CN113160555A - Road-state ripple processing method and system based on road side sensing equipment and storage medium - Google Patents
Road-state ripple processing method and system based on road side sensing equipment and storage medium Download PDFInfo
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- CN113160555A CN113160555A CN202110223413.6A CN202110223413A CN113160555A CN 113160555 A CN113160555 A CN 113160555A CN 202110223413 A CN202110223413 A CN 202110223413A CN 113160555 A CN113160555 A CN 113160555A
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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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
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
Abstract
The invention discloses a road-state ripple processing method, a system and a storage medium based on road-side sensing equipment, wherein the method comprises the following steps: acquiring road traffic information acquired by road side sensing equipment, wherein the road traffic information comprises a road traffic subject type and a motion state of the road traffic subject; constructing a wave equation; converting the road traffic information into first road state ripples by adopting a wave equation; and filling ripples in the detection blind area of the roadside sensing equipment by adopting a wave equation according to the first road state ripples to obtain the global road state ripples. According to the invention, road traffic information acquired by the roadside sensing equipment is converted into road state ripples through the wave equation, and then the detection blind area of the roadside sensing equipment is filled with ripples by adopting the wave equation according to the ripple information to obtain global road state ripples, so that the position of an automatic driving vehicle can be rapidly and accurately positioned under the condition of sensing information loss or blind area. The invention can be widely applied to the technical field of intelligent traffic.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a road state ripple processing method and system based on roadside sensing equipment and a storage medium.
Background
With the continuous improvement and development of intelligent transportation systems, under the continuous promotion of technologies such as vehicle-road cooperation, artificial intelligence and the like, the new generation intelligent driving gradually transits from single-vehicle intelligence to group cooperation. According to the statistical automatic driving test report, the accidents caused by the sensing error and leakage of the road traffic situation account for 27 percent of the total number of the accidents, and the driving reliability of the intelligent vehicle is seriously influenced. At present, in the field of automatic driving, road side sensing equipment cannot acquire road global road traffic information generally, that is, sensing information is absent or a blind area exists, so that a condition that a route planning is unreasonable occurs in cooperation with an automatic driving vehicle on a vehicle road based on the road side information, and then the global traffic efficiency is influenced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a road-state ripple processing method, a road-state ripple processing system and a storage medium based on road-side sensing equipment, which can improve the route planning rationality of an automatic driving vehicle under the condition of sensing information loss or blind areas.
According to the embodiment of the first aspect of the invention, the road state ripple processing method based on the road side sensing equipment comprises the following steps:
acquiring road traffic information acquired by road side sensing equipment, wherein the road traffic information comprises a type of a road traffic subject and a motion state of the road traffic subject;
constructing a wave equation;
converting the road traffic information into first road state ripples by adopting the wave equation;
and filling ripples in the detection blind area of the roadside sensing equipment by adopting the wave equation according to the first road state ripples to obtain global road state ripples.
The road-state ripple processing method based on the roadside sensing equipment, provided by the embodiment of the invention, has at least the following beneficial effects:
according to the embodiment of the invention, the road traffic information acquired by the roadside sensing equipment is converted into the road state ripples by adopting the wave equation, and then the detection blind area of the roadside sensing equipment is subjected to ripple filling by adopting the wave equation according to the ripple information so as to obtain the global road state ripples, so that the position of the automatic driving vehicle can be rapidly and accurately positioned under the condition that the sensing information is missing or the blind area is not present, and the route planning rationality of the automatic driving vehicle is improved.
According to some embodiments of the invention, the wave equation is as follows:
wherein f (x, t, u) is the amplitude of the road state ripple, and x is a space vector; for a one-dimensional wave equation, x is x representing a direction; for a two-dimensional wave equation, x is (x, y) to represent the ripple plane transfer; t is time; u is a motion state of the road traffic body; a is the wave transmission speed; c is an interference factor.
According to some embodiments of the present invention, the performing ripple filling on the detection blind area of the roadside sensing device by using the wave equation according to the first road state ripple to obtain global road state ripple includes:
according to the first road state ripples, predicting second road state ripples of a detection blind area of roadside sensing equipment by using the wave equation;
and superposing the first road state ripples and the second road state ripples to obtain the global road state ripples.
According to some embodiments of the invention, the roadside sensing devices include a plurality of roadside sensing devices, the roadside sensing devices are arranged at a preset interval, and the preset interval is 100m to 500 m.
According to some embodiments of the invention, each of the plurality of roadside sensing devices comprises a camera module and a radar module; the camera module is used for collecting the type of a road traffic main body; the radar module is used for collecting the motion state of the road traffic main body.
According to some embodiments of the invention, the collecting of the type of road traffic subject comprises:
collecting a current road traffic image;
extracting a road traffic subject on the current road traffic image;
and identifying the category of the road traffic subject to obtain the type of the road traffic subject.
According to a second aspect of the invention, a roadside sensing device-based road waviness processing system comprises:
the acquisition module is used for acquiring road traffic information acquired by the road side sensing equipment, wherein the road traffic information comprises the type of a road traffic subject and the motion state of the road traffic subject;
the construction module is used for constructing a wave equation;
the conversion module is used for converting the road traffic information into first road state ripples by adopting the wave equation;
and the filling module is used for filling ripples in the detection blind area of the roadside sensing equipment by adopting the wave equation according to the first road state ripples to obtain global road state ripples.
According to some embodiments of the invention, the wave equation is as follows:
wherein f (x, t, u) is the amplitude of the road state ripple, and x is a space vector; for a one-dimensional wave equation, x is x representing a direction; for a two-dimensional wave equation, x is (x, y) to represent the ripple plane transfer; t is time; u is a motion state of the road traffic body; a is the wave transmission speed; c is an interference factor.
According to a third aspect embodiment of the invention, a roadside sensing device-based road waviness processing system comprises:
at least one memory for storing a program;
at least one processor, configured to load the program to perform the method for road-side sensing device-based road waviness processing according to the embodiment of the first aspect.
A storage medium according to a fourth aspect of the present invention is a storage medium, in which a processor-executable program is stored, and the processor-executable program is used to execute the roadside sensing device-based road state corrugation processing method described in the first aspect of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
fig. 1 is a flowchart of a road-state ripple processing method based on a road-side sensing device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of roadside road state waviness perception in accordance with an embodiment;
FIG. 3 is a schematic diagram of a layout of roadside equipment with a preset spacing of 100m according to an embodiment;
FIG. 4 is a schematic diagram of a layout of roadside devices with a preset spacing of 200m according to an embodiment;
FIG. 5 is a schematic diagram of a roadside apparatus layout with a preset spacing of 500m according to an embodiment;
FIG. 6 is a schematic diagram of the layout of roadside equipment along the direction of traffic flow in accordance with one embodiment;
FIG. 7 is a schematic diagram of the layout of the roadside apparatus in the reverse traffic direction according to an embodiment;
fig. 8 is a schematic layout diagram of the bidirectional roadside apparatus according to an embodiment.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, an embodiment of the present invention provides a road-state ripple processing method based on a roadside sensing device, and the embodiment may be applied to a server, where the server may be composed of background processors of multiple types of platforms, or may be composed of a cloud platform and an edge computing module on the roadside sensing device.
In the implementation process, the embodiment includes the following steps:
s11, acquiring road traffic information collected by the road side sensing equipment, wherein the road traffic information comprises the type of a road traffic subject and the motion state of the road traffic subject. Specifically, the motion state of the road traffic body includes a plurality of information such as a position, a posture, a speed, and an acceleration of the road traffic body. The roadside sensing equipment comprises a plurality of roadside sensing equipment, and the roadside sensing equipment is arranged at preset intervals of 100-500 m. The plurality of roadside sensing devices comprise camera modules and radar modules; the camera module is used for collecting the type of the road traffic main body; the radar module comprises a laser radar and a millimeter wave radar and is used for collecting the motion state of the road traffic main body. And collects the road traffic subject type. The method can be specifically realized by the following steps:
firstly, collecting a current road traffic image; then extracting a road traffic subject on the current road traffic image; and then the material class identification model carries out class identification on the road traffic subject to obtain the type of the road traffic subject.
And S12, constructing a wave equation. Wherein, the wave equation is shown in formula 1:
wherein f (x, t, u) is the amplitude of the road state ripple, and x is a space vector; for a one-dimensional wave equation, x is x representing a direction; for a two-dimensional wave equation, x is (x, y) to represent the ripple plane transfer, and so on; t is time; u is a motion state of the road traffic body, which may be speed, acceleration, jerk or density; a is the transmission speed of the wave, and in the road state ripple, a depends on the influence of the road environment on the traffic body; and C is an interference factor in the road state ripple transmission process.
And S13, converting the road traffic information into first road state ripples by adopting a wave equation.
And S14, filling ripples in the detection blind area of the roadside sensing equipment by adopting a wave equation according to the first road state ripples to obtain global road state ripples. The method specifically comprises the steps of predicting second road state ripples of a detection blind area of the road side sensing equipment by using the wave equation according to the first road state ripples, and then overlapping the first road state ripples and the second road state ripples to obtain the global road state ripples.
Specifically, the ripple prediction process is to predict the road state ripple of the blind area position by using the transmission characteristics of the wave, wherein the transmission characteristics of the wave can be understood as the rule that the road state ripple transmits in the space, and x is known in the assumed one-dimensional space1And x2Wave equation of (2), wherein x1<x2If a1、a2、C1And C2Known, then x1+h<x2The wave equation of (a) can be expressed as shown in equation 2:
therefore, the embodiment converts the road traffic information collected by the roadside sensing equipment into road state ripples by adopting the wave equation, and then fills ripples in the detection blind area of the roadside sensing equipment by adopting the wave equation according to the ripple information to obtain global road state ripples, so that the position of the automatic driving vehicle can be quickly and accurately positioned under the condition of sensing information loss or blind area, and the route planning reasonableness of the automatic driving vehicle is improved.
In some embodiments, when the present solution is applied to a server side composed of a cloud platform and an edge computing module as shown in fig. 2, it is assumed in fig. 2 that, on a network road, traffic flow directions are from left to right, and intelligent roadside sensing devices L1 and L2 are installed beside the road; all be equipped with communication module on L1 and the L2, perception module and marginal calculation module, communication module is used for realizing the real-time communication of roadside and car end and high in the clouds, perception module includes the camera, the millimeter wave radar, laser radar and positioner, the camera is used for categorised the discernment to road traffic main part, and the location of supplementary range finding, millimeter wave radar and laser radar are used for making a distance measurement to road traffic main part, it measures the speed, positioner is used for supplementary vehicle to fix a position and the road range finding in coordination, marginal calculation module is based on multisource sensor information, utilize the wave equation that formula 1 or 2 show, establish the road state ripple map of roadside coverage area. The sensing result is different for different road side sensing equipment layout schemes.
For example, as shown in fig. 3, 4, 5, 6, 7, and 8, the roadside sensing devices are schematically arranged, because the range of the roadside sensing devices is limited, the maximum sensing range usually does not exceed 150m, and the area that the roadside sensing devices cannot cover is the detection blind area. The arrangement distance of the single roadside device can be determined according to the specific implementation requirements. As shown in fig. 3, when the layout pitch is set to 100m, the global refinement sensing can be realized; as shown in fig. 4, when the layout distance is 200m, accurate sensing can be ensured while the layout cost is reduced; as shown in fig. 5, the layout distance can be up to 500m at maximum. The information of the perception blind area can be approximately predicted through a wave equation, and the utilization rate of infrastructure can be maximized on the premise of ensuring the perception requirement. As shown in fig. 6, 7 and 8, A, B, C represents three road side sensors respectively, the road side arrangement direction can be selected from a forward traffic direction, an inverse traffic direction and a bidirectional direction, forward traffic can realize information acquisition of vehicles entering, inverse vehicles can realize information acquisition of vehicles leaving, and bidirectional arrangement can effectively improve the sensing range of a single road side and reduce the arrangement number of road side rods.
When carrying out way attitude ripple perception, when taking great laying interval, must have the perception blind area, way attitude ripple perception this moment will divide into two parts: one is based on road traffic information sensed by road sides, and the real-time motion state of a road traffic main body is converted into the change characteristics and the rules of the amplitude of road state ripples on a space domain and a time domain through a wave equation; and the other method is based on known road traffic information at two sides of the detection blind area, the detection blind area is filled with information by utilizing the transmission characteristics of waves, global road state ripple sensing is realized, and finally, the characteristics of a road traffic main body motion state set and the explicit expression of the internal rules are constructed and presented in a quantized explicit mathematical function or dynamic multi-dimensional cloud picture mode, so that comprehensive, effective and reliable information support is provided for road traffic state monitoring, multi-vehicle cluster scheduling and single-vehicle decision planning.
In the sensing information transmission process of the road side sensing equipment, the sensing information transmission of the road side sensing equipment is from a road traffic main body to the sensing equipment, then the information of the multi-source sensor is fused to the edge calculation module for real-time calculation, the road state ripples of the known information road section are obtained, and the road state ripples are transmitted to the cloud platform through the communication module for detection blind area filling; the motion state of the road traffic body mainly comprises density, each direction speed, acceleration, jerk and the like, and based on the information, the characteristics of the motion state set of the road traffic body and the explicit expression of the internal rules are formed by means of a wave theory and wave transmission characteristics, so that the accurate and reliable perception of global road state ripples is realized.
The embodiment of the invention provides a roadside sensing equipment-based road state ripple processing system, which comprises:
the acquisition module is used for acquiring road traffic information acquired by the road side sensing equipment, wherein the road traffic information comprises the type of a road traffic subject and the motion state of the road traffic subject;
the construction module is used for constructing a wave equation; wherein, the wave equation is shown in formula 1:
wherein f (x, t, u) is the amplitude of the road state ripple, and x is a space vector; for a one-dimensional wave equation, x is x representing a direction; for a two-dimensional wave equation, x is (x, y) to represent the ripple plane transfer; t is time; u is a motion state of the road traffic body; a is the wave transmission speed; c is an interference factor.
The conversion module is used for converting the road traffic information into first road state ripples by adopting the wave equation;
and the filling module is used for filling ripples in the detection blind area of the roadside sensing equipment by adopting the wave equation according to the first road state ripples to obtain global road state ripples.
The content of the embodiment of the method of the invention is all applicable to the embodiment of the system, the function of the embodiment of the system is the same as the embodiment of the method, and the beneficial effect achieved by the embodiment of the system is the same as the beneficial effect achieved by the method.
The embodiment of the invention provides a roadside sensing equipment-based road state ripple processing system, which comprises:
at least one memory for storing a program;
at least one processor, configured to load the program to perform the road-side sensing device-based road ripple processing method shown in fig. 1.
The content of the embodiment of the method of the invention is all applicable to the embodiment of the system, the function of the embodiment of the system is the same as the embodiment of the method, and the beneficial effect achieved by the embodiment of the system is the same as the beneficial effect achieved by the method.
An embodiment of the present invention provides a storage medium, in which a processor-executable program is stored, and the processor-executable program is used for executing the waviness processing method based on the roadside sensing device shown in fig. 1 when being executed by a processor.
The embodiment of the invention also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and executed by the processor to cause the computer device to perform the method illustrated in fig. 1.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A road-state ripple processing method based on road side sensing equipment is characterized by comprising the following steps:
acquiring road traffic information acquired by road side sensing equipment, wherein the road traffic information comprises a type of a road traffic subject and a motion state of the road traffic subject;
constructing a wave equation;
converting the road traffic information into first road state ripples by adopting the wave equation;
and filling ripples in the detection blind area of the roadside sensing equipment by adopting the wave equation according to the first road state ripples to obtain global road state ripples.
2. The roadside sensing device-based road state corrugation processing method according to claim 1, wherein the wave equation is as follows:
wherein f (x, t, u) is the amplitude of the road state ripple, and x is a space vector; for a one-dimensional wave equation, x is x representing a direction; for a two-dimensional wave equation, x is (x, y) to represent the ripple plane transfer; t is time; u is a motion state of the road traffic body; a is the wave transmission speed; c is an interference factor.
3. The method according to claim 1, wherein the step of filling ripples in the dead detection zone of the roadside sensing device according to the first road state ripples by using the wave equation to obtain global road state ripples comprises:
according to the first road state ripples, predicting second road state ripples of a detection blind area of roadside sensing equipment by using the wave equation;
and superposing the first road state ripples and the second road state ripples to obtain the global road state ripples.
4. The method for road-side waviness processing based on a roadside sensing device of claim 1, wherein the roadside sensing device comprises a plurality of devices, the roadside sensing devices are arranged at a preset pitch, and the preset pitch is 100m to 500 m.
5. The waviness processing method based on roadside sensing devices of claim 4, wherein each of the roadside sensing devices comprises a camera module and a radar module; the camera module is used for collecting the type of a road traffic main body; the radar module is used for collecting the motion state of the road traffic main body.
6. The roadside sensing device-based road morphology ripple processing method according to claim 5, wherein the collecting of the road traffic subject type specifically comprises:
collecting a current road traffic image;
extracting a road traffic subject on the current road traffic image;
and identifying the category of the road traffic subject to obtain the type of the road traffic subject.
7. A road-state ripple processing system based on roadside sensing equipment is characterized by comprising:
the acquisition module is used for acquiring road traffic information acquired by the road side sensing equipment, wherein the road traffic information comprises the type of a road traffic subject and the motion state of the road traffic subject;
the construction module is used for constructing a wave equation;
the conversion module is used for converting the road traffic information into first road state ripples by adopting the wave equation;
and the filling module is used for filling ripples in the detection blind area of the roadside sensing equipment by adopting the wave equation according to the first road state ripples to obtain global road state ripples.
8. The roadside sensing device-based road state ripple processing system of claim 7, wherein the wave equation is as follows:
wherein f (x, t, u) is the amplitude of the road state ripple, and x is a space vector; for a one-dimensional wave equation, x is x representing a direction; for a two-dimensional wave equation, x is (x, y) to represent the ripple plane transfer; t is time; u is a motion state of the road traffic body; a is the wave transmission speed; c is an interference factor.
9. A road-state ripple processing system based on roadside sensing equipment is characterized by comprising:
at least one memory for storing a program;
at least one processor for loading the program to execute the roadside sensing device-based road waviness processing method of any one of claims 1-6.
10. A storage medium having stored therein a processor-executable program, wherein the processor-executable program, when executed by a processor, is configured to perform the roadside sensing device-based road morphology corrugation processing method according to any one of claims 1-6.
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