CN110132290A - Perception information method for amalgamation processing, device, equipment and storage medium - Google Patents
Perception information method for amalgamation processing, device, equipment and storage medium Download PDFInfo
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- CN110132290A CN110132290A CN201910420661.2A CN201910420661A CN110132290A CN 110132290 A CN110132290 A CN 110132290A CN 201910420661 A CN201910420661 A CN 201910420661A CN 110132290 A CN110132290 A CN 110132290A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/251—Fusion techniques of input or preprocessed data
Abstract
The embodiment of the invention discloses a kind of perception information method for amalgamation processing, device, equipment and storage mediums, wherein, this method comprises: receiving the perception information set in target area, wherein, include the perception sub-information transmitted by different roadside devices in perception information set, perceives sub-information based on the time calibration timestamp having the same between different roadside devices；Using blending algorithm, fusion treatment is carried out to perception information set.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, reduce the lower deployment cost of bicycle sensing device, the accuracy that ensure that fusion treatment result 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, equipment 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 causes to perceive model due to fixing or the factors such as limited viewing angle position
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, equipment and storage medium, to extend row
Perception investigative range during vehicle guarantees the accuracy of fusion treatment result, reduces the lower deployment cost of bicycle sensor.
In a first aspect, the embodiment of the invention provides a kind of perception information method for amalgamation processing, this method comprises:
Receive the perception information set in target area, wherein include being set by different tracksides in the perception information set
The perception sub-information of standby transmission, the perception sub-information is based on the time having the same time calibration between different roadside devices
Stamp；
Using blending algorithm, fusion treatment is carried out to the perception information set.
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 receiving the perception information set in target area, wherein the perception letter
It include the perception sub-information transmitted by different roadside devices in breath set, the perception sub-information is based between different roadside devices
Time calibration timestamp having the same；
Fusion treatment module carries out fusion treatment to the perception information set for utilizing blending algorithm.
The third aspect, the embodiment of the invention also provides a kind of equipment, 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, by preassigned in the system
Target device receives the perception sub-information about vehicle running environment of different roadside device transmission in the system, wherein by difference
Fusion treatment result is transmitted to by the perception sub-information timestamp having the same of roadside device transmission after carrying out fusion treatment
Vehicle drives to be applied to auxiliary.On the one hand, the embodiment of the present invention utilizes wider excellent of trackside end sensing device investigative range
Gesture solves the problems, such as that the sensing range of vehicle-mounted sensing device in driving conditions is lesser, and the perception extended in driving conditions is visited
Range is surveyed, the blind area supplemented with vehicle-mounted perception can provide more environment sensing information for vehicle, ensure that Driving Decision-making system
Fixed reasonability, meanwhile, the timestamp consistency of sub-information is perceived, ensure that under the synchronous driving scene of no GPS signal
The accuracy and real-time of fusion treatment result；On the other hand, since the embodiment of the present invention needs not rely on vehicle-mounted sensing device
Environmental data is acquired, solves the problems, such as that vehicle upper affixes one's name to the higher cost of more sensing device, reduces bicycle sensing device
Lower deployment cost, peomote 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 equipment 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 being acquired simultaneously fusion treatment in perception information of the trackside end to vehicle running environment, then fusion treatment result is sent to
Terminal on vehicle, such as mobile unit or mobile terminal etc., the case where driving for auxiliary.This method can be by perceiving
Use processing device executes, which can be realized by the way of software and/or hardware, and can be integrated in arbitrary
It is able to carry out in the equipment of perception information fusion treatment operation, such as the road with calculation processing ability in trackside sensory perceptual system
Side apparatus.
The present embodiment can be applied in the driving scene that can not receive GPS signal, such as tunnel and underground garage etc., this
When, GPS signal, which is difficult with, between distinct device carries out time synchronization automatically.It is distributed based on the road in the scape of particular row parking lot,
Determine multiple target areas (area size adaptability setting), when disposing trackside sensory perceptual system in each target area,
It needs to carry out time calibration to distinct device in the trackside sensory perceptual system disposed in environment using preset time calibration method,
Then the running environment data of vehicle comprehensively acquire, the terminal being sent to by fusion treatment on vehicle in real time.
Illustratively, in each target area, trackside sensory perceptual system includes a variety of sensing devices, computing device and leads to
The equipment such as T unit.Wherein, computing device include but is not limited to trackside computing unit (Road Side Computing Unit,
RSCU), communication device includes but is not limited to roadside unit (Road Side Unit, RSU), and the type of sensing device includes but not
It is limited to imaging sensor (camera), millimetre-wave radar, laser radar and ultrasonic sensor etc., each type of sensing device
Deployment quantity can be configured according to actual needs.Each computing device can be with multiple biographies under at least one type
Induction device connection, and preliminary treatment is carried out to the environmental data of sensing device acquisition, obtain corresponding perception sub-information, the perception
Sub-information can correspond to a part of sensing region in target area.Wired or nothing can be based between different computing devices
Line communication mode carries out data interaction, such as is in communication with each other by optical fiber connection.The deployment of computing device in each target area
Closeness can be configured according to demand, and the present embodiment is not especially limited.
Further, in multiple computing devices in each target area, one or more meter can be preassigned
Device is calculated as target device, for executing the technical solution of the present embodiment, i.e., target device is not only needed to being attached thereto
The environmental data of sensing device acquisition carries out preliminary treatment, it is also necessary to other computing devices transmission that real-time reception is attached thereto
Sub-information is perceived, the fusion treatment between the perception sub-information transmitted by multiple computing devices is carried out.Target device can pass through
Final fusion treatment result is sent to the terminal on vehicle by one or more communication device.The quantity of communication device can be with
Less than the quantity of computing device.In vehicle travel process, terminal can be according to communication distance, from random communication means directly
Perception information fusion treatment needed for obtaining illustratively, can integrate as a result, without voluntarily executing fusion treatment in the terminal
On board unit (On board Unit, OBU) obtains perception information fusion treatment result for being communicated with communication device.
It is each in trackside sensory perceptual system to set on the basis of the perception information of current driving environment can sufficiently be obtained by guaranteeing
Standby deployment closeness can be configured according to demand, and the present embodiment is not especially limited, such as can be according to distinct device
Between communication distance and/or perceive investigative range number of partitions determine.The distance between target device and communication device need
Meet longer communication distance requirement.In addition, target device and communication device also can integrate as an equipment.
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 preliminary treatment, obtains perception sub-information, and be transmitted to the road as target device
Side computing unit passes through the trackside list being attached thereto after target device carries out fusion treatment to received multiple perception sub-informations
Member is sent to the terminal on vehicle.Wherein, it can integrate sending module on roadside unit, which can subscribe to sense in advance
Know the theme (topic) of use processing result, and received fusion treatment result is broadcasted.Below in conjunction with attached drawing pair
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:
Perception information set in S110, reception target area, wherein include being set by different tracksides in perception information set
The perception sub-information of standby transmission perceives sub-information based on the time calibration timestamp having the same between different roadside devices.
For specific environment, the environment can be divided into multiple target areas, each target area in advance
It may include multiple sensing range subregions in domain, be deployed with trackside sensory perceptual system in each target area, to obtain perception letter
Breath set.In the present embodiment, the different roadside devices of transmission perception sub-information refer to the environmental data for receiving sensing device acquisition
And preliminary treatment is carried out, so that the equipment for obtaining perception sub-information, specifically can be the computing device in the side sensory perceptual system that shows the way,
And the target device for being used to execute the present embodiment technical solution can be in multiple roadside devices preassigned one or more
A equipment.
Illustratively, during disposing trackside sensory perceptual system, the core that interchanger can be used as network is exchanged
Multiple equipment including above-mentioned roadside device is formed a distributed local, in any one roadside device by equipment
One local network time protocol server (Network Time Protocol Server) of upper setting, and by its local zone time
As fiducial time, other each equipment are based on the fiducial time and are calibrated, to realize each in trackside sensory perceptual system
The time consistency of equipment, and then kept for all devices equal time in the trackside sensory perceptual system disposed in entire environment same
Step.Wherein, association of the Network Time Protocol (Network Time Protocol) i.e. for each computer time in synchronizing network
View.When the local zone time of different roadside devices is consistent, the just timestamp having the same of the perception sub-information in perception information set,
Ensure that the accuracy and real-time of the fusion treatment result of perception information set.
S120, using blending algorithm, fusion treatment is carried out to perception information set.
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..Further, this method further includes: fusion treatment result is transmitted to vehicle, such as it is transmitted to vehicle
The terminals such as car networking communication equipment (Vehicle To X, V2X equipment), smart phone and PC on, to assist
Vehicular system formulates Driving Decision-making.
The perception information of vehicle current driving environment is obtained by the trackside sensory perceptual system disposed on road and is merged
Processing, for each car, it is only necessary to which the terminal that deployment is interacted with trackside sensory perceptual system is obtained from trackside sensory perceptual system
Therefore required fusion treatment is as a result, can save the cost that bicycle disposes more sensing device；Also, trackside sensory perceptual system
The visual angle of middle sensing device acquisition environmental data is wider, also more flexible, acquires ring especially for bicycle sensing device is relied on
There is the case where perception blind area during the data of border, the deployment based on sensing device and roadside device in trackside sensory perceptual system is complete
Face property can then overcome the perception blind area, supplement the perception information in the perception blind area, thus the Driving Decision-making system of raising
Fixed accuracy improves driving safety, reduces traffic accident.
Optionally, using blending algorithm, fusion treatment is carried out to perception information set, comprising: in perception information set
Virtual perception sub-information is introduced, and utilizes blending algorithm, fusion treatment is carried out to perception information set, wherein virtual perception
Information is for being associated with the perception sub-information transmitted by different roadside devices.
During fusion treatment, virtual perception sub-information is equivalent to by roadside device transmission different in trackside sensory perceptual system
Perception sub-information between association bridge so that any two or multiple roadside devices transmission perception sub-information between
It is interrelated, such as using the virtual perception sub-information, the perception sub-information transmitted by different roadside devices is carried out circulating
Association fusion treatment, this can not be merged between sub-information to avoid partially perceiving and cause fusion treatment result inaccurate
With formulation that is imperfect, and then influencing 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 different roadside devices is subjected to duplicate removal；
It will be merged in perception information set by the perception sub-information that is not overlapped that different roadside devices transmit.
The sensing region for the multiple sensing devices disposed in target area, which exists, to be overlapped, and therefore, different roadside devices pass
Defeated perception sub-information, which exists, is overlapped information, can be identified and be matched based on feature, remove the perception sub-information of coincidence；Then,
Perception sub-information will not be overlapped to integrate, to obtain the complete perception information of vehicle current driving environment.
The technical solution of the present embodiment on road by laying distributed trackside sensory perceptual system, by preparatory in the system
Specified target device receives the perception sub-information about vehicle running environment of different roadside device transmission in the system, wherein
The perception sub-information timestamp having the same transmitted by different roadside devices, after carrying out fusion treatment, by fusion treatment result
It is transmitted to vehicle, is driven to be applied to auxiliary.On the one hand, the technical solution of the present embodiment is detected using trackside end sensing device
The wider advantage of range solves the problems, such as that the sensing range of vehicle-mounted sensing device in driving conditions is lesser, extends and drove a vehicle
Perception investigative range in journey, the blind area supplemented with vehicle-mounted perception can provide more environment sensing information for vehicle, guarantee
The reasonability that Driving Decision-making is formulated, meanwhile, it perceives the timestamp consistency of sub-information, ensure that synchronous in no GPS signal
Driving scene under fusion treatment result accuracy and real-time；On the other hand, since the technical solution of the present embodiment is not required to
Vehicle-mounted sensing device acquisition environmental data is relied on, solves the problems, such as that vehicle upper affixes one's name to the higher cost of more sensing device,
The lower deployment cost for reducing bicycle sensing device peomotes the popularization of intelligent transport technology, constructs social intelligence's traffic system
System.
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:
Perception information set in S210, reception target area, wherein include being set by different tracksides in perception information set
The perception sub-information of standby transmission perceives sub-information based on the time calibration timestamp having the same between different roadside devices.
S220, in perception information set introduce virtual perception sub-information, and by perception information set by any trackside
Equipment transmission perception sub-information be determined as target apperception sub-information, using target apperception sub-information to virtual perception sub-information into
Row initialization.
For example, target device chooses all perception sub-informations within the scope of certain time, composition sense according to current time stamp
Know information aggregate { A, B, C }, includes respectively by the perception sub-information A of three roadside devices transmission, sense in the perception information set
Know sub-information B and perception sub-information C, virtual perception sub-information V is caused in the perception information set0, obtain perception information collection
Close { V0, A, B, C }；Using perception sub-information A to virtual perception sub-information V0It is initialized, at this point, virtual perception sub-information V0
It 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 roadside device 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 treatment between the perception sub-information of fusion treatment transmitted by any roadside device is had neither part nor lot in breath set, until perception
Perception sub-information in information aggregate 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 different roadside devices, after fusion treatment operation each time all
It needs to carry out dynamic update 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
Cease the fusion treatment between A and C, when between the perception sub-information of different roadside devices transmission there are when biggish relevance, just
Will lead in fusion treatment result has loss of learning, so that fusion treatment result is inaccurate, imperfect, however,
It using the technical solution of the present embodiment, then can solve the above problem, guarantee the accuracy and integrality of fusion treatment result.
The technical solution of the present embodiment, on the one hand, using the wider advantage of trackside end sensing device investigative range, solve
The lesser problem of the sensing range of vehicle-mounted sensing device in driving conditions extends the perception investigative range in driving conditions, mends
The blind area of vehicle-mounted perception has been filled, more environment sensing information can be provided for vehicle, ensure that Driving Decision-making is formulated reasonable
Property；Meanwhile the timestamp consistency of sub-information is perceived, it ensure that the fusion treatment under the synchronous driving scene of no GPS signal
As a result accuracy and real-time；The introducing of virtual perception sub-information 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, due to this reality
The technical solution for applying example needs not rely on vehicle-mounted sensing device acquisition environmental data, solves vehicle upper and affixes one's name to more sensing device
Higher cost the problem of, reduce the lower deployment cost of bicycle sensing device, peomote the popularization of intelligent transport technology, structure
Build social intelligence's traffic system.
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:
Perception information set in S310, reception target area, wherein include being set by different tracksides in perception information set
The perception sub-information of standby transmission perceives sub-information based on the time calibration timestamp having the same between different roadside devices.
The perception sub-information that S320, traversal are transmitted by different roadside devices, obtains at least one set of track pair, wherein track
To any two target object including respectively corresponding different roadside devices.
It may include the letter of different target object in the perception sub-information of different roadside device transmission in trackside sensory perceptual system
Breath, target object includes but is not limited to barrier, pedestrian, vehicle, building and traffic sign etc. on road.Felt by traversal
Know information aggregate, target object involved in perception sub-information that different roadside devices transmit is pairwise grouping.For example, point
Perception the sub-information A and B not transmitted by two roadside devices, perceiving includes 2 target objects: m1, m2 in sub-information A, perception
It include 3 target objects n1, n2, n3 in sub-information B, traversal perceives sub-information A and B, and available 6 groups of tracks pair are 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:
It is the target object distribution son mark in the perception sub-information transmitted by any roadside device in perception information set
Know, wherein sub-mark is used to distinguish the target object of corresponding different roadside devices, which includes the sub- ID of target object.
In the perception sub-information transmitted by different roadside devices, the target object being related to corresponds to unique sub-mark, and the son
The corresponding different roadside devices of mark are there is no being overlapped, to realize the target of corresponding different roadside devices during fusion treatment
Differentiation between object.Such as any track for, two target objects of track centering respectively correspond different sons
Mark.
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 position, the speed, fortune of at least one target object in the perception sub-information of different roadside device transmission
The characteristic informations such as dynamic direction, acceleration, geometry, rotation angle and color.According to the position of two target objects of track centering
Information 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, using blending algorithm, fusion treatment is carried out to subclass to track.
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 to the distance between target object, successively to every group of track to carrying out characteristic matching,
Determine the successful track pair of characteristic matching, with to the successful track of characteristic matching to carry out fusion treatment.
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, the target device in trackside sensory perceptual system is obtained by different roadside devices in target area
The perception information set of vehicle running environment is taken, then the barrier for the different roadside devices of correspondence redistributes sub- ID, with reality
Now to the differentiation of barrier, which is different from the device id in trackside sensory perceptual system, and different roadside devices are passed to target device
When defeated perception sub-information, different device ids will be carried by perceiving in sub-information, the perception sub-information of same roadside device transmission
The identical roadside device ID of middle correspondence；After sub- ID is redistributed, the distance between two barriers of every group of track centering are calculated, according to
The relationship of the distance and tracking threshold, realize track pair first layer screening, and by the track for meeting tracking threshold to store to
In sequence list, then in sequence list, can according to distance to track to being ranked up, and according to apart from ascending sequence
As a result, successively track is realized by characteristic matching and is screened to the second layer of track pair, and then determined to characteristic matching is carried out
It is preferred that track is to (track being successfully associated to), while the track for the condition that is unsatisfactory for being deleted from sequence list；Last base
In determining preferred track pair and related information, carries out duplicate removal processing and continue to add based on the fusion results that duplicate removal processing obtains
The obstacle information for adding nonredundancy region, i.e., the obstacle information not being overlapped, to obtain the complete of vehicle current driving environment
Fusion treatment is as a result, with the formulation for Driving Decision-making.
The technical solution of the present embodiment relies on the perception information set that different roadside devices obtain 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 being acquired simultaneously fusion treatment in perception information of the trackside end to vehicle running environment, then fusion treatment result is sent out
The case where sending the terminal to vehicle, such as mobile unit or mobile terminal etc., being driven for auxiliary.The device can be adopted
It is realized with the mode of software and/or hardware, and the equipment for being arbitrarily able to carry out the operation of perception information fusion treatment can be integrated in
On, such as roadside device in trackside sensory perceptual system 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 receiving the perception information set in target area, wherein perception letter
Breath set in include the perception sub-information transmitted by different roadside devices, perception sub-information based between different roadside devices when
Between calibrate timestamp having the same；
Fusion treatment module 420 carries out fusion treatment to perception information set for utilizing blending algorithm.
Optionally, fusion treatment module 420 is specifically used for:
Virtual perception sub-information is introduced in perception information set, and utilizes blending algorithm, and perception information set is carried out
Fusion treatment, wherein virtual perception sub-information is for being associated with the perception sub-information transmitted by different roadside devices.
Further, fusion treatment module 420 includes:
Virtual perception sub-information initialization unit, for introducing virtual perception sub-information in perception information set, and will
The perception sub-information transmitted in perception information set by any roadside device is determined as target apperception sub-information, utilizes target apperception
Sub-information initializes virtual perception 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 roadside device in set in addition to target apperception sub-information carries out fusion treatment, is worked as
Preceding fusion treatment 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
Had neither part nor lot in quasi- perception sub-information and perception information set fusion treatment the perception sub-information transmitted by any roadside device it
Between fusion treatment, until perception information set in perception sub-information both participate 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
It is that the target object in the perception sub-information transmitted by any roadside device distributes son in perception information set before operation
Mark, wherein sub-mark is used to distinguish the target object of corresponding different roadside devices.
Optionally, which further includes,
Track carries out fusion treatment to perception information set to determining module, for executing in fusion treatment module 420
Before operation, the perception sub-information transmitted by different roadside devices is traversed, obtains at least one set of track pair, wherein track is to packet
Include any two target object for respectively corresponding different roadside devices；
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 is to subclass, to carry out fusion treatment to subclass to track.
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 subclass after, in track in subclass, according between target object
Distance, successively to every group of track to carry out characteristic matching, determine the successful track pair of characteristic matching, with to characteristic matching success
Track to carry out fusion treatment.
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:
Sub-information duplicate removal unit is perceived, for son will to be perceived by the coincidence that different roadside devices transmit in perception information set
Information carries out duplicate removal；
Sub-information integrated unit is perceived, for perception will not to be overlapped by what different roadside devices transmitted in perception information set
Sub-information is merged.
Optionally, the device further include:
As a result transmission module, for fusion treatment result to be transmitted to vehicle.
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 equipment 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 example devices 512 of invention embodiment.The equipment 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 equipment 512, which typically can be, is able to carry out perception information fusion
Computing device etc. in the equipment of processing operation, such as trackside sensory perceptual system.
As shown in fig. 7, equipment 512 is showed in the form of common apparatus.The component of equipment 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.
Equipment 512 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment
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.Equipment 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.
Equipment 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 equipment 512 communicate, and/or with make the equipment 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, equipment 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 equipment 512
Other modules communication.It should be understood that although not shown in the drawings, other hardware and/or software mould can be used with bonding apparatus 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:
Receive the perception information set in target area, wherein include being set by different tracksides in the perception information set
The perception sub-information of standby transmission, the perception sub-information is based on the time having the same time calibration between different roadside devices
Stamp；
Using blending algorithm, fusion treatment is carried out to the perception information set.
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:
Receive the perception information set in target area, wherein include being set by different tracksides in the perception information set
The perception sub-information of standby transmission, the perception sub-information is based on the time having the same time calibration between different roadside devices
Stamp；
Using blending algorithm, fusion treatment is carried out to the perception information set.
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 (13)
1. a kind of perception information method for amalgamation processing, which is characterized in that the described method includes:
Receive the perception information set in target area, wherein include being passed by different roadside devices in the perception information set
Defeated perception sub-information, the perception sub-information is based on the time calibration timestamp having the same between different roadside devices；
Using blending algorithm, fusion treatment is carried out to the perception information set.
2. the method according to claim 1, wherein described utilize blending algorithm, to the perception information set
Carry out fusion treatment, comprising:
Virtual perception sub-information is introduced in the perception information set, and utilizes the 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 different roadside devices
Breath.
3. according to the method described in claim 2, it is characterized in that, introducing virtual perception letter in the perception information set
Breath, and the blending algorithm is utilized, fusion treatment is carried out to the perception information set, comprising:
Virtual perception sub-information is introduced in the perception information set, and will be set in the perception information set by any trackside
The perception sub-information of standby transmission is determined as target apperception sub-information, using the target apperception sub-information to virtual perception
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 roadside device except sub-information carries out fusion treatment, obtains present fusion processing knot
Fruit；
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
The fusion treatment between the perception sub-information of fusion treatment transmitted by any roadside device is had neither part nor lot in perception information set, directly
Fusion treatment is both participated in the perception sub-information in the perception information set.
4. the method according to claim 1, wherein to the perception information set carry out fusion treatment it
Before, the method also includes:
It is the target object distribution son mark in the perception sub-information transmitted by any roadside device in the perception information set
Know, wherein the sub-mark is used to distinguish the target object of corresponding different roadside devices.
5. the method according to claim 1, wherein to the perception information set carry out fusion treatment it
Before, the method also includes:
The traversal perception sub-information transmitted by different roadside devices, obtains at least one set of track pair, wherein the track pair
Any two target object including respectively corresponding different roadside devices；
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, to institute at least one set of track pair
It states track and fusion treatment is carried out to subclass.
6. according to the method described in claim 5, 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,
Determine the successful track pair of characteristic matching, with to the successful track of the characteristic matching to carry out fusion treatment.
7. according to the method described in claim 6, 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.
8. according to the method described in claim 5, 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.
9. 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 different roadside devices is subjected to duplicate removal；
It will be merged in the perception information set by the perception sub-information that is not overlapped that different roadside devices transmit.
10. the method according to claim 1, wherein the method also includes:
Fusion treatment result is transmitted to vehicle.
11. a kind of perception information fusion treatment device, which is characterized in that described device includes:
Perception information set obtains module, for receiving the perception information set in target area, wherein the perception information collection
Include the perception sub-information transmitted by different roadside devices in conjunction, it is described perception sub-information based between different roadside devices when
Between calibrate timestamp having the same；
Fusion treatment module carries out fusion treatment to the perception information set for utilizing blending algorithm.
12. a kind of equipment 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
The now perception information method for amalgamation processing as described in any in claim 1-10.
13. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The perception information method for amalgamation processing as described in any in claim 1-10 is realized when execution.
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