Roadside equipment data processing method, device, electronic equipment, and storage medium

Abstract

The present application discloses a method, device, electronic device, and storage medium for processing roadside equipment data, wherein the method includes detecting whether there is a vehicle entering the perception area and causing a perception blind spot in the roadside equipment; if so, sending a perception sharing request message to the target vehicle; receiving a first perception result sent by the target vehicle in response to the perception sharing request message; fusing the first perception result with the second perception result to obtain a global perception result, wherein the first perception result is provided by the target vehicle, and the second perception result is provided by the roadside equipment. This application realizes the completion of blind spots when related vehicles are obstructed. This application can be used in vehicle-road collaborative scenarios.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, device, electronic device, and storage medium for processing roadside equipment data. Background Art

[0002] In the vehicle-road cooperative system based on V2X (vehicle-to-everything technology), the roadside perception system is generally composed of video sensors, lidar, millimeter-wave radar and other sensors. After perception fusion by the edge server, the status information of traffic participants in the perception area is obtained.

[0003] In related technologies, these sensors are generally located on the side of the road or on crossbars. When a large truck passes by, there will be local obstruction or interference, and a large blind spot will appear in the roadside perception. At this time, the perception and recognition effect is greatly reduced, which brings certain safety risks to the vehicle-road cooperative system. Summary of the invention

[0004] The embodiments of the present application provide a roadside equipment data processing method, device, electronic device, and storage medium to achieve blind spot completion when related vehicles form an obstruction.

[0005] The present application embodiment adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a roadside equipment data processing method for roadside equipment, wherein the method includes:

[0007] Detect whether there are vehicles entering the sensing area and causing the roadside equipment to have a sensing blind spot;

[0008] If yes, a perception sharing request message is sent to the target vehicle;

[0009] receiving a first perception result sent by the target vehicle in response to the perception sharing request information;

[0010] The first perception result and the second perception result are fused to obtain a global perception result, wherein the first perception result is provided by the target vehicle and the second perception result is provided by the roadside equipment.

[0011] In some embodiments, the range of the perception blind zone changes according to the position movement of the vehicle, and the sending of the perception sharing request information to the target vehicle includes:

[0012] Determining the range of the perception blind area according to the position of the target vehicle;

[0013] When it is determined that the range of the perception blind spot exceeds a preset threshold, the perception sharing request information is sent to the target vehicle, wherein the perception sharing request information includes at least one of the following: perception blind spot range information and effective time information, and the perception blind spot range information and the effective time information are used to determine the perception position and perception time of the first perception result.

[0014] In some embodiments, the receiving the first perception result sent by the target vehicle in response to the perception sharing request information includes:

[0015] Receive a first perception result of a traffic participant sent by the target vehicle in response to the perception sharing request information based on the real-time perception result, wherein the first perception result is the traffic participant status information within the range that the perception sharing request can respond to and within the effective time, and the traffic participant status information includes at least one of the following: the number of traffic participants, traffic participant size information, traffic participant speed information, traffic participant acceleration information, and traffic participant heading angle information.

[0016] In some embodiments, the method further comprises:

[0017] In response to a guidance information request sent by the vehicle, the global perception result is used as guidance information of the roadside device and sent down, wherein the global perception result includes a complete perception result of the surrounding area of ​​the vehicle;

[0018] Detecting whether the target vehicle leaves the sensing area;

[0019] If yes, stop sending the perception sharing request information to the target vehicle.

[0020] In some embodiments, the roadside equipment is equipped with sensors and cameras, and the detecting whether a vehicle enters the perception area and causes the roadside equipment to have a perception blind spot includes:

[0021] When it is identified that the vehicle is located in the perception area, the range of the perception blind area is calculated according to the position where the sensor is deployed, the field of view angle information of the camera, and the vehicle parameter information of the target vehicle;

[0022] According to the position of the target vehicle in the perception area and the range of the perception blind area, it is detected whether a target vehicle enters the perception area and causes a perception blind area of ​​the roadside equipment.

[0023] In some embodiments, the roadside device is configured to sense and support V2X communication, the vehicle is configured to sense and support V2X communication, and the first sensing result in response to the sensing sharing request information includes:

[0024] a first perception result sent by at least one of the vehicles in response to the perception sharing request information based on V2X communication;

[0025] and / or, a first perception result based on V2X communication forwarded by at least one of the vehicles in response to the perception sharing request information.

[0026] In a second aspect, an embodiment of the present application further provides a roadside equipment data processing method for a vehicle, wherein the method comprises:

[0027] When entering the perception area and causing the roadside equipment to have a perception blind spot, receiving perception sharing request information;

[0028] A first perception result in response to the perception sharing request information is sent to the roadside device, so that the first perception result is merged with the second perception result to obtain a global perception result, wherein the second perception result is provided by the roadside device.

[0029] In a third aspect, an embodiment of the present application further provides a roadside equipment data processing device, which is used for roadside equipment, wherein the device includes:

[0030] A detection module is used to detect whether a vehicle has entered the sensing area and caused a blind spot in the roadside equipment;

[0031] A data request module is used to send a perception sharing request message to a target vehicle if the target vehicle enters the perception area and causes a perception blind spot of the roadside device;

[0032] A data receiving module, configured to receive a first sensing result sent by the target vehicle in response to the sensing sharing request information;

[0033] A data fusion module is used to fuse the first perception result with the second perception result to obtain a global perception result, wherein the first perception result is provided by the target vehicle and the second perception result is provided by the roadside equipment.

[0034] In a fourth aspect, an embodiment of the present application further provides a roadside equipment data processing device for a vehicle, wherein the device comprises:

[0035] A receiving module, used for receiving perception sharing request information when entering a perception area and causing a perception blind spot of the roadside equipment;

[0036] A sending module is used to send a first perception result in response to the perception sharing request information to the roadside device, so that the first perception result is merged with the second perception result to obtain a global perception result, wherein the second perception result is provided by the roadside device.

[0037] In a fifth aspect, an embodiment of the present application further provides an electronic device, comprising: a processor; and a memory arranged to store computer executable instructions, wherein the executable instructions, when executed, cause the processor to perform the above method.

[0038] In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs, and when the one or more programs are executed by an electronic device including multiple application programs, the electronic device executes the above method.

[0039] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0040] First, detect whether there is a vehicle entering the perception area and causing a perception blind spot in the roadside device, and then send a perception sharing request message to the target vehicle if there is one. At this time, the target vehicle can be the same vehicle or a different vehicle that causes the perception blind spot and forwards the perception sharing request message at the same time. Further, receive the first perception result sent by the target vehicle in response to the perception sharing request message, and then fuse the first perception result with the second perception result to obtain a global perception result. Since the second perception result is directly provided by the target vehicle and the second perception result is provided by the roadside device, what is obtained is a fusion result after local completion. The perception blind spots of the roadside device are filled, and the global perception of the target vehicle is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0042] Figure 1 This is a flow chart of a method for processing roadside equipment data in an embodiment of the present application (roadside);

[0043] Figure 2 This is a flow chart of a method for processing roadside equipment data in an embodiment of the present application (vehicle side);

[0044] Figure 3 It is a schematic diagram of the structure of the roadside equipment data processing device in the embodiment of the present application (roadside);

[0045] Figure 4 This is a schematic diagram of the structure of the roadside equipment data processing device in the embodiment of the present application (vehicle side);

[0046] Figure 5 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0047] 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 combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0048] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0049] The present application embodiment provides a method for processing roadside equipment data, which is used for roadside equipment such as Figure 1 As shown, a schematic flow chart of a method for processing roadside equipment data in an embodiment of the present application is provided, and the method at least includes the following steps S110 to S140:

[0050] Step S110, detecting whether a vehicle enters the perception area and causes a perception blind spot in the roadside equipment.

[0051] The roadside equipment in the roadside node has a perception function and a V2X communication function. Therefore, the roadside equipment detects in real time whether a vehicle has entered the perception area (which can be the perception area of ​​a single roadside equipment or the perception overlapping area of ​​multiple roadside equipment), and causes the roadside equipment to have a perception blind spot. In other words, at this time, the "vehicle" has entered the perception area and caused the roadside equipment to have a perception blind spot.

[0052] It is understandable that the vehicle may include multiple vehicles with the same or different driving directions. The reason why the vehicle causes the perception blind spot of the roadside equipment is mainly because it blocks or interferes with the sensor of the roadside equipment. Specifically, the blockage may include but is not limited to the blockage of the camera's field of view (such as a high vehicle body) and the blockage of the laser radar's perception range. Interference includes but is not limited to interference with radio frequency signals, interference with millimeter wave radar ranging, interference with fisheye camera distortion, interference due to weather reasons, etc. For example, interference caused by rain, strong wind, thunder and lightning weather, etc.

[0053] For example, the vehicle is a large cargo vehicle, which is long, high and wide. When the vehicle enters the sensing area, it will first be sensed by the sensing device of the roadside device. Secondly, if the roadside device finds that it has caused obstruction or interference, it will be considered that a sensing blind spot has appeared. It should be noted that the sensing blind spot changes in real time and the size of the blind spot will also change as the vehicle moves.

[0054] Step S120: If yes, send perception sharing request information to the target vehicle.

[0055] If the roadside device detects a target vehicle that enters the perception area and causes a perception blind spot in the roadside device, it will send a perception sharing request message to the target vehicle.

[0056] The target vehicle can be the vehicle that enters the sensing area and causes the roadside device to have a sensing blind spot, or it can be other vehicles, as long as it meets the requirement of being able to sense the sharing request information. That is, when selecting the target vehicle, it can be selected from the "vehicle" in the above steps, or it can be other vehicles that meet the conditions of sensing the sharing request information.

[0057] It should be noted that the perception sharing request information sent to the target vehicle can be sent by periodic broadcasting. Furthermore, it is necessary to obtain the position information, vehicle speed, acceleration, yaw angle, etc. of the target vehicle.

[0058] The perception sharing request information is mainly used to fill in the blind spots of the blocked areas. Considering that the vehicle is in the process of driving, the perception sharing request information changes based on the current blind spot range and target time interval of the roadside equipment. For example, the information of the blind spot range A at the current moment is used as the perception sharing request information at the current moment, and the information of the blind spot range B at the next moment is used as the perception sharing request information at the next moment.

[0059] Step S130, receiving a first perception result sent by the target vehicle in response to the perception sharing request information.

[0060] A first perception result sent by the target vehicle in response to the perception sharing request information is received, and the roadside device that receives the first perception result is the roadside device in which the perception blind spot appeared at the last moment.

[0061] In addition, the perception sharing request information is information perceived by the target vehicle through its own perception device, and the perception result is returned to the roadside device that sent the perception sharing request information to the target vehicle.

[0062] Step S140: Fusing the first perception result with the second perception result to obtain a global perception result, wherein the first perception result is provided by the target vehicle, and the second perception result is provided by the roadside device.

[0063] By fusing the first perception result with the second perception result, a global perception result is obtained, which can then be sent as guidance information to related vehicles that need to be coordinated.

[0064] Furthermore, the first perception result is provided by the target vehicle, and the second perception result is provided by the roadside device. The second perception result may be provided by multiple roadside devices, and the first perception result may also be provided by multiple target vehicles.

[0065] When a vehicle that enters the perception area and causes a perception blind spot in the roadside device is taken as the target vehicle, if there is only one target vehicle at present and it only causes a blind spot for one roadside device, the first perception result is provided by the current target vehicle and the second perception result is provided by the current roadside device.

[0066] In one embodiment of the present application, the range of the perception blind spot changes according to the position movement of the target vehicle, and the sending of perception sharing request information to the target vehicle includes: determining the range of the perception blind spot according to the position of the target vehicle; and sending the perception sharing request information to the target vehicle when it is determined that the range of the perception blind spot exceeds a preset threshold, wherein the perception sharing request information includes at least one of the following: perception blind spot range information and effective time information, and the perception blind spot range information and the effective time information are used to determine the perception position and perception time of the first perception result.

[0067] In specific implementation, when determining the range of the perception blind spot according to the position of the target vehicle: by identifying that the target vehicle is within the perception area, the blind spot information is calculated based on the sensor position and field of view angle information on the roadside equipment, as well as the position information, length, width, and height of the target vehicle, that is, the range of the blind spot is determined.

[0068] Furthermore, when it is determined that the range of the perception blind spot exceeds a preset threshold (for example, when the perception blind spot is greater than the threshold, it will affect the perception effect and cause safety hazards), the perception sharing request information is sent to the target vehicle. That is to say, if the range of the perception blind spot exceeds the preset threshold (configured according to actual needs), the perception sharing request information is sent to the target vehicle. Specifically, the perception sharing request information can be sent to the target vehicle through the V2X communication protocol. That is, when the blind spot range exceeds the preset threshold, the roadside determines that the blind spot needs to be filled (the blind spot that needs to be filled may include the perception area of ​​the target vehicle, that is, the target vehicle is the vehicle that enters the perception area and causes the roadside equipment to have a perception blind spot, and at the same time serves as the target vehicle for receiving the perception sharing request information). At this time, the process of determining and identifying the range of the perception blind spot is dynamic, and as the position of the target vehicle moves, the range of the blind spot also changes synchronously. Due to the changes in the range of the blind spot, multiple target vehicles will be required to share the perception of local information.

[0069] It should be noted that the perception blind area range information and the effective time information are used to determine the perception position and perception time of the first perception result. By determining the perception position and perception time of the first perception result, the original results can be screened at the target vehicle to obtain the perception result of the corresponding position and time.

[0070] In one embodiment of the present application, the receiving of the first perception result sent by the target vehicle in response to the perception sharing request information includes: receiving the first perception result of the traffic participant sent by the target vehicle in response to the perception sharing request information based on the real-time perception result, the first perception result is the traffic participant status information within the range that the perception sharing request can respond to and within the valid time, and the traffic participant status information includes at least one of the following: the number of traffic participants, traffic participant size information, traffic participant speed information, traffic participant acceleration information, and traffic participant heading angle information.

[0071] In specific implementation, the relevant roadside equipment (roadside equipment with a perception blind spot) will receive the first perception result of the traffic participant sent by the target vehicle in response to the perception sharing request information based on the real-time perception result. It can be understood that the traffic participants here include but are not limited to: people and vehicles. And the traffic participant status information includes but is not limited to the number of traffic participants, traffic participant size information, traffic participant speed information, traffic participant acceleration information, and traffic participant heading angle information.

[0072] Based on the status information of these traffic participants, the perception results can be summarized to guide vehicles that need to perform vehicle-road collaboration.

[0073] It should be noted that the target vehicle needs to have perception and V2X functions, while other participating vehicles do not need to have perception functions.

[0074] In one embodiment of the present application, the method also includes: in response to a guidance information request sent by a vehicle, using the global perception result as the guidance information of the roadside equipment and issuing it, wherein the global perception result includes the complete perception result of the surrounding area of ​​the vehicle; detecting whether the target vehicle leaves the perception area; if so, stopping sending the perception sharing request information to the target vehicle.

[0075] In specific implementation, for a certain roadside device (a roadside device participating in vehicle-road collaboration), in response to a guidance information request sent by a vehicle, the global perception result is used as the guidance information of the roadside device and sent down. Since the global perception result includes the complete perception result of the surroundings of the vehicle, it can be used in vehicle-road collaboration scenarios such as vehicle guidance.

[0076] Further, it is detected whether the target vehicle leaves the sensing area; if so, the sensing sharing request information is stopped from being sent to the target vehicle. In other words, the trigger condition for the roadside to end the sensing request is that when the target vehicle leaves the sensing area of ​​the roadside, the roadside stops sending the sensing sharing request information.

[0077] In one embodiment of the present application, the roadside equipment is configured with sensors and cameras, and the detection of whether a vehicle enters the perception area and causes a perception blind spot in the roadside equipment includes: when the vehicle is identified as being located in the perception area, calculating the range of the perception blind spot based on the position of the sensor deployment, the field of view angle information of the camera, and the vehicle parameter information of the vehicle; and detecting whether a vehicle enters the perception area and causes a perception blind spot in the roadside equipment based on the position of the vehicle in the perception area and the range of the perception blind spot.

[0078] In specific implementation, since the roadside equipment is equipped with sensors and cameras. When the vehicle is identified as being in the perception area, the range of the perception blind spot can be calculated based on the position of the sensor deployment (external parameter calibration result), the field of view angle information (FOV) of the camera, and the vehicle parameter information of the vehicle. Furthermore, based on the position of the vehicle in the perception area (real time) and the range of the perception blind spot (corresponding to the position), it is detected whether there is a vehicle entering the perception area and causing the roadside equipment to have a perception blind spot.

[0079] For example, when the vehicle is a large cargo vehicle, which is long, high and wide, when the vehicle is identified as being located in the perception area, the range of the perception blind area is calculated based on the external parameter calibration results of the sensor deployment on the roadside equipment, the field of view information FOV of the camera and the vehicle parameter information of the vehicle.

[0080] In one embodiment of the present application, the roadside equipment is configured to sense and support V2X communication, the vehicle is configured to sense and support V2X communication, and the first perception result in response to the perception sharing request information includes: a first perception result based on V2X communication in response to the perception sharing request information sent by at least one of the vehicles; and a first perception result based on V2X communication in response to the perception sharing request information forwarded by at least one of the vehicles.

[0081] In a specific implementation, since the roadside equipment is configured to sense and support V2X communication, the vehicle is configured to sense and support V2X communication. One case is that at least one of the vehicles itself sends a first sensing result based on V2X communication in response to the sensing sharing request information, that is, at least one vehicle is used as a target vehicle (at this time, the area may include multiple vehicles, but one of them has a sensing function) to respond to the first sensing result of the sensing sharing request information.

[0082] Another situation is that the first perception result based on V2X communication in response to the perception sharing request information is forwarded by at least one of the vehicles. That is, the first perception result in response to the perception sharing request information is forwarded by at least one vehicle as a non-target vehicle (in this case, the area may include multiple vehicles and only supports V2X communication function). At this time, the first perception result of the perception sharing request information forwarded may come from other roadside equipment or other vehicles with perception function.

[0083] In one embodiment of the present application, a roadside device data processing method is provided, which is used for the roadside device, wherein the range of the perception blind area changes according to the position movement of the vehicle, the roadside device is configured with a sensor and a camera, the roadside device is configured to perceive and support V2X communication, and the vehicle is configured to perceive and support V2X communication, wherein the method includes:

[0084] The roadside device detects whether a vehicle enters the sensing area and causes a sensing blind spot for the roadside device;

[0085] If there is a roadside device, a perception sharing request message is sent to the target vehicle;

[0086] The roadside device receives a first sensing result sent by the target vehicle in response to the sensing sharing request information;

[0087] The roadside device fuses the first perception result with the second perception result to obtain a global perception result, wherein the first perception result is provided by the target vehicle and the second perception result is provided by the roadside device.

[0088] Specifically, both the roadside equipment and the vehicle have perception functions and V2X communication functions. The roadside equipment senses that a vehicle, such as a large vehicle, affects the perception area, resulting in a perception blind spot. a. Identify the vehicle in the perception area; b. Calculate the blind spot information, i.e. the blind spot range, based on the sensor position, field of view angle information, vehicle position information, length, width, and height; c. When the blind spot range exceeds the preset threshold, the roadside determines that blind spot filling is required. As the position of the vehicle moves, the blind spot range also changes synchronously.

[0089] The roadside device sends a perception information sharing request. When the roadside perception needs to fill in the blind spot, the roadside system sends the perception sharing request information to the target vehicle through V2X, including the blind spot range information and effective time information.

[0090] The vehicle forwards perception information. After the target vehicle receives the perception sharing request information from the roadside system, it filters out the status information of traffic participants within the request range and within the valid time based on the real-time perception results, including but not limited to: quantity, size information, speed information, acceleration information, heading angle information, etc.

[0091] For the fused perception information of roadside equipment, after the roadside RSU1 receives the perception information sent by the target vehicle, it integrates it according to its own perception results to obtain the full-area perception results around the vehicle.

[0092] The roadside device ends the perception request. When the target vehicle leaves the roadside perception area, the roadside stops sending perception sharing request information.

[0093] The present application embodiment provides a roadside equipment data processing method for a vehicle such as Figure 2 As shown, a schematic flow chart of a method for processing roadside equipment data in an embodiment of the present application is provided, and the method at least includes the following steps S210 to S220:

[0094] Step S210: receiving perception sharing request information when entering the perception area and causing a perception blind spot for the roadside device.

[0095] For a vehicle, when it enters the perception area and causes a perception blind spot for the roadside equipment, it will receive the perception sharing request information.

[0096] The perception sharing request information is mainly used to fill in the blind spots of the blocked areas. Considering that the vehicle is in the process of driving, the perception sharing request information changes based on the current blind spot range and target time interval of the roadside equipment. For example, the information of the blind spot range A at the current moment is used as the perception sharing request information at the current moment, and the information of the blind spot range B at the next moment is used as the perception sharing request information at the next moment.

[0097] Step S220: Send a first perception result in response to the perception sharing request information to the roadside device, so that the first perception result is merged with the second perception result to obtain a global perception result, wherein the second perception result is provided by the roadside device.

[0098] For the vehicle, a first perception result in response to the perception sharing request information is sent to the roadside device, so that the first perception result is merged with the second perception result. Generally speaking, the first perception result of the perception sharing request information is the information perceived by the vehicle through its own perception device, and the perception result is returned to the roadside device that sent the perception sharing request information to the target vehicle.

[0099] By fusing the first perception result with the second perception result, a global perception result is obtained, which can then be sent as guidance information to related vehicles that need to be coordinated.

[0100] Furthermore, the first perception result is provided by the vehicle, and the second perception result is provided by the roadside device. The second perception result may be provided by multiple roadside devices, and the first perception result may also be provided by multiple target vehicles.

[0101] Of course, if there is only one vehicle at present and it only causes a blind spot for one roadside device, the first perception result is provided by the current vehicle, and the second perception result is provided by the current roadside device.

[0102] The present application embodiment also provides a roadside equipment data processing device 300, which is used for roadside equipment, such as Figure 3 As shown, a schematic diagram of the structure of a roadside equipment data processing device in an embodiment of the present application is provided, wherein the roadside equipment data processing device 300 at least includes: a detection module 310, a data request module 320, a data receiving module 330 and a data fusion module 340, wherein:

[0103] In one embodiment of the present application, the detection module 310 is specifically used to detect whether a vehicle enters the perception area and causes a perception blind spot in the roadside device.

[0104] The roadside equipment in the roadside node has a perception function and a V2X communication function. Therefore, the roadside equipment detects in real time whether a vehicle has entered the perception area (which can be the perception area of ​​a single roadside equipment or the perception overlapping area of ​​multiple roadside equipment), and causes the roadside equipment to have a perception blind spot. In other words, at this time, the "vehicle" has entered the perception area and caused the roadside equipment to have a perception blind spot.

[0105] It is understandable that the vehicle may include multiple vehicles with the same or different driving directions. The reason why the vehicle causes the perception blind spot of the roadside equipment is mainly because it blocks or interferes with the sensor of the roadside equipment. Specifically, the blockage may include but is not limited to the blockage of the camera's field of view (such as a high vehicle body) and the blockage of the laser radar's perception range. Interference includes but is not limited to interference with radio frequency signals, interference with millimeter wave radar ranging, interference with fisheye camera distortion, interference due to weather reasons, etc. For example, interference caused by rain, strong wind, thunder and lightning weather, etc.

[0106] For example, the vehicle is a large cargo vehicle, which is long, high and wide. When the vehicle enters the sensing area, it will first be sensed by the sensing device of the roadside device. Secondly, if the roadside device finds that it has caused obstruction or interference, it will be considered that a sensing blind spot has appeared. It should be noted that the sensing blind spot changes in real time and the size of the blind spot will also change as the vehicle moves.

[0107] In one embodiment of the present application, the data request module 320 is specifically used to: if yes, send perception sharing request information to the target vehicle.

[0108] If the roadside device detects a target vehicle that enters the perception area and causes a perception blind spot in the roadside device, it will send a perception sharing request message to the target vehicle.

[0109] The target vehicle can be the vehicle that enters the sensing area and causes the roadside device to have a sensing blind spot, or it can be other vehicles, as long as it meets the requirement of being able to sense the sharing request information. That is, when selecting the target vehicle, it can be selected from the "vehicle" in the above steps, or it can be other vehicles that meet the conditions of sensing the sharing request information.

[0110] It should be noted that the perception sharing request information sent to the target vehicle can be sent by periodic broadcasting. Furthermore, it is necessary to obtain the position information, vehicle speed, acceleration, yaw angle, etc. of the target vehicle.

[0111] The perception sharing request information is mainly used to fill in the blind spots of the blocked areas. Considering that the vehicle is in the process of driving, the perception sharing request information changes based on the current blind spot range and target time interval of the roadside equipment. For example, the information of the blind spot range A at the current moment is used as the perception sharing request information at the current moment, and the information of the blind spot range B at the next moment is used as the perception sharing request information at the next moment.

[0112] In one embodiment of the present application, the data receiving module 330 is specifically used to: receive a first perception result sent by the target vehicle in response to the perception sharing request information.

[0113] A first perception result sent by the target vehicle in response to the perception sharing request information is received, and the roadside device that receives the first perception result is the roadside device in which the perception blind spot appeared at the last moment.

[0114] In addition, the perception sharing request information is information perceived by the target vehicle through its own perception device, and the perception result is returned to the roadside device that sent the perception sharing request information to the target vehicle.

[0115] In one embodiment of the present application, the data fusion module 340 is specifically used to: fuse the first perception result with the second perception result to obtain a global perception result, wherein the first perception result is provided by the target vehicle and the second perception result is provided by the roadside equipment.

[0116] By fusing the first perception result with the second perception result, a global perception result is obtained, which can then be sent as guidance information to related vehicles that need to be coordinated.

[0117] Furthermore, the first perception result is provided by the target vehicle, and the second perception result is provided by the roadside device. The second perception result may be provided by multiple roadside devices, and the first perception result may also be provided by multiple target vehicles.

[0118] Of course, if there is only one target vehicle at present and it only causes a blind spot for one roadside device, the first perception result is provided by the current target vehicle, and the second perception result is provided by the current roadside device.

[0119] The present application embodiment also provides a roadside equipment data processing device 400 for a vehicle, such as Figure 4 As shown, a schematic diagram of the structure of a roadside equipment data processing device in an embodiment of the present application is provided, and the roadside equipment data processing device 400 at least includes: a receiving module 410 and a sending module 420, wherein:

[0120] In one embodiment of the present application, the receiving module 410 is specifically used to: receive perception sharing request information when entering a perception area and causing a perception blind spot in the roadside device.

[0121] For a vehicle, when it enters the perception area and causes a perception blind spot for the roadside equipment, it will receive the perception sharing request information.

[0122] The perception sharing request information is mainly used to fill in the blind spots of the blocked areas. Considering that the vehicle is in the process of driving, the perception sharing request information changes based on the current blind spot range and target time interval of the roadside equipment. For example, the information of the blind spot range A at the current moment is used as the perception sharing request information at the current moment, and the information of the blind spot range B at the next moment is used as the perception sharing request information at the next moment.

[0123] In one embodiment of the present application, the sending module 420 is specifically used to: send a first perception result in response to the perception sharing request information to the roadside device, so that the first perception result is merged with the second perception result to obtain a global perception result, wherein the second perception result is provided by the roadside device.

[0124] For the vehicle, a first perception result in response to the perception sharing request information is sent to the roadside device, so that the first perception result is merged with the second perception result. Generally speaking, the first perception result of the perception sharing request information is the information perceived by the vehicle through its own perception device, and the perception result is returned to the roadside device that sent the perception sharing request information to the target vehicle.

[0125] By fusing the first perception result with the second perception result, a global perception result is obtained, which can then be sent as guidance information to related vehicles that need to be coordinated.

[0126] Furthermore, the first perception result is provided by the vehicle, and the second perception result is provided by the roadside device. The second perception result may be provided by multiple roadside devices, and the first perception result may also be provided by multiple target vehicles.

[0127] Of course, if there is only one vehicle at present and it only causes a blind spot for one roadside device, the first perception result is provided by the current vehicle, and the second perception result is provided by the current roadside device.

[0128] It can be understood that the above-mentioned roadside equipment data processing device can implement the various steps of the roadside equipment data processing method provided in the aforementioned embodiment, and the relevant explanations about the roadside equipment data processing method are applicable to the roadside equipment data processing device and will not be repeated here.

[0129] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 5At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0130] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0131] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0132] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a roadside equipment data processing device at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0133] Detect whether there are vehicles entering the sensing area and causing the roadside equipment to have a sensing blind spot;

[0134] If yes, a perception sharing request message is sent to the target vehicle;

[0135] receiving a first perception result sent by the target vehicle in response to the perception sharing request information;

[0136] The first perception result and the second perception result are fused to obtain a global perception result, wherein the first perception result is provided by the target vehicle and the second perception result is provided by the roadside equipment.

[0137] The above application Figure 1The method performed by the roadside equipment data processing device disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0138] The electronic device may also perform Figure 1 The method is executed by the roadside equipment data processing device, and the roadside equipment data processing device is implemented in Figure 1 The functions of the illustrated embodiment will not be described in detail in the embodiments of the present application.

[0139] The present application also provides a computer-readable storage medium, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to execute Figure 1 The method executed by the roadside equipment data processing device in the illustrated embodiment is specifically used to execute:

[0140] Detect whether there are vehicles entering the sensing area and causing the roadside equipment to have a sensing blind spot;

[0141] If yes, a perception sharing request message is sent to the target vehicle;

[0142] receiving a first perception result sent by the target vehicle in response to the perception sharing request information;

[0143] The first perception result and the second perception result are fused to obtain a global perception result, wherein the first perception result is provided by the target vehicle and the second perception result is provided by the roadside equipment.

[0144] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0146] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0148] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0149] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0150] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0151] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0152] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0153] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A roadside equipment data processing method, used for roadside equipment, wherein: The method comprises: Detect whether there are vehicles entering the sensing area and causing the roadside equipment to have a sensing blind spot; If yes, a perception sharing request message is sent to the target vehicle; The range of the perception blind zone changes according to the position movement of the vehicle, and the sending of the perception sharing request information to the target vehicle includes: Determining the range of the perception blind area according to the position of the vehicle; When it is determined that the range of the perception blind spot exceeds a preset threshold, the perception sharing request information is sent to the target vehicle, wherein the perception sharing request information includes at least one of the following: perception blind spot range information and effective time information, and the perception blind spot range information and the effective time information are used to determine the perception position and perception time of the first perception result; receiving a first perception result sent by the target vehicle in response to the perception sharing request information; The first perception result and the second perception result are fused to obtain a global perception result, wherein the first perception result is provided by the target vehicle and the second perception result is provided by the roadside equipment.

2. The method of claim 1, wherein: The receiving a first perception result sent by the target vehicle in response to the perception sharing request information includes: Receive a first perception result of a traffic participant sent by the target vehicle in response to the perception sharing request information based on the real-time perception result, wherein the first perception result is the traffic participant status information within the range that the perception sharing request can respond to and within the effective time, and the traffic participant status information includes at least one of the following: the number of traffic participants, traffic participant size information, traffic participant speed information, traffic participant acceleration information, and traffic participant heading angle information.

3. The method of claim 1, wherein: The method further comprises: In response to a guidance information request sent by the vehicle, the global perception result is used as guidance information of the roadside device and sent down, wherein the global perception result includes a complete perception result of the surrounding area of ​​the vehicle; Detecting whether the target vehicle leaves the sensing area; If yes, stop sending the perception sharing request information to the target vehicle.

4. The method of claim 1, wherein: The roadside equipment is equipped with sensors and cameras, and the detection of whether a vehicle enters the perception area and causes the roadside equipment to have a perception blind area includes: When it is identified that the vehicle is located in the perception area, the range of the perception blind area is calculated according to the position where the sensor is deployed, the field of view angle information of the camera, and the vehicle parameter information of the vehicle; According to the position of the vehicle in the perception area and the range of the perception blind area, it is detected whether there is a vehicle entering the perception area and causing a perception blind area of ​​the roadside equipment.

5. The method of claim 1, wherein: The roadside device is configured to sense and support V2X communication, the vehicle is configured to sense and support V2X communication, and the first sensing result in response to the sensing sharing request information includes: a first perception result sent by at least one of the vehicles in response to the perception sharing request information based on V2X communication; and / or, a first perception result based on V2X communication forwarded by at least one of the vehicles in response to the perception sharing request information.

6. A roadside equipment data processing method for a vehicle, wherein: The roadside equipment data processing method for a roadside equipment according to any one of claims 1 to 5 is adopted, and the roadside equipment data processing method for a vehicle comprises: When entering the perception area and causing the roadside equipment to have a perception blind spot, receiving perception sharing request information; A first perception result in response to the perception sharing request information is sent to the roadside device, so that the first perception result is merged with the second perception result to obtain a global perception result, wherein the second perception result is provided by the roadside device.

7. A roadside equipment data processing device, used for roadside equipment, wherein: The device comprises: A detection module is used to detect whether a vehicle has entered the sensing area and caused a blind spot in the roadside equipment; A data request module is used to send a perception sharing request message to a target vehicle if the target vehicle enters the perception area and causes a perception blind spot of the roadside device; The range of the perception blind zone changes according to the position movement of the vehicle, and the sending of the perception sharing request information to the target vehicle includes: Determining the range of the perception blind area according to the position of the vehicle; When it is determined that the range of the perception blind spot exceeds a preset threshold, the perception sharing request information is sent to the target vehicle, wherein the perception sharing request information includes at least one of the following: perception blind spot range information and effective time information, and the perception blind spot range information and the effective time information are used to determine the perception position and perception time of the first perception result; A data receiving module, configured to receive a first sensing result sent by the target vehicle in response to the sensing sharing request information; A data fusion module is used to fuse the first perception result with the second perception result to obtain a global perception result, wherein the first perception result is provided by the target vehicle and the second perception result is provided by the roadside equipment.

8. An electronic device comprising: processor; as well as A memory arranged to store computer executable instructions, wherein when the executable instructions are executed, the processor executes the method of any one of claims 1 to 5, and / or executes the method of claim 6.

9. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of application programs, enables the electronic device to execute any one of the methods of claims 1 to 5 and / or the method of claim 6.

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