CN110491156A - A kind of cognitive method, apparatus and system - Google Patents
A kind of cognitive method, apparatus and system Download PDFInfo
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- CN110491156A CN110491156A CN201910797183.7A CN201910797183A CN110491156A CN 110491156 A CN110491156 A CN 110491156A CN 201910797183 A CN201910797183 A CN 201910797183A CN 110491156 A CN110491156 A CN 110491156A
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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]
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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]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
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Abstract
The present invention relates to field of intelligent transportation technology, specifically disclose a kind of cognitive method, wherein the cognitive method includes: acquisition image data information, and identifies the target vehicle in described image data information；Environmental aspect judgement is carried out to the target vehicle and position calculates, the safe and feasible for obtaining target vehicle sails region；The safe and feasible of the target vehicle is sailed into region and feeds back to the target vehicle.The invention also discloses a kind of sensing device and sensory perceptual systems.The image data information that cognitive method provided by the invention is got by being then based on trackside facility, it is compared with vehicle-mounted imaging sensor, with the advantage that sensing range is wider and is not blocked, the perceived accuracy of target vehicle ambient enviroment is improved, and then enables to the more accurate safety of the running route of target vehicle.
Description
Technical field
The present invention relates to field of intelligent transportation technology more particularly to a kind of cognitive method, sensing device and including the perception
The sensory perceptual system of device.
Background technique
Driving environment cognition technology is intelligent DAS (Driver Assistant System) and automated driving system critical issue to be solved
One of.The collection of driving-environment information and information are two important contents of the technology to the presentation mode of driver.It is now wide
Onboard sensor of general use such as camera, radar etc. for perceive the environmental aspect around itself in horizon range play compared with
Good effect, but the region that it, which is limited in that, not can be carried out a wide range of perception, and perceive is easily by other occlusions, and week
It is more to enclose vehicle, sensing range is more limited.Therefore how to provide one kind be able to carry out larger range of environment sensing and also not by
The various perceptive modes for blocking influence become those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
The present invention provides a kind of cognitive method, sensing device and including the sensory perceptual system of the sensing device, solve related
Vehicle drive sensing range is small present in technology and is easy the problem of blocking.
As one aspect of the present invention, a kind of cognitive method is provided, wherein the cognitive method includes:
Image data information is obtained, and identifies the target vehicle in described image data information；
Environmental aspect judgement is carried out to the target vehicle and position calculates, the safe and feasible for obtaining target vehicle sails region；
The safe and feasible of the target vehicle is sailed into region and feeds back to the target vehicle.
Further, the cognitive method further includes carrying out environmental aspect judgement and position to the target vehicle described
Calculating is set, obtains carrying out before the step of the safe and feasible of target vehicle sails region:
Obtain the environmental aspect around the target vehicle.
Further, the environmental aspect obtained around the target vehicle includes:
Relative coordinate system is established, wherein the center of the relative coordinate system is the target vehicle in traveling；
The versus environmental situation around the target vehicle is calculated in real time.
Further, the relative coordinate system of establishing includes:
Lane coordinate is mapped in three-dimensional world coordinate system by X-Y scheme pixel coordinate；
Effective running region of the target vehicle is limited according to location information of the lane line in the three-dimensional world coordinate system；
Effective running region is subjected to grid dividing by zero point of the target vehicle.
Further, the environmental aspect obtained around the target vehicle further include:
The target vehicle and surrounding environmental aspect are projected in the grid of effective running region, described in acquisition
Safe and feasible sails region.
Further, the acquisition image data information, and identify that the target vehicle in described image data information includes:
Obtain the image data information of same acquisition equipment；
Image procossing is carried out to described image data information, obtains the license board information and location information of target vehicle.
Further, the acquisition image data information, and identify that the target vehicle in described image data information includes:
The image data information for obtaining two neighboring acquisition equipment, obtains two image data informations；
Described two image data informations are subjected to image mosaic, obtain stitching image information；
Image procossing is carried out to the stitching image information, obtains the license board information and location information of target vehicle.
As another aspect of the present invention, a kind of sensing device is provided, wherein the sensing device includes:
Module is obtained, the acquisition module identifies the target in described image data information for obtaining image data information
Vehicle；
Processing module, the processing module is used to carry out environmental aspect judgement to the target vehicle and position calculates, and obtains
The safe and feasible of target vehicle sails region；
Feedback module, the feedback module feed back to the target carriage for the safe and feasible of the target vehicle to be sailed region
.
As another aspect of the present invention, a kind of sensory perceptual system is improved, wherein the sensory perceptual system includes: vehicle-mounted list
Member, roadside unit and previously described sensing device, the sensing device and the on board unit are logical with the roadside unit
Letter connection, image data information of the sensing device for acquisition target vehicle in real time, and according to described image data information
The safe and feasible for being handled to obtain target vehicle sails region, and the roadside unit can be by the safe and feasible of the target vehicle
It sails region and the target vehicle is fed back to by the on board unit.
Further, the on board unit includes vehicle-carrying communication module and vehicle positioning module, the vehicle positioning module
It is communicated to connect with the roadside unit with the vehicle-carrying communication module, the roadside unit is real by the vehicle positioning module
When acquire the location information of the target vehicle.
By above-mentioned cognitive method, apparatus and system, image data information is obtained, at described image data information
Target vehicle is identified after reason, after carrying out environmental aspect judgement and position calculating to target vehicle, can obtain target
The safe and feasible of vehicle sails region, the image data information that this cognitive method is got by being then based on trackside facility, follow the bus
It carries imaging sensor to compare, with the advantage that sensing range is wider and is not blocked, improves the sense of target vehicle ambient enviroment
Know precision, and then enables to the more accurate safety of the running route of target vehicle.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the flow chart of cognitive method provided by the invention.
Fig. 2 is the specific implementation schematic diagram of cognitive method provided by the invention.
Fig. 3 is the structural block diagram of sensing device provided by the invention.
Fig. 4 is the structural block diagram of sensory perceptual system provided by the invention.
Fig. 5 is the specific embodiment structural block diagram of sensory perceptual system provided by the invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combine.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this
The embodiment of a part is invented, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, should fall within the scope of the present invention.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
A kind of cognitive method is provided in the present embodiment, and Fig. 1 is the cognitive method provided according to embodiments of the present invention
Flow chart, as shown in Figure 1, comprising:
S110, image data information is obtained, and identifies the target vehicle in described image data information；
It is understood that especially multiple trackside facilities are arranged in intersection on road, each trackside facility includes road
Side unit (Road Side Unit, abbreviation RSU) and sensing device, as shown in Fig. 2, each trackside facility can acquire in real time
The image information and location information of the vehicle travelled on road, get these collected image informations of roadside unit with
And after location information, carries out processing identification and obtain target vehicle.
S120, environmental aspect judgement and position calculating are carried out to the target vehicle, the safety for obtaining target vehicle can
Running region；
Specifically, judgement is carried out to the environmental aspect around the target vehicle and the traveling-position of target vehicle is carried out true
It is fixed, to obtain the travelable region of target vehicle.
S130, it the safe and feasible of the target vehicle is sailed into region feeds back to the target vehicle.
By above-mentioned cognitive method, image data information is obtained, is identified after handling described image data information
Target vehicle can obtain the safety of target vehicle after carrying out environmental aspect judgement and position calculating to target vehicle
It can travel region, the image data information that this cognitive method is got by being then based on trackside facility, with vehicle-mounted image sensing
Device is compared, and with the advantage that sensing range is wider and is not blocked, improves the perceived accuracy of target vehicle ambient enviroment, in turn
Enable to the more accurate safety of the running route of target vehicle.
It should be understood that the vehicle of target vehicle can be obtained by image procossing when identifying to target vehicle
Board.Specifically, vehicle detection, License Plate and License Plate Character Segmentation and identification three can be specifically included that for Car license recognition
Point, the specific implementation of specific each section can be realized using existing conventional means, specifically be repeated no more.
Region is sailed in order to obtain the safe and feasible of target vehicle, the cognitive method further includes described to the mesh
It marks vehicle and carries out environmental aspect judgement and position and calculate, obtain carrying out before the step of the safe and feasible of target vehicle sails region
:
Obtain the environmental aspect around the target vehicle.
Specifically, roadside unit carries out real-time tracing to the above-mentioned target vehicle identified, to realize to target vehicle
Environmental aspect acquisition.
Further specifically, the environmental aspect obtained around the target vehicle further include: by the target vehicle
And surrounding environmental aspect projects in the grid of effective running region, obtains the safe and feasible and sails region.
It is understood that the environmental aspect around the target vehicle and the target vehicle, which is projected to, described to be had
In the grid for imitating running region, which can quickly recognize according to the distribution of the grid of effective running region can be target vehicle
Safe and feasible sail region.
Specifically, after above-mentioned target vehicle is identified successfully, to provide successional service to the target vehicle, then
It needs to be tracked the target vehicle, acquisition calculates the environmental aspect around the target vehicle while tracking.Due to
Above-mentioned target vehicle has obtained the license board information of target vehicle when identifying, so the tracking herein for target vehicle can adopt
With the method for tracking target based on region.
As another specifically embodiment, the environmental aspect obtained around the target vehicle includes:
Relative coordinate system is established, wherein the center of the relative coordinate system is the target vehicle in traveling；
The versus environmental situation around the target vehicle is calculated in real time.
Further specifically, the relative coordinate system of establishing includes:
Lane coordinate is mapped in three-dimensional world coordinate system by X-Y scheme pixel coordinate；
Effective running region of the target vehicle is limited according to location information of the lane line in the three-dimensional world coordinate system；
Effective running region is subjected to grid dividing by zero point of the target vehicle.
It is understood that trackside facility tracked acquisition when target vehicle is identified successfully and continuously tracked
The environmental aspect of target vehicle in journey.To obtain the road conditions at target vehicle visual angle, it is necessary to be established centered on target vehicle
Relative coordinate system calculates the versus environmental around the target vehicle in real time；And in the process of moving, coordinate center is always this
Target vehicle.When the relative coordinate system models, completion lane line coordinates is sat by two dimensional image pixel coordinate to three-dimensional world first
The mapping of mark system limits effective running region, in the area after obtaining location information of the lane line in world coordinate system
The division that grid chart is carried out using the position of the target vehicle as zero point, completes the foundation of relative coordinate system.
The calculating in region is sailed for safe and feasible, specifically, is established by the grid relative coordinate system of zero point of target vehicle
Later, the environmental aspect for needing to judge grid around the target vehicle calculates the relative position of other vehicles Yu the target vehicle,
The safe and feasible for obtaining the target vehicle sails region, returns to this target vehicle later.Trackside facility acquires target vehicle week
The environmental information enclosed is occupied according to this information by each grid in the available relative coordinate system of Bayesian decision network
Probability, this result are made rational planning for travel route to guide driver.
As a kind of embodiment that image data information obtains, the acquisition image data information, and identify the figure
As the target vehicle in data information includes:
Obtain the image data information of same acquisition equipment；
Image procossing is carried out to described image data information, obtains the license board information and location information of target vehicle.
It should be understood that acquisition equipment described herein is specially a part of trackside facility, i.e., when the target vehicle energy
When enough acquisitions by same trackside facility, need to only image procossing be carried out to acquired image data information, can be realized to target
The identification of vehicle.
As image data information obtain another embodiment, the acquisition image data information, and identify described in
Target vehicle in image data information includes:
The image data information for obtaining two neighboring acquisition equipment, obtains two image data informations；
Described two image data informations are subjected to image mosaic, obtain stitching image information；
Image procossing is carried out to the stitching image information, obtains the license board information and location information of target vehicle.
Specifically, when target vehicle will be driven out to the overlay area of a trackside facility, another trackside facility is driven into
When overlay area, the image data information that two trackside facilities are obtained carries out image mosaic, obtains stitching image information；To institute
It states stitching image information and carries out image procossing, obtain target vehicle and collectively cover safety in region in two neighboring trackside facility
It can travel region.
It should be understood that due to vehicle real time kinematics, certainly exist be driven out to this trackside facility overlay area enter it is another
The case where a trackside facility-wide, in order to reach the target of service continuity, it is necessary to the image of two trackside facilities acquisition
Spliced.For image mosaic in such cases, two trackside facilities first have to synchronize, later to two roads of boundary
The image of side unit acquisition is spliced, and mainly includes image preprocessing, images match, re-projection, suture and merging.
As another embodiment of the present invention, a kind of sensing device is provided, wherein as shown in figure 3, the sensing device
100 include:
Module 110 is obtained, the acquisition module 110 identifies in described image data information for obtaining image data information
Target vehicle；
Processing module 120, the processing module 120 is by carrying out based on environmental aspect judgement and position the target vehicle
It calculates, the safe and feasible for obtaining target vehicle sails region；
Feedback module 130, the feedback module 130 feed back to the mesh for the safe and feasible of the target vehicle to be sailed region
Mark vehicle.
By above-mentioned sensing device, image data information is obtained, is identified after handling described image data information
Target vehicle can obtain the safety of target vehicle after carrying out environmental aspect judgement and position calculating to target vehicle
It can travel region, the image data information that this cognitive method is got by being then based on trackside has sensing range unrestricted
And the advantage that do not blocked, the perceived accuracy of target vehicle is improved, and then enable to the running route of target vehicle more
Precise and safety.
Concrete operating principle about sensing device is referred to the description of cognitive method above, and details are not described herein again.
As another embodiment of the present invention, a kind of sensory perceptual system is provided, wherein as shown in figure 4, the sensory perceptual system 10
It include: on board unit 200, roadside unit 300 and previously described sensing device 100, the sensing device 100 and described vehicle-mounted
Unit 200 is communicated to connect with the roadside unit 300, and the sensing device 100 for acquiring the image of target vehicle in real time
Data information, and region, the trackside are sailed according to the safe and feasible that described image data information is handled to obtain target vehicle
The safe and feasible of the target vehicle can be sailed region and feed back to the target carriage by the on board unit 200 by unit 300
.
By above-mentioned sensory perceptual system, image data information is obtained, is identified after handling described image data information
Target vehicle can obtain the safety of target vehicle after carrying out environmental aspect judgement and position calculating to target vehicle
It can travel region, the image data information that this cognitive method is got by being then based on trackside has sensing range unrestricted
And the advantage that do not blocked, the perceived accuracy of target vehicle is improved, and then enable to the running route of target vehicle more
Precise and safety.
Preferably, the sensing device 100 and 300 wired connection of roadside unit, the on board unit 200 with it is described
Roadside unit 300 is wirelessly connected.
It should be understood that being provided on board unit 200 on each target vehicle, on board unit 200 can be with trackside
It being communicated between unit 300, sensing device 100 can also be communicated with roadside unit 300, in order to improve communication efficiency,
Communication between on board unit 200 and roadside unit 300 and between sensing device 100 and roadside unit 300 can use
5G communication mode.
Certainly, in order to increase the accuracy for perceiving environment, roadside unit 300 can also be by establishing on board unit 200
Communication obtains the image data information around the collected place target vehicle of on board unit 200.
Specifically, the on board unit 200 includes vehicle-carrying communication module and vehicle positioning module, the vehicle positioning module
It is communicated to connect with the roadside unit with the vehicle-carrying communication module, the roadside unit is real by the vehicle positioning module
When acquire the location information of the target vehicle.
Preferably, the vehicle positioning module includes vehicle GPS module.
It should be understood that vehicle-carrying communication module transmits and receives data, sensing device carries out data processing and certainly exists one
Fixed time delay, by the maximum coordinate system that will be foundation of delayed impact, to directly affect obtained travelable area
Domain, it is therefore necessary to certain processing is carried out to this communication delay.Since the foundation of coordinate system depends on the real-time of target vehicle
Position, the presence of delay make position inaccurate, therefore can be accelerated by means of vehicle GPS module, the speed of inertial navigation acquisition
The information such as degree, position centainly compensate the moving situation of vehicle in delay time, reduce communication delay problem for being built
The influence of coordinate system.
In addition, it is necessary to explanation, the sensing device 100 can integrate setting in mobile edge calculations (Mobile
Edge Computing, abbreviation MEC) on platform.
It should also be noted that, the mobile edge calculations platform can also be communicatively coupled with cloud platform, to prolonging
When it is of less demanding, in the demanding application scenarios of computing capability, picture number that mobile edge calculations platform can will acquire
It is believed that breath is sent to cloud platform and is handled, processing result can be fed back to mobile edge calculations platform after cloud platform processing, from
And improve data-handling efficiency.
It is described below with reference to function of the Fig. 5 to sensory perceptual system provided by the invention, in trackside facility overlay area
Vehicle requests environment sensing service (request is reported to MEC module license plate number while service) to MEC by vehicle-carrying communication module,
After MEC responds service request, the use of information machine vision technique that camera sensor perceives is known from the image that camera acquires
The vehicle (technologies such as Car license recognition) that service Chu not requested, is tracked the target vehicle after identifying successfully；MEC module later
It holds and establishes relative coordinate system centered on the vehicle for requesting service, the vehicle-periphery data meter acquired according to camera sensor
The travelable region for calculating the request service vehicle returns to the vehicle of request service；It is covered if the vehicle is driven out to this trackside facility
Cover area enters another trackside facility-wide, then will complete two acquired images of trackside facility using image mosaic technology
Fusion, the safety for continuing can travel region later can calculate.Therefore, sensory perceptual system provided by the invention can not only carry out
It larger range of environment sensing and is not influenced by various block, to further improve the precision of environment sensing.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of cognitive method, which is characterized in that the cognitive method includes:
Image data information is obtained, and identifies the target vehicle in described image data information；
Environmental aspect judgement is carried out to the target vehicle and position calculates, the safe and feasible for obtaining target vehicle sails region；
The safe and feasible of the target vehicle is sailed into region and feeds back to the target vehicle.
2. cognitive method according to claim 1, which is characterized in that the cognitive method further includes described to the mesh
It marks vehicle and carries out environmental aspect judgement and position and calculate, obtain carrying out before the step of the safe and feasible of target vehicle sails region
:
Obtain the environmental aspect around the target vehicle.
3. cognitive method according to claim 2, which is characterized in that the environment shape obtained around the target vehicle
Condition includes:
Relative coordinate system is established, wherein the center of the relative coordinate system is the target vehicle in traveling；
The versus environmental situation around the target vehicle is calculated in real time.
4. cognitive method according to claim 3, which is characterized in that the relative coordinate system of establishing includes:
Lane coordinate is mapped in three-dimensional world coordinate system by X-Y scheme pixel coordinate；
Effective running region of the target vehicle is limited according to location information of the lane line in the three-dimensional world coordinate system；
Effective running region is subjected to grid dividing by zero point of the target vehicle.
5. cognitive method according to claim 4, which is characterized in that the environment shape obtained around the target vehicle
Condition further include:
The target vehicle and surrounding environmental aspect are projected in the grid of effective running region, described in acquisition
Safe and feasible sails region.
6. cognitive method as claimed in any of claims 1 to 5, which is characterized in that the acquisition picture number it is believed that
Breath, and identify that the target vehicle in described image data information includes:
Obtain the image data information of same acquisition equipment；
Image procossing is carried out to described image data information, obtains the license board information and location information of target vehicle.
7. cognitive method as claimed in any of claims 1 to 5, which is characterized in that the acquisition picture number it is believed that
Breath, and identify that the target vehicle in described image data information includes:
The image data information for obtaining two neighboring acquisition equipment, obtains two image data informations；
Described two image data informations are subjected to image mosaic, obtain stitching image information；
Image procossing is carried out to the stitching image information, obtains the license board information and location information of target vehicle.
8. a kind of sensing device, which is characterized in that the sensing device includes:
Module is obtained, the acquisition module identifies the target in described image data information for obtaining image data information
Vehicle；
Processing module, the processing module is used to carry out environmental aspect judgement to the target vehicle and position calculates, and obtains
The safe and feasible of target vehicle sails region；
Feedback module, the feedback module feed back to the target carriage for the safe and feasible of the target vehicle to be sailed region
.
9. a kind of sensory perceptual system, which is characterized in that the sensory perceptual system includes: on board unit, roadside unit and claim 8 institute
The sensing device stated, the sensing device and the on board unit are communicated to connect with the roadside unit, the sensing device
It is handled to obtain target vehicle for acquiring the image data information of target vehicle in real time, and according to described image data information
Safe and feasible sail region, the safe and feasible of the target vehicle can be sailed region and pass through the vehicle-mounted list by the roadside unit
Member feeds back to the target vehicle.
10. sensory perceptual system according to claim 9, which is characterized in that the on board unit include vehicle-carrying communication module and
Vehicle positioning module, the vehicle positioning module and the vehicle-carrying communication module are communicated to connect with the roadside unit, described
Roadside unit acquires the location information of the target vehicle by the vehicle positioning module in real time.
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| CN111160266A (en) * | 2019-12-30 | 2020-05-15 | 三一重工股份有限公司 | Object tracking method and device |
| CN111212399A (en) * | 2019-12-23 | 2020-05-29 | 新奇点企业管理集团有限公司 | Data transmission method and device, computer storage medium and electronic equipment |
| CN111522350A (en) * | 2020-07-06 | 2020-08-11 | 深圳裹动智驾科技有限公司 | Sensing method, intelligent control equipment and automatic driving vehicle |
| CN112562314A (en) * | 2020-11-02 | 2021-03-26 | 福瑞泰克智能系统有限公司 | Road end sensing method and device based on deep fusion, road end equipment and system |
| CN112590669A (en) * | 2020-12-04 | 2021-04-02 | 清华大学苏州汽车研究院（吴江） | Vehicle matching method and device |
| CN112816954A (en) * | 2021-02-09 | 2021-05-18 | 中国信息通信研究院 | Road side perception system evaluation method and system based on truth value |
| CN113096165A (en) * | 2021-04-16 | 2021-07-09 | 无锡物联网创新中心有限公司 | Target object positioning method and device |
| CN113696905A (en) * | 2021-10-08 | 2021-11-26 | 无锡物联网创新中心有限公司 | Vehicle safety driving warning system based on environment perception |
| WO2024212729A1 (en) * | 2023-04-12 | 2024-10-17 | 华为技术有限公司 | Monitoring method, apparatus and system |
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