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Truth value-based roadside sensing system evaluation method and system

A technology of perception system and evaluation method, which is applied in the direction of radio wave measurement system, machine/structural component testing, measurement device, etc., and can solve problems such as the inability to quantitatively evaluate the quality of roadside perception messages and the lack of systematic evaluation methods

Pending Publication Date: 2021-05-18
CHINA ACADEMY OF INFORMATION & COMM
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Problems solved by technology

[0003] This application proposes a roadside perception system evaluation method and system based on the truth value, which solves the problem that the current vehicle-road collaborative roadside perception system lacks a systematic evaluation method, especially solves the problem that the quality of roadside perception messages cannot be quantified and evaluated

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  • Truth value-based roadside sensing system evaluation method and system
  • Truth value-based roadside sensing system evaluation method and system
  • Truth value-based roadside sensing system evaluation method and system

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Embodiment Construction

[0036] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0037] The present invention proposes a roadside perception system evaluation method based on the truth system. Firstly, the composition structure and deployment principles of the truth system are proposed, and then the test logic and testing logic of the roadside perception system are described in detail on the basis of the truth system. Finally, an ...

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Abstract

The invention discloses a truth value-based roadside sensing system evaluation method, which comprises the steps of establishing a truth value sensing equipment group, and synchronously performing roadside sensing data acquisition with sensing equipment of a roadside sensing system RSS to be tested in a selected test time interval; processing the original data returned by the truth value sensing equipment group, completing target type identification and target track identification, and completing sensing data annotation; generating a truth value based on the labeled data, wherein the truth value data comprises the traffic participant target type, the position, the speed, the acceleration and the track; and in the selected test time interval, comparing the structured sensing data output by the RSS to be tested with the truth value data, and outputting a statistical evaluation result of the sensing performance. The invention also provides a truth value system for the evaluation of the roadside sensing system.

Description

technical field [0001] The present application relates to the technical field of automatic driving, in particular to a method and device for evaluating a roadside perception system based on a true value. Background technique [0002] The Roadside Sensing System (RSS) is an important means to support networked autonomous driving, improve traffic operation efficiency, and alleviate congestion. Providing over-the-horizon perception, blind spot warning, driving intention and other information for self-driving cars through the RSS system is one of the important technical means to make up for the limitations of single-vehicle self-driving perception. The composition of current RSS is different, including lidar + camera, millimeter-wave radar + camera and other configuration schemes. Which one is better than the other? There is a lack of systematic evaluation methods for RSS as a whole, especially the structured perception of RSS output. Test specifications for data type, accuracy...

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Application Information

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IPC IPC(8): G01S7/40G01S7/497G01M11/02
CPCG01S7/40G01S7/497G01M11/0264
Inventor 鲍叙言余冰雁葛雨明
Owner CHINA ACADEMY OF INFORMATION & COMM
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