Blind area supplements the perception information in the perception blind area, to improve the accuracy of Driving Decision-making formulation, improves and drives peace
Entirely, traffic accident is reduced.
S120, virtual perception sub-information is introduced in perception information set, and utilize blending algorithm, to the perception information collection
It closes and carries out fusion treatment, wherein virtual perception sub-information is used to be associated with the perception transmitted by distinct device in trackside sensory perceptual system
Sub-information.
In the present embodiment, blending algorithm can be any in the prior art available can merge to perception sub-information
The algorithm of processing, including but not limited to plot-track Association Algorithm, Hungary Algorithm and bipartite graph maximum weight matching algorithm (Kuhn-
Munkres, KM algorithm) etc..During fusion treatment, virtual perception sub-information is equivalent to be set by difference in trackside sensory perceptual system
Association bridge between the perception sub-information of standby transmission, so that between any two or the perception sub-information of multiple equipment transmission
Homogeneous mutual correlation, such as using the virtual perception sub-information, perception transmitted by distinct device in trackside sensory perceptual system is believed
Breath carries out circulating association fusion treatment, this can cause at fusion to avoid not merged between partially perception sub-information
Result inaccuracy and imperfect is managed, and then influences the formulation of Driving Decision-making.
Optionally, fusion treatment is carried out to perception information set, comprising:
The coincidence perception sub-information transmitted in perception information set by distinct device in trackside sensory perceptual system is subjected to duplicate removal；
It will be melted in perception information set by the perception sub-information that is not overlapped that distinct device in trackside sensory perceptual system transmits
It closes.
The sensing region for the multiple sensing devices disposed in target area, which exists, to be overlapped, and therefore, trackside sensory perceptual system passes
It is defeated by the perception information set of terminal there are certain coincidence perception sub-information, based on feature identification and can match, remove
The perception sub-information of coincidence；Then, perception sub-information will not be overlapped to integrate, to obtain the complete of vehicle current driving environment
Whole perception information.
The technical solution of the present embodiment, on the one hand, by perceiving the acquisition tasks distribution of environment sensing information in trackside
It is executed in system, using the wider advantage of trackside end sensing device investigative range, solves vehicle-mounted sensing device in driving conditions
The lesser problem of sensing range, extend the perception investigative range in driving conditions, the blind area supplemented with vehicle-mounted perception can be with
For vehicle more environment sensing information are provided, ensure that the reasonability that Driving Decision-making is formulated, also, virtual perception sub-information
It introduces, ensure that the accuracy and integrality of fusion treatment result, further ensure the accuracy of Driving Decision-making formulation, it is ensured that
The realization safety of intelligent driving, can reduce traffic accident；On the other hand, the technical solution of the present embodiment solves
Vehicle upper affixes one's name to the problem of higher cost of more sensing device, reduces the lower deployment cost of bicycle sensing device, helps to promote
Into the popularization of intelligent transport technology, social intelligence's traffic system is constructed.
Embodiment two
Fig. 3 is the flow chart of perception information method for amalgamation processing provided by Embodiment 2 of the present invention, and the present embodiment is upper
Further progress optimizes on the basis of stating embodiment.As shown in figure 3, this method may include:
S210, the perception information set that running environment is obtained by trackside sensory perceptual system, wherein wrapped in perception information set
Include the perception sub-information transmitted by distinct device in trackside sensory perceptual system.
S220, virtual perception sub-information is introduced in perception information set, and will be perceived in perception information set by trackside
The perception sub-information that any appliance transmits in system is determined as target apperception sub-information, using target apperception sub-information to virtual sense
Know that sub-information is initialized.
In the present embodiment, it is based on normal road driving environment, time synchronization between each equipment in trackside sensory perceptual system,
Such as time synchronization can be carried out based on received GPS signal, therefore, received perception by distinct device transmission of terminal is believed
Timestamp having the same between breath.For example, terminal chooses all perception within the scope of certain time according to current time stamp
Information forms perception information set { A, B, C }, includes the perception transmitted respectively by three roadside units in the perception information set
Sub-information A, perception sub-information B and perception sub-information C, cause virtual perception sub-information V in the perception information set0, obtain
Perception information set { V0, A, B, C }；Using perception sub-information A to virtual perception sub-information V0It is initialized, at this point, virtual sense
Know sub-information V0It is identical with the perception sub-information A information content for including.
S230, using blending algorithm, target apperception will be removed in the virtual perception sub-information of initialization and perception information set
The perception sub-information transmitted by any appliance in trackside sensory perceptual system except sub-information carries out fusion treatment, obtains present fusion
Processing result.
Continue taking the above example as an example, to can use any blending algorithm, in perception information set { V0, A, B, C } in,
By the virtual perception sub-information V after initialization0Fusion treatment is carried out with any of perception sub-information B and perception sub-information C,
For example, by the virtual perception sub-information V after initialization0Fusion treatment is carried out with perception sub-information B, obtains fusion treatment result X,
Then using the fusion treatment result X to the virtual perception sub-information V after initialization0It is updated, the virtual sense updated
Know sub-information V1, at this point, the virtual perception sub-information V updated1In substantially simultaneously contain perception sub-information A and perception son letter
Cease the content of B.
S240, it is updated using virtual perception sub-information of the present fusion processing result to initialization, and by update
Virtual perception sub-information as new initialization of virtual sub-information, believe by the virtual perception sub-information and perception for repeating initialization
The fusion between the perception sub-information of fusion treatment transmitted by any appliance in trackside sensory perceptual system is had neither part nor lot in breath set
Reason, until the perception sub-information in perception information set both participates in fusion treatment.
In the examples described above, the perception sub-information C in perception information set { A, B, C } also has neither part nor lot in fusion treatment, then after
The continuous virtual perception sub-information V by update1With perception sub-information C carry out fusion treatment, at this point, be equivalent to perception sub-information A and
It perceives sub-information B and carries out fusion treatment with perception sub-information C simultaneously, fusion treatment result Y is obtained, in fusion treatment result Y
It simultaneously include the content of perception sub-information A, B and C.If there are still perception for having neither part nor lot in fusion treatment in perception information set
Information then can be used fusion treatment result Y and update virtual perception sub-information V1, the virtual perception sub-information V that is updated2, and
Utilize the virtual perception sub-information V currently updated2Fusion treatment is carried out with the remaining perception sub-information for having neither part nor lot in fusion treatment.
I.e. for the perception sub-information transmitted in perception information set by distinct device, required after fusion treatment operation each time
Dynamic update is carried out to virtual perception sub-information.
The mode that individual fusion treatment two-by-two between perception information is generallyd use in compared with the prior art, for example, first
Perception sub-information A and B are first subjected to fusion treatment, perception sub-information B and C are then subjected to fusion treatment again, thus by above-mentioned
Twice the result of fusion treatment perceptually the fusion treatment between sub-information A, B and C as a result, having ignored perception son letter among these
The fusion treatment between A and C is ceased, when there are biggish passes between the perception sub-information that distinct device transmits in trackside sensory perceptual system
When connection property, it will lead to the presence of loss of learning in the fusion treatment result of terminal, so that fusion treatment result is inaccurate
Really, imperfect, however, then can solve the above problem using the technical solution of the present embodiment, guarantee the standard of fusion treatment result
True property and integrality.
The technical solution of the present embodiment, on the one hand, by perceiving the acquisition tasks distribution of environment sensing information in trackside
It is executed in system, using the wider advantage of trackside end sensing device investigative range, solves vehicle-mounted sensing device in driving conditions
The lesser problem of sensing range, extend the perception investigative range in driving conditions, the blind area supplemented with vehicle-mounted perception can be with
For vehicle more environment sensing information are provided, ensure that the reasonability that Driving Decision-making is formulated, also, virtual perception sub-information
It introduces, ensure that the accuracy and integrality of fusion treatment result, further ensure the accuracy of Driving Decision-making formulation, it is ensured that
The realization safety of intelligent driving；On the other hand, the technical solution of the present embodiment solves vehicle upper and affixes one's name to more sensing dress
The problem of higher cost set, reduces the lower deployment cost of bicycle sensing device, peomotes the popularization of intelligent transport technology.
Embodiment three
Fig. 4 is the flow chart for the perception information method for amalgamation processing that the embodiment of the present invention three provides, and the present embodiment is upper
Further progress optimizes and extends on the basis of stating embodiment.As shown in figure 4, this method may include:
S310, the perception information set that running environment is obtained by trackside sensory perceptual system, wherein wrapped in perception information set
Include the perception sub-information transmitted by distinct device in trackside sensory perceptual system.
The perception sub-information that S320, traversal are transmitted by distinct device in trackside sensory perceptual system, obtains at least one set of track pair,
Wherein, track is to any two target object including respectively corresponding distinct device in trackside sensory perceptual system.
It may include the information of different target object, mesh in the perception sub-information that distinct device transmits in trackside sensory perceptual system
Mark object includes but is not limited to barrier, pedestrian, vehicle, building and traffic sign etc. on road.Pass through traversal perception letter
Breath set, target object involved in the perception sub-information of distinct device transmission is pairwise grouping.For example, respectively by trackside
Perception the sub-information A and B of two communication device transfers in sensory perceptual system, perceiving includes 2 target objects in sub-information A: m1,
M2, perceiving includes 3 target objects n1, n2, n3 in sub-information B, traverses and perceives sub-information A and B, available 6 groups of tracks pair,
It is respectively as follows: (m1, n1), (m1, n2), (m1, n3), (m2, n1), (m2, n2), (m2, n3).
Optionally, before carrying out fusion treatment to perception information set, this method further include:
In perception information set, for by the target pair in trackside sensory perceptual system in the perception sub-information of distinct device transmission
As distributing sub-mark, wherein sub-mark is used to distinguish the target object of distinct device in corresponding trackside sensory perceptual system, the sub-mark
Sub- ID including target object.Target pair i.e. by the perception sub-information of distinct device transmission, being related in trackside sensory perceptual system
As corresponding to unique sub-mark, and the sub-mark corresponds to distinct device in trackside sensory perceptual system and coincidence is not present, thus
The differentiation between the target object of corresponding distinct device is realized during fusion treatment.Such as any track for, boat
Two target objects of mark centering respectively correspond different sub-marks.
S330, according to every group of respective information of track centering target object, determine two target objects of every group of track centering
The distance between.
It may include the position of at least one target object in the perception sub-information that distinct device transmits in trackside sensory perceptual system
It sets, the characteristic informations such as speed, the direction of motion, acceleration, geometry, rotation angle and color.According to two targets of track centering
The location information of object can distance between the two.
S340, according to determining distance, determine the track for meeting distance threshold to subclass at least one set of track pair.
Specifically, when the distance between two target objects can be less than to pre-determined distance threshold value (or being tracking threshold)
Corresponding track is to being determined as targetpath pair, by determining multiple targetpaths to forming track to subclass, it can base
In greedy algorithm thought to obtained at least one set of track to screening.Wherein, distance threshold can be set according to demand
It sets, the present embodiment is not especially limited.Continuation is illustrated with above-mentioned example, in above-mentioned 6 groups of tracks pair: (m1, n1), (m1,
N2), (m1, n3), (m2, n1), (m2, n2), (m2, n3), by the distance before every group of track centering target object of determination, and
Be compared with pre-determined distance threshold value, if meet threshold condition only 2 groups of tracks pair: (m1, n2), (m2, n3), it is subsequent just
Fusion treatment is carried out to preferential to 2 groups of tracks using blending algorithm.The distance between two target objects of track centering are more
Closely, a possibility that belonging to the same target object in environment is bigger, and the value for carrying out fusion treatment is bigger, to the boat of screening
Mark can also reduce the data processing amount of fusion treatment to preferential fusion treatment is carried out, and improve fusion treatment efficiency.
Optionally, according to determining distance, determine the track for meeting distance threshold to subset at least one set of track pair
It closes, comprising: according to determining distance, at least one set of track centering is met into the track of distance threshold to storing to sequence list
(SeqList) in, track is obtained to subclass.Determine that targetpath, can be successively by targetpath to letter to rear every time
In breath deposit sequence list.Sequence list has fixed memory capacity as a kind of structure of arrays, but can store any type of
Data.
S350, track in subclass introduce virtual perception sub-information, and utilize blending algorithm, to the track to subset
It closes and carries out fusion treatment.
Illustratively, it can use the track in subclass to virtual perception sub-information is introduced in subclass in track
The information of one target object of any track centering, initializes virtual perception sub-information, by the virtual sense of initialization
The information known sub-information and participate in another target object of track centering of initialization carries out fusion treatment, is handled using present fusion
As a result dynamic update is carried out to the virtual perception sub-information of initialization, then, successively merged with track to being had neither part nor lot in subclass
To fusion treatment is carried out, that is, the dynamic for repeating virtual perception sub-information updates the track of processing, and merges with having neither part nor lot in
Fusion treatment between the target object information of processing, until track both participates in the information of target objects all in subclass and melts
Conjunction processing.
After obtaining fusion treatment result of the track to subclass, it can obtain based on the fusion treatment result and currently
The perception information set taken continues to add the information except track to the sensing region in addition to the corresponding sensing region of subclass, from
And obtain the complete fusion processing result of vehicle current driving environment.
Based on the above technical solution, optionally, it according to determining distance, is determined at least one set of track pair full
After the track of sufficient distance threshold is to subclass, this method further include: in track in subclass, according between target object
Distance successively determines the successful track pair of characteristic matching, to characteristic matching is carried out to every group of track with successful in characteristic matching
Track centering introduces virtual perception sub-information.
For example, ranking results that can be ascending according to the distance of two target objects, successively to every group of track into
Row characteristic matching.The distance between track centering target object is used as first layer screening conditions, determines to meet distance threshold
After track is to subclass, further screened according to the characteristic matching result between target object, to be closer
And the preferred track pair that feature matches, the efficiency and specific aim of fusion treatment can be improved.
Further, this method further includes:
If during successively to every group of track to characteristic matching were carried out, characteristic matching failure, then by this feature
Track with failure to from track to being deleted in subclass；
If characteristic matching success then will be with this feature during successively to every group of track to characteristic matching is carried out
Other associated tracks of track centering either objective object of successful match to from track to being deleted in subclass.
During each characteristic matching, if characteristic matching fails, illustrate two targets pair of current track centering
As the same target object being not belonging in environment, that is, it is unsatisfactory for the screening conditions of presently preferred track pair, thus by feature
The track that it fails to match to from track to being deleted in subclass；If characteristic matching success (i.e. track to be successfully associated), says
Bright current track centering target object belongs to same target object, and other related to current track centering either objective object
The track pair of connection is then not belonging to the track pair comprising same target object, can be deleted, then successful to characteristic matching
Track is to addition related information, to carry out fusion treatment.In addition, if track is to the track in subclass to being with sequence list
Form is stored, then the track pair for meeting deletion condition is successively deleted from the sequence list, and characteristic matching is successfully navigated
Mark is to storing to other regions, with processing to be fused, until the sequence list is sky.
Fig. 5 shows another perception information fusion treatment side provided in this embodiment so that target object is barrier as an example
The flow chart of method.As shown in figure 5, terminal obtains the perception information set of vehicle running environment by trackside sensory perceptual system, then
Barrier for the different roadside units of correspondence redistributes sub- ID, and to realize the differentiation to barrier, which is different from trackside
Device id in sensory perceptual system, when different roadside units perceive sub-information to terminal transmission, perceiving will be carried not in sub-information
With device id, correspond to identical roadside unit ID in the perception sub-information of same roadside unit transmission；After sub- ID is redistributed, meter
The distance between two barriers of every group of track centering are calculated, according to this distance with the relationship of tracking threshold, realize the of track pair
One layer of screening, and by the track for meeting tracking threshold to storing into sequence list, it, can be according to apart from right then in sequence list
Track successively passes through feature to characteristic matching is carried out to track to being ranked up, and according to apart from ascending ranking results
Matching, which is realized, screens the second layer of track pair, and then determines that preferred track to (track being successfully associated to), simultaneously will
The track for being unsatisfactory for condition is deleted from sequence list；Finally based on determining preferred track pair and related information, gone
It handles again, based on the fusion results that duplicate removal processing obtains, continues the obstacle information for adding nonredundancy region, i.e., the barrier not being overlapped
Hinder object information, so that the complete fusion processing result of vehicle current driving environment is obtained, with the formulation for Driving Decision-making.
The technical solution of the present embodiment relies on the perception information set that trackside sensory perceptual system obtains by traversal, obtains at least
One group of track pair is realized the screening to track pair, is obtained based on the distance between every group of track centering target object and characteristic matching
To preferred track pair, to be improved to preferred track to preferential fusion treatment is carried out using blending algorithms such as plot-track Association Algorithms
The efficiency of fusion treatment, and ensure that the accuracy of fusion treatment result, it is ensured that Driving Decision-making is formulated in Vehicular system
Reasonability and accuracy；Meanwhile the technical solution of the present embodiment solves the sensing range of vehicle-mounted sensing device in driving conditions
Smaller and vehicle upper affixes one's name to the problem of higher cost of more sensing device, extends the perception detection model in driving conditions
It encloses, the blind area supplemented with vehicle-mounted perception, more environment sensing information can be provided for vehicle, and reduce bicycle sensing dress
The lower deployment cost set peomotes the popularization of intelligent transport technology.
Example IV
Fig. 6 is the structural schematic diagram for the perception information fusion treatment device that the embodiment of the present invention four provides, and the present embodiment can
Suitable for melting to the perception information obtained from trackside sensory perceptual system based on the cooperation between trackside sensory perceptual system and terminal
Conjunction processing, the case where driving for auxiliary.The device can be realized by the way of software and/or hardware, and can integrate
In the terminal for being arbitrarily able to carry out the operation of perception information fusion treatment, which includes but is not limited to mobile unit and movement
Terminal etc..
As shown in fig. 6, perception information fusion treatment device provided in this embodiment may include that perception information set obtains
Module 410 and fusion treatment module 420, in which:
Perception information set obtains module 410, for obtaining the perception information collection of running environment by trackside sensory perceptual system
It closes, wherein the perception sub-information in perception information set includes the perception letter transmitted by distinct device in trackside sensory perceptual system
Breath；
Fusion treatment module 420 is calculated for introducing virtual perception sub-information in perception information set, and using fusion
Method carries out fusion treatment to perception information set, wherein virtual perception sub-information is used to be associated with the perception transmitted by distinct device
Sub-information.
Optionally, fusion treatment module 420 includes:
Virtual perception sub-information initialization unit, for introducing virtual perception sub-information in perception information set, and will
Target apperception sub-information is determined as by the perception sub-information that any appliance in trackside sensory perceptual system transmits in perception information set, benefit
Virtual perception sub-information is initialized with target apperception sub-information；
First fusion treatment unit, for utilizing blending algorithm, by the virtual perception sub-information and perception information of initialization
The perception sub-information transmitted by any appliance in trackside sensory perceptual system in set in addition to target apperception sub-information is merged
Processing, obtains present fusion processing result；
Fusion treatment repeats unit, for the virtual perception sub-information using present fusion processing result to initialization
It is updated, and using the virtual perception sub-information of update as new initialization of virtual sub-information, repeats the void of initialization
The sense of fusion treatment transmitted by any appliance in trackside sensory perceptual system is had neither part nor lot in quasi- perception sub-information and perception information set
The fusion treatment between sub-information is known, until the perception sub-information in perception information set both participates in fusion treatment.
Optionally, the device further include:
Sub-mark distribution module carries out fusion treatment to perception information set for executing in fusion treatment module 420
Before operation, in perception information set, for by the target in trackside sensory perceptual system in the perception sub-information of distinct device transmission
Object distributes sub-mark, wherein sub-mark is used to distinguish the target object of distinct device in corresponding trackside sensory perceptual system.
Optionally, the device further include:
Track introduces virtual perception in perception information set to determining module, for executing in fusion treatment module 420
Before the operation of sub-information, the perception sub-information that traversal is transmitted by distinct device in trackside sensory perceptual system obtains at least one set of boat
Mark pair, wherein track is to any two target object including respectively corresponding distinct device in trackside sensory perceptual system；
Target object is apart from determining module, for determining every group according to every group of respective information of track centering target object
The distance between two target objects of track centering；
Track to subclass determining module, for according to determining distance, determined at least one set of track pair meet away from
Track from threshold value to subclass, in track to introducing virtual perception sub-information in subclass.
Optionally, the device further include:
Characteristic matching module, for executing subclass determining module according to determining distance, at least one set in track
Track centering determines meet the track of distance threshold to the operation of subclass after, in track in subclass, according to target pair
The distance between as, the successful track pair of characteristic matching successively is determined, in feature to characteristic matching is carried out to every group of track
Virtual perception sub-information is introduced with successful track centering.
Optionally, the device further include:
First track is to removing module, special if be used for during successively to every group of track to characteristic matching is carried out
It fails to match for sign, then by this feature track that it fails to match to from track to being deleted in subclass；
Second track is to removing module, special if be used for during successively to every group of track to characteristic matching is carried out
Successful match is levied, then by other tracks associated with the track centering either objective object of this feature successful match to from track
To being deleted in subclass.
Optionally, track is specifically used for subclass determining module:
According to determining distance, at least one set of track centering is met into the track of distance threshold to storing into sequence list,
Track is obtained to subclass.
Optionally, fusion treatment module 420 includes:
Perceive sub-information duplicate removal unit, for by perception information set by trackside sensory perceptual system distinct device transmit
It is overlapped perception sub-information and carries out duplicate removal；
Perceive sub-information integrated unit, for by perception information set by trackside sensory perceptual system distinct device transmit
Perception sub-information is not overlapped to be merged.
Perception information fusion treatment device provided by the embodiment of the present invention can be performed any embodiment of that present invention and be provided
Perception information method for amalgamation processing, have the corresponding functional module of execution method and beneficial effect.It is not detailed in the present embodiment
The content of description can be with reference to the description in any means embodiment of the present invention.
Embodiment five
Fig. 7 is a kind of structural schematic diagram for terminal that the embodiment of the present invention five provides.Fig. 7, which is shown, to be suitable for being used to realizing this
The block diagram of the exemplary terminal 512 of invention embodiment.The terminal 512 that Fig. 7 is shown is only an example, should not be to the present invention
The function and use scope of embodiment bring any restrictions.The terminal 512 typically can be mobile unit or mobile terminal etc..
As shown in fig. 7, terminal 512 is showed in the form of general purpose terminal.The component of terminal 512 can include but is not limited to:
One or more processor 516, storage device 528 connect different system components (including storage device 528 and processor
516) bus 518.
Bus 518 indicates one of a few class bus structures or a variety of, including storage device bus or storage device control
Device processed, peripheral bus, graphics acceleration port, processor or total using the local of any bus structures in a variety of bus structures
Line.For example, these architectures include but is not limited to industry standard architecture (Industry Subversive
Alliance, ISA) bus, microchannel architecture (Micro Channel Architecture, MAC) bus is enhanced
Isa bus, Video Electronics Standards Association (Video Electronics Standards Association, VESA) local are total
Line and peripheral component interconnection (Peripheral Component Interconnect, PCI) bus.
Terminal 512 typically comprises a variety of computer system readable media.These media can be it is any can be by terminal
The usable medium of 512 access, including volatile and non-volatile media, moveable and immovable medium.
Storage device 528 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (Random Access Memory, RAM) 530 and/or cache memory 532.Terminal 512 can be wrapped further
Include other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only as an example, storage system
534 can be used for reading and writing immovable, non-volatile magnetic media (Fig. 7 do not show, commonly referred to as " hard disk drive ").Although
It is not shown in Fig. 7, the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided, and
To removable anonvolatile optical disk, such as CD-ROM (Compact Disc Read-Only Memory, CD-ROM), number
Optic disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical mediums) read-write CD drive
Dynamic device.In these cases, each driver can be connected by one or more data media interfaces with bus 518.It deposits
Storage device 528 may include at least one program product, which has one group of (for example, at least one) program module, this
A little program modules are configured to perform the function of various embodiments of the present invention.
Program/utility 540 with one group of (at least one) program module 542 can store in such as storage dress
It sets in 528, such program module 542 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
542 usually execute function and/or method in embodiment described in the invention.
Terminal 512 can also be logical with one or more external equipments 514 (such as keyboard, direction terminal, display 524 etc.)
Letter, can also be enabled a user to one or more terminal interact with the terminal 512 communicate, and/or with make the terminal 512
Any terminal (such as network interface card, modem etc.) communication that can be communicated with one or more of the other computing terminal.This
Kind communication can be carried out by input/output (I/O) interface 522.Also, terminal 512 can also by network adapter 520 with
One or more network (such as local area network (Local Area Network, LAN), wide area network (Wide Area Network,
WAN) and/or public network, for example, internet) communication.As shown in fig. 7, network adapter 520 passes through bus 518 and terminal 512
Other modules communication.It should be understood that although not shown in the drawings, other hardware and/or software mould can be used in conjunction with terminal 512
Block, including but not limited to: microcode, terminal driver, redundant processor, external disk drive array, disk array
(Redundant Arrays of Independent Disks, RAID) system, tape drive and data backup storage system
System etc..
The program that processor 516 is stored in storage device 528 by operation, thereby executing various function application and number
According to processing, such as realize perception information method for amalgamation processing provided by any embodiment of the invention, this method may include:
The perception information set of running environment is obtained by trackside sensory perceptual system, wherein wrap in the perception information set
Include the perception sub-information transmitted by distinct device in the trackside sensory perceptual system；
Virtual perception sub-information is introduced in the perception information set, and utilizes blending algorithm, to the perception information
Set carries out fusion treatment, wherein the virtual perception sub-information is used to be associated with the perception letter transmitted by the distinct device
Breath.
Embodiment six
The embodiment of the present invention six additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should
Such as perception information method for amalgamation processing provided by any embodiment of the invention is realized when program is executed by processor, this method can
To include:
The perception information set of running environment is obtained by trackside sensory perceptual system, wherein wrap in the perception information set
Include the perception sub-information transmitted by distinct device in the trackside sensory perceptual system；
Virtual perception sub-information is introduced in the perception information set, and utilizes blending algorithm, to the perception information
Set carries out fusion treatment, wherein the virtual perception sub-information is used to be associated with the perception letter transmitted by the distinct device
Breath.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on remote computer or terminal completely on the remote computer on the user computer.It is relating to
And in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or extensively
Domain net (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as provided using Internet service
Quotient is connected by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
1. a kind of perception information method for amalgamation processing, which is characterized in that the described method includes:
Pass through trackside sensory perceptual system obtain running environment perception information set, wherein include in the perception information set by
The perception sub-information that distinct device transmits in the trackside sensory perceptual system；
Virtual perception sub-information is introduced in the perception information set, and utilizes blending algorithm, to the perception information set
Carry out fusion treatment, wherein the virtual perception sub-information is for being associated with the perception sub-information transmitted by the distinct device.
2. the method according to claim 1, wherein introducing virtual perception letter in the perception information set
Breath, and blending algorithm is utilized, fusion treatment is carried out to the perception information set, comprising:
In the perception information set introduce virtual perception sub-information, and by the perception information set by the trackside sense
The perception sub-information for knowing that any appliance transmits in system is determined as target apperception sub-information, utilizes the target apperception sub-information pair
The virtual perception sub-information is initialized；
Using the blending algorithm, the target sense will be removed in the virtual perception sub-information of initialization and the perception information set
Know that the perception sub-information transmitted by any appliance in the trackside sensory perceptual system except sub-information carries out fusion treatment, is worked as
Preceding fusion treatment result；
It is updated using virtual perception sub-information of the present fusion processing result to the initialization, and by the void of update
Quasi- perception sub-information as new initialization of virtual sub-information, repeat the virtual perception sub-information of the initialization with it is described
Had neither part nor lot in perception information set fusion treatment by the trackside sensory perceptual system any appliance transmit perception sub-information it
Between fusion treatment, until the perception information set in perception sub-information both participate in fusion treatment.
3. the method according to claim 1, wherein to the perception information set carry out fusion treatment it
Before, the method also includes:
In the perception information set, for by the mesh in the trackside sensory perceptual system in the perception sub-information of distinct device transmission
It marks object and distributes sub-mark, wherein the sub-mark is used to distinguish the target object of the corresponding distinct device.
4. the method according to claim 1, wherein introducing virtual perception letter in the perception information set
Before breath, the method also includes:
The perception sub-information that traversal is transmitted by distinct device in the trackside sensory perceptual system, obtains at least one set of track pair, wherein
The track is to any two target object including respectively corresponding the distinct device；
According to every group of respective information of track centering target object, determine between two target objects of every group of track centering away from
From；
According to the distance, the track for meeting distance threshold is determined to subclass, in institute at least one set of track pair
Track is stated to introducing virtual perception sub-information in subclass.
5. according to the method described in claim 4, it is characterized in that, according to the distance, at least one set of track pair
After determining the track for meeting distance threshold to subclass, the method also includes:
In the track in subclass, according to the distance between target object, successively to every group of track to carrying out characteristic matching,
The successful track pair of characteristic matching is determined, to introduce virtual perception sub-information in the successful track pair of the characteristic matching.
6. according to the method described in claim 5, it is characterized in that, the method also includes:
If it is described successively to every group of track to carry out characteristic matching during, characteristic matching failure, then by this feature
Track with failure to from the track to being deleted in subclass；
If it is described successively to every group of track to carry out characteristic matching during, characteristic matching success, then will be with this feature
Other associated tracks of track centering either objective object of successful match to from the track to being deleted in subclass.
7. according to the method described in claim 4, it is characterized in that, according to the distance, at least one set of track pair
Determine the track for meeting distance threshold to subclass, comprising:
According to the distance, the track that at least one set of track centering is met distance threshold is obtained to storing into sequence list
To the track to subclass.
8. the method according to claim 1, wherein carrying out fusion treatment to the perception information set, comprising:
The coincidence perception sub-information transmitted in the perception information set by distinct device in the trackside sensory perceptual system is carried out
Duplicate removal；
By in the perception information set by the trackside sensory perceptual system distinct device transmit be not overlapped perception sub-information into
Row fusion.
9. a kind of perception information fusion treatment device, which is characterized in that described device includes:
Perception information set obtains module, for obtaining the perception information set of running environment by trackside sensory perceptual system, wherein
Perception sub-information in the perception information set includes the perception letter transmitted by distinct device in the trackside sensory perceptual system
Breath；
Fusion treatment module for introducing virtual perception sub-information in the perception information set, and utilizes blending algorithm, right
The perception information set carries out fusion treatment, wherein the virtual perception sub-information is passed for being associated with by the distinct device
Defeated perception sub-information.
10. a kind of terminal characterized by comprising
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as perception information method for amalgamation processing described in any one of claims 1-8.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Such as perception information method for amalgamation processing described in any one of claims 1-8 is realized when execution.
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