CN115691098A - Perception information correction method and device, roadside perception equipment, system and medium - Google Patents
Perception information correction method and device, roadside perception equipment, system and medium Download PDFInfo
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- CN115691098A CN115691098A CN202110873159.4A CN202110873159A CN115691098A CN 115691098 A CN115691098 A CN 115691098A CN 202110873159 A CN202110873159 A CN 202110873159A CN 115691098 A CN115691098 A CN 115691098A
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Abstract
The application is applicable to the technical field of intelligent traffic, and provides a perception information correction method, a device, roadside perception equipment, a system and a medium, wherein the perception information correction method comprises the following steps: acquiring roadside sensing information of roadside sensing equipment in real time; when it is judged that a target traffic participant enters a visual field blind area of the roadside sensing device, sending an information acquisition instruction to the target traffic participant, wherein the information acquisition instruction is used for indicating the target traffic participant to acquire own traffic information; and correcting the roadside perception information according to the traffic information of the target traffic participant. Environmental information in the visual field blind area can be provided for the roadside sensing equipment through the method and the device.
Description
Technical Field
The application belongs to the technical field of intelligent traffic, and particularly relates to a perception information correction method, a device, roadside perception equipment, a system and a medium.
Background
The intelligent traffic is an information fusion mode of cooperation of the traffic participation object and the roadside sensing equipment, and the traffic participation object can be sensed by the roadside sensing equipment and can be communicated with the roadside sensing equipment. For example, the traffic participating objects are vehicles, the vehicle-road cooperation is realized by adopting the advanced wireless communication and new generation internet and other technologies, the dynamic real-time information interaction of vehicles and vehicles is carried out in all directions, the active safety control of vehicles and the road cooperative management are carried out on the basis of the full-time and space dynamic traffic information acquisition and fusion, the effective cooperation of human and vehicle roads is fully realized, the traffic safety is ensured, the traffic efficiency is improved, and the safe, efficient and environment-friendly road traffic system is formed.
The roadside sensing device is a device for roadside sensing, and can sense a target of a road surrounding environment and related information of the target. However, the roadside sensing device senses the environmental information with a view-dead-zone, and cannot provide the environmental information in the view-dead-zone.
Disclosure of Invention
The embodiment of the application provides a perception information correction method, a device, roadside sensing equipment, a system and a medium, which can provide environment information in a view blind area for the roadside sensing equipment.
In a first aspect, an embodiment of the present application provides a perceptual information correction method, where the perceptual information correction method includes:
acquiring roadside sensing information of roadside sensing equipment in real time;
when it is judged that a target traffic participant enters a visual field blind area of the roadside sensing device, sending an information acquisition instruction to the target traffic participant, wherein the information acquisition instruction is used for indicating the target traffic participant to acquire own traffic information;
and correcting the roadside perception information according to the traffic information of the target traffic participant.
In a second aspect, an embodiment of the present application provides a perceptual information modification apparatus, including:
the information acquisition module is used for acquiring roadside sensing information of the roadside sensing equipment in real time;
the instruction sending module is used for sending an information acquisition instruction to a target traffic participant when the target traffic participant is judged to enter a visual field blind area of the roadside sensing equipment, and the information acquisition instruction is used for indicating the target traffic participant to acquire own traffic information;
and the information correction module is used for correcting the roadside perception information according to the traffic information of the target traffic participant.
In a third aspect, an embodiment of the present application provides a roadside coordination system, where the roadside coordination system includes a roadside sensing device and a target traffic participation object;
the roadside sensing equipment is used for acquiring roadside sensing information in real time and sending an information acquisition instruction to the target traffic participating object when detecting that the target traffic participating object enters a visual field blind area;
the target traffic participating object is used for acquiring own traffic information after receiving the information acquisition instruction and sending the traffic information of the target traffic participating object to the roadside sensing equipment;
the roadside sensing device is used for correcting the roadside sensing information according to the traffic information of the target traffic participating object after receiving the traffic information of the target traffic participating object.
In a fourth aspect, an embodiment of the present application provides a roadside sensing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the sensing information correction method according to the first aspect when executing the computer program.
In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the perceptual information modification method according to the first aspect.
In a sixth aspect, an embodiment of the present application provides a computer program product, which, when running on a roadside sensing device, causes the roadside sensing device to perform the steps of the sensing information correction method according to the first aspect.
Therefore, when the target traffic participating object is judged to enter the visual field blind area of the road side sensing equipment, the target traffic participating object can be instructed to acquire the traffic information of the target traffic participating object by sending the information acquisition instruction to the target traffic participating object, and the road side sensing information can be corrected according to the traffic information of the target traffic participating object, so that the environmental information in the visual field blind area is provided for the road side sensing equipment.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic implementation flow diagram of a perceptual information modification method according to an embodiment of the present application;
FIG. 2a is an exemplary illustration of a target vehicle traveling within the field of view of a roadside sensing device;
FIG. 2b is an exemplary illustration of a blind field of view of a target vehicle ingress roadside sensing device;
fig. 3 is a schematic implementation flow diagram of a perceptual information modification method according to a second embodiment of the present application;
fig. 4 is a diagram illustrating a structure of a perceptual information correction apparatus according to a third embodiment of the present application;
fig. 5 is a diagram illustrating an architecture of a roadside coordination system according to a fourth embodiment of the present application;
fig. 6 is a schematic structural diagram of roadside sensing equipment provided in the fifth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," and the like are used for distinguishing between descriptions and not necessarily for describing a relative importance or importance.
Before explaining the present solution, the terms referred to in the present solution are explained for the convenience of the reader.
The traffic participant may refer to a device that can be sensed by the roadside sensing device and that can communicate with the roadside sensing device. Such as vehicles, smart bands, cell phones, wearable devices, and the like.
For convenience of description, the vehicle is used to describe the role of the traffic participation object (smart band, mobile phone, wearable device, etc.) in the embodiment, except for special description, the vehicle mentioned in the embodiment may be considered as the traffic participation object, and the traffic participation object may also implement the function of the vehicle.
The roadside sensing device is used for roadside sensing and comprises a roadside sensor, an edge calculation module and a roadside communication module. The road side sensor can be at least one of a laser radar, a camera and a millimeter wave radar and is used for collecting surrounding environment information. The edge calculation module is used for sensing and calculating the environmental information collected by the road side sensor, detecting the target, identifying the type of the target and calculating the information such as the size, the position, the movement speed, the course angle and the like of the target.
The roadside communication module may be used for communicating with a vehicle provided with an on-board terminal, that is, the roadside sensing device communicates with the vehicle, specifically, the roadside sensing device communicates with the on-board terminal of the vehicle. The vehicle-mounted terminal of the vehicle comprises a vehicle-mounted sensor, a perception calculation module and a vehicle-mounted communication module. Optionally, in some cases, the vehicle-mounted terminal may also be regarded as an intelligent terminal device on the vehicle, which can be equivalently regarded as the vehicle-mounted terminal as long as the following capabilities are provided: the traffic information of the vehicle can be sent to the roadside sensing device based on the communication link. The vehicle-mounted sensor includes, but is not limited to, a Global Navigation Satellite System (GNSS) receiver, an Inertial Measurement Unit (IMU), and at least one of a laser radar, a camera, and a millimeter wave radar. The GNSS receiver and IMU are used to provide the vehicle's own motion state information. Sensors such as laser radar, cameras, millimeter wave radar, etc. are used to provide vehicle-mounted sensing information. The perception calculation module is used for carrying out perception calculation on information acquired by the vehicle-mounted sensor, detecting a target and calculating information such as the size, the position, the movement speed, the course angle and the like of the target. The vehicle-mounted communication module is used for communicating with the roadside sensing equipment.
The roadside communication module and the vehicle-mounted communication module may be a 4G communication module, a 5G communication module, or a communication module supporting a vehicle wireless communication technology (Vehicel to evolution, V2X), and the like, which is not limited herein.
The edge calculation module and the perception calculation module may be any module capable of data processing, such as a processor.
The targets may be all objects related to road/traffic activities, such as motor vehicles, pedestrians, non-motor vehicles, smart bands, cell phones, wearable devices, etc. The perception information of the target may refer to the size, category, location, moving speed, heading angle, etc. of the target.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiment of the present application.
In order to explain the technical means described in the present application, the following description will be given by way of specific examples.
Fig. 1 is a schematic diagram of an implementation flow of a sensing information correction method provided in an embodiment of the present application, where the sensing information correction method is applied to roadside sensing devices. As shown in fig. 1, the perceptual information modification method may include the steps of:
The roadside perception information includes, but is not limited to, the size, category, position, motion speed, heading angle, and other information of the detected target.
The roadside sensing information is sensed by the roadside sensing equipment. Optionally, the roadside sensor in the roadside sensing device may acquire environmental information around the roadside sensing device, and the roadside sensing information may be obtained by performing sensing calculation on the environmental information acquired by the roadside sensor through the edge calculation module in the roadside sensing device.
For example, the traffic participating object is a vehicle, and the roadside sensing device can provide services such as road condition information of a blind area of a driver's view, over-the-horizon road condition information, vehicle decision and the like for surrounding vehicles by acquiring roadside sensing information in real time.
The obtaining of the roadside sensing information in real time may be obtaining the roadside sensing information at intervals of a preset time. The roadside perception information is acquired, for example, every 3 seconds.
The view blind area of the roadside sensing device may refer to an area where the roadside sensing device cannot sense environmental information. The traffic information of the target traffic participant includes, but is not limited to, the size, category, location, movement speed, heading angle, etc. of the target traffic participant.
When a target traffic participating object enters a visual field blind area of the roadside sensing device, the roadside sensing device cannot sense traffic information of the target traffic participating object, in order to provide the traffic information of the target traffic participating object in the visual field blind area for the roadside sensing device, the roadside sensing device can send an information acquisition instruction to the target traffic participating object, and after receiving the information acquisition instruction, the target traffic participating object can acquire own traffic information and feed the own traffic information back to the roadside sensing device.
And 103, correcting the road side perception information according to the traffic information of the target traffic participant.
After receiving the traffic information fed back by the target traffic participating object, the roadside sensing equipment can correct the roadside sensing information acquired in real time according to the traffic information of the target traffic participating object, and complement the environmental information which cannot be sensed in the view blind area of the roadside sensing equipment.
The number of the target traffic participation objects in the view blind area of the roadside sensing device may be one or at least two. Taking a target vehicle as an example, the roadside sensing device corrects the roadside sensing information acquired in real time according to the traffic information of all target vehicles in the visual field blind area, so that the problem that the roadside sensing device cannot provide the environmental information in the visual field blind area can be solved to a greater extent, and services such as road condition information of the driver visual field blind area, over-the-horizon road condition information, vehicle decision making and the like can be provided for surrounding vehicles better.
In an embodiment, before the target traffic participant object enters the blind area of the visual field of the roadside sensing device, the method further comprises the following steps:
when the target traffic participation object is detected to be in the visual field range of the roadside sensing equipment, determining a first target from the roadside sensing information, and binding the target traffic participation object with the first target, wherein the first target is a target in the roadside sensing information corresponding to the target traffic participation object;
when the first target is detected to disappear from the roadside sensing information, the target traffic participation object is judged to enter the visual field blind area of the roadside sensing equipment.
When the target traffic participating object is in a communication range with the road side sensing device, the road side sensing device can communicate with the road side sensing device to send traffic information of the road side sensing device, after receiving the traffic information sent by the target traffic participating object, the road side sensing device can detect whether a target corresponding to the target traffic participating object exists in the road side sensing information according to the traffic information of the target traffic participating object, if the target corresponding to the target traffic participating object exists, the target traffic participating object is determined to be in a visual field range of the road side sensing device, and the target corresponding to the target traffic participating object is determined from the road side sensing information.
Detecting whether a target corresponding to the target traffic participation object exists in the roadside sensing information according to the traffic information of the target traffic participation object may include: detecting whether information matched with the traffic information of the target traffic participation object exists in the road side sensing information or not, if the information matched with the traffic information of the target traffic participation object exists, determining that a target corresponding to the target traffic participation object exists in the road side sensing information, and the target corresponding to the information matched with the traffic information of the target traffic participation object is the target corresponding to the target traffic participation object; and if the information matched with the traffic information of the target traffic participation object does not exist, determining that the target corresponding to the target traffic participation object does not exist in the road side perception information. The matching with the traffic information of the target traffic participant may be matching with all information in the traffic information of the target traffic participant, or matching with part information in the traffic information of the target traffic participant, which is not limited herein.
For example, if it is set that the traffic information matching with the target vehicle refers to matching with the position and size of the target vehicle, when the position of the target vehicle is a and the size is B, if it is detected that the position of the target a in the roadside sensing information is also a and the size is also B, it may be determined that the traffic information of the target vehicle matches with the information of the target a in the roadside sensing information, and the target a is the target corresponding to the target vehicle.
The binding of the target traffic participation object and the first target may refer to establishing a mapping relationship between the target traffic participation object and the first target, that is, establishing a mapping relationship between the target traffic participation object in the physical world and a target in the roadside perception information in the digital world.
Since the roadside awareness information is acquired in real time, there may be a case where the first target disappears from the roadside awareness information. For example, it may be determined that the first target disappears from the roadside sensing information and the target traffic participation object enters the blind area of the roadside sensing device when the first target is detected to exist in the roadside sensing information acquired at a certain time and the first target does not exist in the roadside sensing information acquired at the next time.
As shown in fig. 2a, which is an exemplary diagram of a target vehicle traveling within a field of view of the roadside sensing device, the vehicle 5 is a target vehicle, and as can be seen from fig. 2a, the vehicle 5 does not yet enter a blind field of view of the roadside sensing device; as shown in fig. 2b, which is an exemplary diagram of a view blind area of a roadside sensing device that the vehicle 5 drives in, because the vehicle 5 is blocked by the vehicle 4, the vehicle 5 drives in the view blind area of the roadside sensing device, and the roadside sensing device cannot sense traffic information of the vehicle 5, the traffic information of the vehicle 5 can be provided for the view blind area of the roadside sensing device by the present application.
Optionally, the roadside sensing device may also perform trajectory prediction on the sensed target by using a correlation algorithm (e.g., a kalman filter algorithm), and based on the predicted trajectory, a traffic participant about to enter the blind area of the field of view of the roadside sensing device may be known in advance. In some embodiments, if it is predicted that a traffic participant (first target) enters the blind area of the visual field, it may be determined that: the first target is detected to disappear from the roadside perception information. At this time, an information acquisition instruction may be transmitted to the traffic participating object that enters the blind area of the field of view of the roadside sensing device based on the prediction result.
In one embodiment, the correcting the roadside awareness information according to the traffic information of the target traffic participant includes:
and recovering the first target from the road side perception information according to the traffic information of the target traffic participation object.
When a target traffic participating object enters a visual field blind area of the road side sensing equipment, a first target does not exist in road side sensing information, and after the road side sensing equipment receives traffic information of the target traffic participating object, the road side sensing equipment can recover the first target corresponding to the target traffic participating object in the road side sensing information according to the traffic information of the target traffic participating object, so that the traffic information of the target traffic participating object in the visual field blind area is provided for the road side sensing equipment, the sensing information of the first target (namely the traffic information of the target traffic participating object) is supplemented in the road side sensing information, and the problem of target missing detection is solved.
In one embodiment, the recovering the first target from the roadside perception information according to the traffic information of the target traffic participant includes:
and adding the traffic information of the target traffic participation object to the roadside perception information to recover the first target in the roadside perception information.
The first target is recovered from the roadside sensing information, and the first target corresponding to the target traffic participation object can be detected from the roadside sensing information.
After the traffic information of the target traffic participation object is added to the roadside sensing information, the first target corresponding to the target traffic participation object can be detected from the roadside sensing information, and therefore recovery of the first target in the roadside sensing information is achieved.
According to the embodiment of the application, when the target traffic participating object is judged to enter the visual field blind area of the road side sensing equipment, the target traffic participating object can be instructed to acquire the traffic information of the target traffic participating object by sending the information acquisition instruction to the target traffic participating object, and the road side sensing information can be corrected according to the traffic information of the target traffic participating object, so that the environmental information in the visual field blind area is provided for the road side sensing equipment.
Fig. 3 is a schematic diagram of an implementation flow of a perception information correction method provided in the second embodiment of the present application, where the perception information correction method is applied to roadside sensing equipment. As shown in fig. 3, the perceptual information modification method may include the steps of:
The step is the same as step 101, and reference may be made to the related description of step 101, which is not described herein again.
The step is the same as the step 102, and the same parts may specifically refer to the related description of the step 102, and are not repeated herein.
In addition, when the target traffic participating object receives the information acquiring instruction, the traffic information of the target traffic participating object (namely the traffic information of the target traffic participating object) and the traffic information of other traffic participating objects can be acquired, and the traffic information of the target traffic participating object and the traffic information of other traffic participating objects are fed back to the road side sensing equipment.
For example, the traffic participant is a vehicle, and the target vehicle may sense traffic information of other vehicles through a sensor such as a laser radar, a camera, and a millimeter wave radar in the vehicle-mounted terminal.
According to the traffic information of the target traffic participating object, the target which cannot be sensed in the blind area of the visual field of the roadside sensing equipment and the related information of the target can be supplemented, and the problem of target missing detection is solved; according to the traffic information of other traffic participating objects, roadside perception information can be further corrected, and the problem of decision misjudgment is improved.
In one embodiment, the correcting the roadside awareness information according to the traffic information of the other traffic participant includes:
detecting whether a second target exists in the roadside sensing information, wherein the second target is a target corresponding to other traffic participating objects;
if the second target exists, the traffic information of other traffic participating objects is fused with the perception information of the second target in the roadside perception information to obtain fused perception information;
and if the second target does not exist, adding the traffic information of other traffic participating objects to the roadside perception information.
Whether a second target exists in the roadside perception information can be detected according to the traffic information of other traffic participating objects. The method specifically comprises the following steps: detecting whether information matched with the traffic information of other traffic participating objects exists in the road side sensing information or not, if the information matched with the traffic information of other traffic participating objects exists, determining that a second target exists in the road side sensing information, and the target corresponding to the information matched with the traffic information of other traffic participating objects is the second target; and if the information matched with the traffic information of other traffic participating objects does not exist, determining that the second target does not exist in the roadside sensing information. The matching with the traffic information of other traffic participants may be matching with all information in the traffic information of other traffic participants, or matching with partial information in the traffic information of other traffic participants, which is not limited herein.
When the second target exists in the roadside sensing information, the roadside sensing information acquired by the roadside sensing equipment can be corrected by fusing the traffic information of other traffic participating objects corresponding to the second target with the sensing information of the second target in the roadside sensing information so as to acquire more accurate and comprehensive roadside sensing information. The information fusion can be performed by using confidence weighting, kalman filtering and other methods.
When the second target does not exist in the roadside sensing information, the traffic information of other traffic participating objects corresponding to the second target is added to the roadside sensing information, so that the traffic information of other traffic participating objects which cannot be sensed in the view blind area can be provided for the roadside sensing equipment.
According to the embodiment of the application, on the basis of the first embodiment, the information acquisition instruction is sent to the target traffic participating object to indicate the target traffic participating object to sense the traffic information of other traffic participating objects, and the road side sensing information can be further corrected according to the traffic information of other traffic participating objects, so that more accurate and comprehensive road side sensing information is provided for road side sensing equipment.
Referring to fig. 4, it is a diagram illustrating a structure of a perceptual information correction apparatus according to a third embodiment of the present application, and for convenience of description, only a portion related to the third embodiment of the present application is shown.
The perception information correction device includes:
the information obtaining module 41 is configured to obtain roadside sensing information of the roadside sensing device in real time;
the instruction sending module 42 is configured to send an information obtaining instruction to a target traffic participant when it is determined that the target traffic participant enters a blind area of the field of view of the roadside sensing device, where the information obtaining instruction is used to instruct the target traffic participant to obtain traffic information of the target traffic participant;
and an information correction module 43, configured to correct the roadside perception information according to the traffic information of the target traffic participant.
Optionally, the perceptual information correction apparatus further includes:
the first processing module is used for determining a first target from the roadside sensing information and binding the target traffic participation object with the first target when the target traffic participation object is detected to be in the visual field range of the roadside sensing equipment, wherein the first target is a target corresponding to the target traffic participation object;
and the blind area determining module is used for determining that the target traffic participant enters the view blind area of the roadside sensing equipment when the first target is detected to disappear from the roadside sensing information.
Optionally, the information modification module 43 is specifically configured to:
and recovering the first target from the roadside perception information according to the traffic information of the target traffic participation object.
Optionally, the information modification module 43 is specifically configured to:
adding the traffic information of the target traffic participation object to the roadside perception information to recover the first target in the roadside perception information.
Optionally, the information acquisition instruction is further used for instructing the target traffic participation object to perceive traffic information of other traffic participation objects; the information modification module 43 is further configured to:
and correcting the roadside perception information according to the traffic information of the other traffic participating objects.
Optionally, the information modification module 43 is specifically configured to:
detecting whether a second target exists in the roadside perception information, wherein the second target is a target corresponding to the other traffic participation objects;
if the second target exists, the traffic information of the other traffic participating objects is fused with the perception information of the second target in the roadside perception information to obtain fused perception information;
and if the second target does not exist, adding the traffic information of the other traffic participating objects to the roadside perception information.
The sensing information correction device provided in the embodiment of the present application can be applied to the first and second embodiments of the method, and for details, reference is made to the description of the first and second embodiments, and details are not repeated herein.
Fig. 5 is a diagram illustrating an architecture of a roadside coordination system provided in the fourth embodiment of the present application, and for convenience of description, only the portions related to the embodiment of the present application are shown.
The roadside coordination system comprises roadside sensing equipment 51 and a target traffic participation object 52;
the roadside sensing device 51 is configured to acquire roadside sensing information in real time, and send an information acquisition instruction to the target traffic participant 52 when it is detected that the target traffic participant 51 enters a blind area of a visual field;
the target traffic participating object 52 is configured to, after receiving the information obtaining instruction, obtain traffic information of the target traffic participating object 52 and send the traffic information of the target traffic participating object 52 to the roadside sensing device 51;
the roadside sensing device 51 is configured to, after receiving the traffic information of the target traffic participant 52, correct the roadside sensing information according to the traffic information of the target traffic participant 52.
Optionally, the roadside sensing device 51 is further configured to:
when the target traffic participant 52 is detected to be in the visual field range, determining a first target from the roadside perception information, and binding the target traffic participant 52 with the first target, wherein the first target is a target corresponding to the target traffic participant 52;
determining that the target traffic participant 52 enters the blind zone of view upon detecting that the first target is missing from the roadside perception information.
Optionally, the roadside sensing device 51 is specifically configured to:
and recovering the first target from the roadside perception information according to the traffic information of the target traffic participant 52.
Optionally, the roadside sensing device 51 is specifically configured to:
adding the traffic information of the target traffic participating object 52 to the roadside perception information, and recovering the first target in the roadside perception information.
Optionally, the target traffic participant 52 is further configured to:
after receiving the information acquisition instruction, sensing traffic information of other traffic participating objects, and sending the traffic information of the other traffic participating objects to the roadside sensing device 51;
the roadside sensing device 51 is further configured to:
and correcting the roadside perception information according to the traffic information of the other traffic participating objects.
Optionally, the roadside sensing device 51 is specifically configured to:
detecting whether a second target exists in the roadside perception information, wherein the second target is a target corresponding to the other traffic participation objects;
if the second target exists, the traffic information of the other traffic participating objects is fused with the perception information of the second target in the roadside perception information to obtain fused perception information;
and if the second target does not exist, adding the traffic information of the other traffic participating objects to the roadside perception information.
The roadside coordination system provided in the embodiment of the present application may be applied to the first method embodiment and the second method embodiment, and for details, reference is made to the description of the first embodiment and the second embodiment, and details are not described herein again.
Fig. 6 is a schematic structural diagram of roadside sensing equipment provided in the fifth embodiment of the present application. As shown in fig. 6, the roadside sensing device 6 of the embodiment includes: one or more processors 60 (only one of which is shown), a memory 61, and a computer program 62 stored in the memory 61 and executable on the processors 60. The steps in the various method embodiments described above are implemented when the computer program 62 is executed by the processor 60. The processor 60 in the roadside sensing device 6 may be an edge calculation module, and the roadside sensing device 6 further includes a roadside sensor and a roadside communication module.
Those skilled in the art will appreciate that fig. 6 is merely an example of the roadside sensing device 6, and does not constitute a limitation to the roadside sensing device 6, and may include more or less components than those shown, or combine some components, or different components, for example, the roadside sensing device 6 may further include an input-output device, a network access device, a bus, and the like.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the roadside sensing device 6, such as a hard disk or a memory of the roadside sensing device 6. The memory 61 may also be an external storage device of the roadside sensing device 6, such as a plug-in hard disk provided on the roadside sensing device 6, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 61 may also include both an internal storage unit of the roadside sensing device 6 and an external storage device. The memory 61 is used to store computer programs and other programs and data required by the roadside sensing device. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules, so as to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned apparatus, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed device/roadside sensing apparatus and method may be implemented in other ways. For example, the above-described embodiments of the device/roadside sensing device are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments described above may be implemented by a computer program, which is stored in a computer readable storage medium and used by a processor to implement the steps of the embodiments of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
When the computer program product runs on the roadside sensing device, the steps in each method embodiment can be realized when the roadside sensing device is executed.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A perceptual information modification method, the perceptual information modification method comprising:
acquiring roadside sensing information of roadside sensing equipment in real time;
when it is judged that a target traffic participant enters a visual field blind area of the roadside sensing device, sending an information acquisition instruction to the target traffic participant, wherein the information acquisition instruction is used for indicating the target traffic participant to acquire own traffic information;
and correcting the roadside perception information according to the traffic information of the target traffic participating object.
2. The perception information correcting method according to claim 1, further comprising, before the target traffic participant enters the blind area of the roadside sensing device:
when the target traffic participation object is detected to be in the visual field range of the roadside sensing equipment, determining a first target from the roadside sensing information, and binding the target traffic participation object and the first target, wherein the first target is a target corresponding to the target traffic participation object;
when the first target is detected to disappear from the roadside sensing information, determining that the target traffic participation object enters a visual field blind area of the roadside sensing device.
3. The perception information correcting method according to claim 2, wherein the correcting the roadside perception information according to the traffic information of the target traffic participant includes:
and recovering the first target from the roadside perception information according to the traffic information of the target traffic participating object.
4. The perception information correcting method according to claim 3, wherein the restoring the first target in the roadside perception information according to the traffic information of the target traffic participant includes:
adding the traffic information of the target traffic participation object to the roadside perception information to recover the first target in the roadside perception information.
5. The perception information correcting method according to any one of claims 1 to 4, wherein the information acquiring instruction is further used to instruct the target traffic participation object to perceive traffic information of other traffic participation objects; the perception information correction method further comprises the following steps:
and correcting the roadside perception information according to the traffic information of the other traffic participating objects.
6. The perception information correcting method according to claim 5, wherein the correcting the roadside perception information according to the traffic information of the other traffic-participating objects includes:
detecting whether a second target exists in the roadside perception information, wherein the second target is a target corresponding to the other traffic participation objects;
if the second target exists, the traffic information of the other traffic participating objects is fused with the perception information of the second target in the roadside perception information to obtain fused perception information;
and if the second target does not exist, adding the traffic information of the other traffic participating objects to the roadside perception information.
7. A perceptual information correcting apparatus, characterized in that the perceptual information correcting apparatus comprises:
the information acquisition module is used for acquiring roadside sensing information of the roadside sensing equipment in real time;
the instruction sending module is used for sending an information acquisition instruction to a target traffic participant when the target traffic participant is judged to enter a visual field blind area of the roadside sensing equipment, and the information acquisition instruction is used for indicating the target traffic participant to acquire own traffic information;
and the information correction module is used for correcting the roadside perception information according to the traffic information of the target traffic participant.
8. A roadside cooperative system is characterized by comprising roadside sensing equipment and a target traffic participation object;
the roadside sensing equipment is used for acquiring roadside sensing information in real time and sending an information acquisition instruction to the target traffic participating object when detecting that the target traffic participating object enters a visual field blind area;
the target traffic participating object is used for acquiring own traffic information after receiving the information acquisition instruction and sending the traffic information of the target traffic participating object to the roadside sensing equipment;
and the roadside sensing equipment is used for correcting the roadside sensing information according to the traffic information of the target traffic participating object after receiving the traffic information of the target traffic participating object.
9. A roadside sensing device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the sensing information modification method according to any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the perceptual information modification method according to any one of claims 1 to 6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116321072A (en) * | 2023-03-13 | 2023-06-23 | 阿里云计算有限公司 | Data compensation method and device based on perception failure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116321072A (en) * | 2023-03-13 | 2023-06-23 | 阿里云计算有限公司 | Data compensation method and device based on perception failure |
| CN116321072B (en) * | 2023-03-13 | 2024-01-23 | 阿里云计算有限公司 | Data compensation method and device based on perception failure |
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