Pavement safety detection system and method based on roadside device

Abstract

The invention relates to a pavement safety detection system and a method based on a roadside device. The system is composed of a vehicle-mounted device and a roadside device. The vehicle-mounted device includes a vehicle positioning module, a pavement information extraction module, an ADAS map interface module, a vehicle-mounted communication module and a map conversion module. The roadside devicecomprises a pavement information fusion module and a roadside communication module. Vehicles obtain positions and postures of the vehicles through the vehicle positioning module, detect pavement environment through a vehicle-mounted laser radar, extract pavement information, generate a local pavement map, and send the positions and postures of the vehicles and the local pavement map to the roadside device. The roadside device receives positions and postures from the plurality of vehicles and the local pavement map, conducts fusion to obtains a global pavement map on an area where the roadsidedevice is located, and then publishes the global pavement map to vehicles in the area. The vehicles receive the global pavement map and convert the global pavement map into a vehicle coordinate system for driving decisions. The pavement safety detection system of the invention realizes the share of sensing ability in the plurality of intelligent vehicles, increases detection range of pavement safety, and improves driving safety of the vehicles.

Description

technical field [0001] The invention belongs to the technical field of vehicle safety, and in particular relates to a road safety detection system and method based on roadside equipment. Background technique [0002] Environmental perception is the basic requirement and prerequisite for the safe driving of intelligent vehicles, and the road surface is an important part of the vehicle driving environment. For the road environment, it is not sufficient to use a single plane to represent the road model of the driving road surface, ignoring the diversity and complexity of the road surface in reality, so the safety detection of the intelligent vehicle road surface is of great significance to the safe driving of the vehicle. [0003] Chinese patent application: ADAS-based driving assistance system (Application No.: CN 201721655403.5) discloses a V2X-based road surface monitoring system. Transmission of abnormal road information. The system does not use on-board equipment to dete...

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Problems solved by technology

Chinese patent application: ADAS-based driving assistance system (Application No.: CN201511008743.4) discloses a method of using the cloud to collect environmental information collected by vehicle equipment to generate a safety map, which does not involve real-time map fusion of multiple vehicles, and does not distinguish between different roads

Chinese patent application: A road safety detection system and method based on inter-vehicle communication (application number: CN201910079755.8), which uses inter-vehicle communication to expand the detection range of vehicles on the road, without involving roadside equipment. In addition, the method The method does not consider the influence of historical data when the map is fused. When the map data sent by some vehicles has a large error, the accuracy of the fused map will also be greatly affected.

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