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Collaborative sensing method for group unmanned vehicle based on block chain and system thereof

A technology of unmanned vehicles and collaborative perception, applied in the field of group unmanned driving, to achieve the effect of reliable and accurate information basis

Active Publication Date: 2019-01-08
张亮
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0005] 2) The environmental consensus problem of distributed collaborative sensing
[0006] 3) Task-oriented active collaborative perception problem

Method used

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  • Collaborative sensing method for group unmanned vehicle based on block chain and system thereof
  • Collaborative sensing method for group unmanned vehicle based on block chain and system thereof
  • Collaborative sensing method for group unmanned vehicle based on block chain and system thereof

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Embodiment approach

[0047] As an implementation, after the environment consensus step, it also includes:

[0048] Active acquisition step: If an individual unmanned vehicle cannot obtain the environmental information required to complete the task, the blockchain-based block synchronization mechanism sends a request to the group to obtain environmental information from other individual unmanned vehicles.

[0049] As an implementation manner, the preset swarm intelligence optimization algorithm is one of ant colony algorithm, particle swarm algorithm and brainstorming algorithm.

[0050] Please refer to Figure 6 , the block chain-based collective unmanned vehicle cooperative perception system of the embodiment of the present invention includes an information exchange module, an environment consensus module and an active cooperative perception module.

[0051] Information exchange module: use the encrypted communication and block synchronization mechanism of blockchain technology to build a decent...

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Abstract

The embodiment of the invention discloses a group unmanned vehicle cooperative perception method based on a block chain. The method comprises the following steps: an information exchange step: constructing a decentralized group unmanned vehicle information exchange and sharing network to realize the information safe exchange and sharing mechanism among unmanned vehicles; an environmental consensusstep: constructing a distributed perceptual information synthesis model based on dynamic Bayesian network to synthesize the distributed multi-source heterogeneous perceptual information of group unmanned vehicles and eliminate the inconsistency of environmental perception; an active collaborative perception step: modeling the active collaborative perception task as a multi-objective optimizationtask, and carrying out the multi-objective optimization solution of the active collaborative task to gradually complete the perception of a specific environment and a specific target. The embodiment of the invention improves the reliable and accurate information basis for the optimal planning and decision-making of the group unmanned vehicle by establishing a perfect block chain-based high-level cooperative perception method and mechanism of the group unmanned vehicle.

Description

technical field [0001] The present invention relates to the field of group unmanned driving, in particular to a method and system for cooperative perception of group unmanned vehicles based on blockchain. Background technique [0002] With the rapid development of theories and technologies such as deep learning, sensors, computers, the Internet, and the Internet of Things, an effective collaborative mechanism can enable each vehicle in a group of unmanned vehicles to have an environmental perception ability far beyond its own, and realize efficient monitoring of the environment. , comprehensive and accurate modeling, and to form consensus within the group. [0003] Group unmanned driving is an important direction for the development of unmanned driving in the future, and it is also an important technical way to break through the current limitations of unmanned vehicles. Collaborative sensing is one of the key scientific issues in swarm unmanned driving research. Obtaining a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04L29/08
CPCH04L67/104H04L67/1095H04L67/12
Inventor 张亮熊伟成
Owner 张亮
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