Perception information correction method and device, roadside perception device, system, and medium

Abstract

The application is suitable for the field of intelligent traffic technology, and provides a sensing information correction method and device, a roadside sensing device, a system and a medium. The sensing information correction method comprises the following steps: acquiring roadside sensing information of a roadside sensing device in real time; when it is determined that a target traffic participant enters a visual blind area of the roadside sensing device, sending an information acquisition instruction to the target traffic participant, wherein the information acquisition instruction is used to instruct the target traffic participant to acquire traffic information of the target traffic participant; and correcting the roadside sensing information according to the traffic information of the target traffic participant. Through the application, the roadside sensing device can be provided with environmental information in the visual blind area.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent transportation, and particularly relates to a perception information correction method and device, a roadside perception device, a system and a medium. BACKGROUND

[0002] Intelligent transportation is an information fusion mode in which a traffic participant cooperates with a roadside perception device. The traffic participant can be perceived by the roadside perception device and can communicate with the roadside perception device. For example, the traffic participant is a vehicle, and vehicle-road cooperation is a road traffic system that is safe, efficient and environmentally friendly, which is formed by using advanced wireless communication and new generation Internet technologies to implement dynamic real-time information interaction between vehicles and roads in all directions, and by developing active safety control of vehicles and cooperative management of roads on the basis of dynamic traffic information collection and fusion in all time and space, so as to fully realize effective cooperation of people, vehicles and roads, ensure traffic safety and improve traffic efficiency.

[0003] The roadside perception device is a device for roadside perception, which can perceive targets in the environment around the road and related information of the targets. However, there is a visual blind area when the roadside perception device perceives environmental information, and the roadside perception device cannot provide environmental information in the visual blind area. SUMMARY

[0004] The embodiments of the application provide a perception information correction method, device, roadside perception device, system and medium, which can provide environmental information in a visual blind area for a roadside perception device.

[0005] In a first aspect, the embodiments of the application provide a perception information correction method, which comprises:

[0006] obtaining roadside perception information of a roadside perception device in real time;

[0007] when it is determined that a target traffic participant enters a visual blind area of the roadside perception device, sending an information acquisition instruction to the target traffic participant, the information acquisition instruction being used to instruct the target traffic participant to acquire traffic information of the target traffic participant;

[0008] correcting the roadside perception information according to the traffic information of the target traffic participant.

[0009] In a second aspect, the embodiments of the application provide a perception information correction device, which comprises:

[0010] an information acquisition module, configured to obtain roadside perception information of a roadside perception device in real time;

[0011] The instruction sending module is configured to send an information acquisition instruction to the target traffic participant when it is determined that the target traffic participant enters the blind area of the road side perception device, and the information acquisition instruction is used to instruct the target traffic participant to acquire its own traffic information.

[0012] The information correction module is configured to correct the road side perception information according to the traffic information of the target traffic participant.

[0013] In a third aspect, an embodiment of the present application provides a road side coordination system, which comprises a road side perception device and a target traffic participant.

[0014] The road side perception device is configured to acquire road side perception information in real time, and send an information acquisition instruction to the target traffic participant when it is detected that the target traffic participant enters a blind area.

[0015] The target traffic participant is configured to acquire its own traffic information after receiving the information acquisition instruction, and send the traffic information of the target traffic participant to the road side perception device.

[0016] The road side perception device is configured to correct the road side perception information according to the traffic information of the target traffic participant after receiving the traffic information of the target traffic participant.

[0017] In a fourth aspect, an embodiment of the present application provides a road side perception device, which comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the steps of the perception information correction method according to the first aspect when executing the computer program.

[0018] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the perception information correction method according to the first aspect when executed by a processor.

[0019] In a sixth aspect, an embodiment of the present application provides a computer program product, which, when running on a road side perception device, causes the road side perception device to perform the steps of the perception information correction method according to the first aspect.

[0020] As can be seen from the above, when it is determined that a target traffic participant enters a blind area of a road side perception device, an information acquisition instruction is sent to the target traffic participant, which instructs the target traffic participant to acquire its own traffic information, and the road side perception information can be corrected according to the traffic information of the target traffic participant, so as to provide the road side perception device with environmental information in the blind area. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 is the implementation flow diagram of the perception information correction method provided by the first embodiment of the present application;

[0023] Figure 2a is an example diagram of the target vehicle driving in the visual range of the roadside perception device;

[0024] Figure 2b is an example diagram of the target vehicle driving into the visual blind area of the roadside perception device;

[0025] Figure 3 is the implementation flow diagram of the perception information correction method provided by the second embodiment of the present application;

[0026] Figure 4 is a structure example diagram of the perception information correction device provided by the third embodiment of the present application;

[0027] Figure 5 is an architecture example diagram of the roadside cooperative system provided by the fourth embodiment of the present application;

[0028] Figure 6 is a structure diagram of the roadside perception device provided by the fifth embodiment of the present application. DETAILED DESCRIPTION

[0029] In the following description, specific details are set forth in order to provide a thorough understanding of the embodiments of the present application. However, persons skilled in the art will understand that the present application can be implemented without these specific details. In other cases, well-known systems, devices, circuits and methods have not been described in detail so as not to obscure the description of the present application.

[0030] It should be understood that when used in the specification and the appended claims of the present application, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0031] It should also be understood that the term "and / or" as used herein refers to any or all possible combinations of one or more of the associated listed items, and includes all possible combinations.

[0032] In addition, in the description of the present application and the appended claims, the terms "first", "second", etc. are only used for differentiation of description, and cannot be understood as indicating or implying relative importance.

[0033] Before explaining the present application, in order to facilitate the reader's understanding, the terms involved in the present application are first explained.

[0034] The traffic participant can refer to a device that can be perceived by the roadside perception device and can communicate with the roadside perception device. For example, a vehicle, a smart bracelet, a mobile phone, a wearable device, etc.

[0035] In order to facilitate the description, the vehicle is used to illustrate the role of the traffic participant (smart bracelet, mobile phone, wearable device, etc.) in the present embodiment. Unless otherwise specified, the vehicle mentioned in the present embodiment can be considered as the traffic participant, and the traffic participant can also realize the function of the vehicle.

[0036] The roadside perception device is a device for roadside perception, which includes a roadside sensor, an edge computing module and a roadside communication module. The roadside sensor can be at least one of a laser radar, a camera and a millimeter wave radar, which is used to collect surrounding environmental information. The edge computing module is used to perform perception calculation on the environmental information collected by the roadside sensor, detect the target, and identify the category of the target, calculate the size, position, motion speed, heading angle and other information of the target.

[0037] The roadside communication module can be used to communicate with vehicles equipped with onboard terminals. Specifically, communication between the roadside sensing equipment and the vehicle refers to communication between the roadside sensing equipment and the vehicle's onboard terminal. The vehicle's onboard terminal includes onboard sensors, a perception computing module, and an onboard communication module. Optionally, in some cases, this onboard terminal can also be considered an intelligent terminal device on the vehicle, provided it possesses the following capabilities: the ability to communicate with the roadside sensing equipment and transmit vehicle traffic information to the roadside sensing equipment via a communication link. Onboard sensors include, but are not limited to, Global Navigation Satellite System (GNSS) receivers, Inertial Measurement Units (IMUs), and at least one of LiDAR, cameras, and millimeter-wave radar. GNSS receivers and IMUs provide information about the vehicle's own motion status. LiDAR, cameras, millimeter-wave radar, and other sensors provide onboard perception information. The perception computing module performs perception calculations on the information collected by the onboard sensors, detects targets, and calculates information such as the target's size, position, speed, and heading angle. The vehicle-mounted communication module is used to communicate with roadside sensing devices.

[0038] The roadside communication module and the vehicle-mounted communication module can be a 4G communication module, a 5G communication module, or a communication module that supports vehicle-to-everything (V2X) wireless communication technology, etc., and there are no restrictions here.

[0039] The edge computing module and the sensing computing module can be any module capable of data processing, such as a processor.

[0040] The target can be any object related to road / traffic activities, such as motor vehicles, pedestrians, non-motorized vehicles, smart bracelets, mobile phones, wearable devices, etc. The perceived information of the target can refer to its size, category, location, speed, heading angle, etc.

[0041] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0042] It should be understood that the size of the serial number of each step in the embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0043] In order to illustrate the technical solutions described in the present application, the following will be described by specific embodiments.

[0044] Referring to Figure 1 is the implementation flowchart of the perception information correction method provided by the embodiment of the present application, and the perception information correction method is applied to a roadside perception device. As Figure 1 shown, the perception information correction method can include the following steps:

[0045] Step 101, real-time acquisition of roadside perception information of the roadside perception device.

[0046] Among them, 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.

[0047] The roadside perception information is obtained by the roadside perception device. Optionally, the roadside sensor in the roadside perception device can collect the environmental information around the roadside perception device, and the edge computing module in the roadside perception device can perform perception calculation on the environmental information collected by the roadside sensor to obtain the roadside perception information.

[0048] For example, the traffic participant is a vehicle, and the roadside perception device can provide the driver's blind area road condition information, over-the-horizon road condition information, vehicle decision and other services for the surrounding vehicles by real-time acquisition of roadside perception information.

[0049] Among them, real-time acquisition of roadside perception information can mean acquisition of roadside perception information at a preset time interval. For example, roadside perception information is acquired every 3 seconds.

[0050] Step 102, when determining that the target traffic participant enters the blind area of the roadside perception device, sending an information acquisition instruction to the target traffic participant, the information acquisition instruction being used to instruct the target traffic participant to acquire its own traffic information.

[0051] Among them, the blind area of the roadside perception device can mean the area where the roadside perception device cannot perceive the environmental information. The traffic information of the target traffic participant includes but is not limited to the size, category, position, motion speed, heading angle and other information of the target traffic participant.

[0052] When the target traffic participant enters the visual blind area of the roadside sensing device, the roadside sensing device cannot sense the traffic information of the target traffic participant. In order to provide the roadside sensing device with the traffic information of the target traffic participant in the visual blind area, the roadside sensing device can send an information acquisition instruction to the target traffic participant. After receiving the information acquisition instruction, the target traffic participant can acquire its own traffic information and feed back the traffic information to the roadside sensing device.

[0053] In step 103, the roadside sensing information is corrected according to the traffic information of the target traffic participant.

[0054] After receiving the traffic information fed back by the target traffic participant, the roadside sensing device can correct the real-time acquired roadside sensing information according to the traffic information of the target traffic participant, and complete the environmental information in the visual blind area of the roadside sensing device that cannot be sensed.

[0055] The number of target traffic participants in the visual blind area of the roadside sensing device can be one or at least two. Taking a target vehicle as an example, the roadside sensing device corrects the real-time acquired roadside sensing information according to the traffic information of all target vehicles in the visual blind area, which can solve the problem that the roadside sensing device cannot provide environmental information in the visual blind area to a large extent, and better provide the surrounding vehicles with the road condition information in the driver's visual blind area, the over-the-horizon road condition information, vehicle decision-making and other services.

[0056] In an embodiment, before the target traffic participant enters the visual blind area of the roadside sensing device, the method further comprises:

[0057] When it is detected that the target traffic participant is in the visual range of the roadside sensing device, a first target is determined from the roadside sensing information, and the target traffic participant is bound to the first target, the first target being a target in the roadside sensing information corresponding to the target traffic participant;

[0058] When it is detected that the first target disappears from the roadside sensing information, it is determined that the target traffic participant enters the visual blind area of the roadside sensing device.

[0059] When the target traffic participant is in the communication range of the roadside sensing device, the target traffic participant can communicate with the roadside sensing device to send its own traffic information to the roadside sensing device. After receiving the traffic information sent by the target traffic participant, the roadside sensing device can determine whether there is a target corresponding to the target traffic participant in the roadside sensing information according to the traffic information of the target traffic participant. If there is a target corresponding to the target traffic participant, it is determined that the target traffic participant is in the visual range of the roadside sensing device, and the target corresponding to the target traffic participant is determined from the roadside sensing information.

[0060] According to the traffic information of the target traffic participant, detecting whether the target corresponding to the target traffic participant exists in the roadside perception information can include: detecting whether information matching the traffic information of the target traffic participant exists in the roadside perception information, if the information matching the traffic information of the target traffic participant exists, it is determined that the target corresponding to the target traffic participant exists in the roadside perception information, and the target corresponding to the information matching the traffic information of the target traffic participant is the target corresponding to the target traffic participant; if the information matching the traffic information of the target traffic participant does not exist, it is determined that the target corresponding to the target traffic participant does not exist in the roadside perception information. Wherein, the matching of the traffic information of the target traffic participant can be matching all information in the traffic information of the target traffic participant, or matching part of the information in the traffic information of the target traffic participant, which is not limited here.

[0061] For example, if it is set that the matching of the traffic information of the target vehicle means matching 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 perception information is also A and the size is also B, it can be determined that the traffic information of the target vehicle matches the information of the target a in the roadside perception information, and the target a is the target corresponding to the target vehicle.

[0062] The binding of the target traffic participant and the first target can mean establishing a mapping relationship between the target traffic participant and the first target, that is, establishing a mapping relationship between the target traffic participant in the physical world and the target in the roadside perception information in the digital world.

[0063] Since the roadside perception information is acquired in real time, the first target may disappear from the roadside perception information. For example, it is detected that the first target exists in the roadside perception information acquired at a certain time, and the first target does not exist in the roadside perception information acquired at the next time, which can be determined as detecting that the first target disappears from the roadside perception information, and the target traffic participant enters the blind area of the roadside sensing device.

[0064] As shown in Figure 2a is an example diagram of the target vehicle driving in the field of view range of the roadside sensing device, vehicle 5 is the target vehicle, and Figure 2a It can be seen that vehicle 5 has not yet entered the blind area of the roadside sensing device at this time; as shown in Figure 2b is an example diagram of vehicle 5 driving into the blind area of the roadside sensing device, because vehicle 4 blocks vehicle 5, vehicle 5 drives into the blind area of the roadside sensing device, and the roadside sensing device cannot perceive the traffic information of vehicle 5, and the present application can provide the traffic information of vehicle 5 for the blind area of the roadside sensing device.

[0065] Optionally, the roadside perception device can also use a correlation algorithm (such as a Kalman filter algorithm) to predict the trajectory of the target it perceives, and based on the predicted trajectory, it can be known in advance that a traffic participant will enter the blind area of the roadside perception device. In some embodiments, if it is predicted that a certain traffic participant (first target) will enter the blind area, it is determined that the first target is detected to disappear from the roadside perception information. At this time, based on the prediction result, an information acquisition instruction can be sent to the traffic participant entering the blind area of the roadside perception device.

[0066] In an embodiment, the roadside perception information is corrected according to the traffic information of the target traffic participant, including:

[0067] The first target is recovered in the roadside perception information according to the traffic information of the target traffic participant.

[0068] When the target traffic participant enters the blind area of the roadside perception device, the first target does not exist in the roadside perception information. After receiving the traffic information of the target traffic participant, the roadside perception device can recover the first target corresponding to the target traffic participant in the roadside perception information according to the traffic information of the target traffic participant, thereby providing the roadside perception device with the traffic information of the target traffic participant in the blind area of the roadside perception device, and supplementing the perception information of the first target (i.e., the traffic information of the target traffic participant) in the roadside perception information, thereby improving the problem of target missing detection.

[0069] In an embodiment, the first target is recovered in the roadside perception information according to the traffic information of the target traffic participant, including:

[0070] The traffic information of the target traffic participant is added to the roadside perception information to recover the first target in the roadside perception information.

[0071] Wherein, the recovery of the first target in the roadside perception information can be understood as being able to detect the first target corresponding to the target traffic participant from the roadside perception information.

[0072] After the traffic information of the target traffic participant is added to the roadside perception information, the first target corresponding to the target traffic participant can be detected from the roadside perception information, thereby realizing the recovery of the first target in the roadside perception information.

[0073] The embodiments of the present application, when determining that the target traffic participant enters the blind area of the roadside perception device, can send an information acquisition instruction to the target traffic participant, instructing the target traffic participant to acquire its own traffic information. According to the traffic information of the target traffic participant, the roadside perception information can be corrected, thereby providing the roadside perception device with environmental information in the blind area of the roadside perception device.

[0074] Referring to Figure 3 is a flowchart of an implementation of the perception information correction method provided in Embodiment Two of the present application, which is applied to a roadside perception device. As shown in Figure 3 , the perception information correction method can include the following steps:

[0075] Step 301: Real-time acquisition of roadside perception information of the roadside perception device.

[0076] This step is the same as step 101, and specific reference can be made to the related description of step 101 above, which will not be repeated here.

[0077] Step 302: When it is determined that the target traffic participant enters the visual blind area of the roadside perception device, an information acquisition instruction is sent to the target traffic participant, the information acquisition instruction being used to instruct the target traffic participant to acquire its own traffic information and the traffic information of other traffic participants.

[0078] This step is partly the same as step 102, and specific reference can be made to the related description of step 102 above, which will not be repeated here.

[0079] In addition, when the target traffic participant receives the information acquisition instruction, it can acquire its own traffic information (i.e., the traffic information of the target traffic participant) and the traffic information of other traffic participants, and feed back the traffic information of the target traffic participant and the traffic information of other traffic participants to the roadside perception device.

[0080] For example, the traffic participant is a vehicle, and the target vehicle can perceive the traffic information of other vehicles through sensors such as laser radar, camera, millimeter wave radar, etc. in the vehicle terminal.

[0081] Step 303: Correction of the roadside perception information according to the traffic information of the target traffic participant and the traffic information of other traffic participants.

[0082] According to the traffic information of the target traffic participant, the target and the related information of the target that cannot be perceived in the visual blind area of the roadside perception device can be completed, and the problem of target missing detection can be improved; according to the traffic information of other traffic participants, the roadside perception information can be further corrected, and the problem of decision-making misjudgment can be improved.

[0083] In an embodiment, the correction of the roadside perception information according to the traffic information of other traffic participants includes:

[0084] Detection of whether a second target exists in the roadside perception information, the second target being a target corresponding to other traffic participants;

[0085] If the second target exists, traffic information of other traffic participants is fused with the perception information of the second target in the roadside perception information to obtain fused perception information.

[0086] If the second target does not exist, the traffic information of other traffic participants is added to the roadside perception information.

[0087] The presence or absence of the second target in the roadside perception information can be detected according to the traffic information of other traffic participants. Specifically, it includes: detecting whether there is information matching the traffic information of other traffic participants in the roadside perception information. If there is information matching the traffic information of other traffic participants, it is determined that the second target exists in the roadside perception information, and the target corresponding to the information matching the traffic information of other traffic participants is the second target. If there is no information matching the traffic information of other traffic participants, it is determined that the second target does not exist in the roadside perception information. Wherein, the matching with the traffic information of other traffic participants can be matching with all information in the traffic information of other traffic participants, or matching with part of the information in the traffic information of other traffic participants, which is not limited here.

[0088] When the second target exists in the roadside perception information, the roadside perception information obtained by the roadside perception device can be corrected by fusing the traffic information of other traffic participants corresponding to the second target with the perception information of the second target in the roadside perception information, to obtain more accurate and comprehensive roadside perception information. Wherein, confidence weighting, Kalman filtering and the like can be used for information fusion.

[0089] When the second target does not exist in the roadside perception information, the traffic information of other traffic participants corresponding to the second target can be added to the roadside perception information to provide the roadside perception device with traffic information of other traffic participants that cannot be perceived in the visual blind area.

[0090] The embodiment of the present application is based on the embodiment one, and by sending an information acquisition instruction to the target traffic participant, instructing the target traffic participant to further perceive the traffic information of other traffic participants, the roadside perception information can be further corrected according to the traffic information of other traffic participants, and more accurate and comprehensive roadside perception information can be provided for the roadside perception device.

[0091] Reference is made to Figure 4 FIG. 1 is a structural example diagram of a perception information correction device provided by an embodiment of the present application. For ease of illustration, only parts related to the embodiments of the present application are shown.

[0092] The above perception information correction device includes:

[0093] The information acquisition module 41 is configured to acquire roadside perception information of a roadside perception device in real time.

[0094] The instruction sending module 42 is configured to send an information acquisition instruction to the target traffic participant when it is determined that the target traffic participant enters a blind area of the road side perception device, and the information acquisition instruction is used to instruct the target traffic participant to acquire its own traffic information.

[0095] The information correction module 43 is configured to correct the road side perception information according to the traffic information of the target traffic participant.

[0096] Optionally, the perception information correction apparatus further includes:

[0097] The first processing module is configured to determine a first target from the road side perception information when it is detected that the target traffic participant is within the visual range of the road side perception device, and bind the target traffic participant with the first target, wherein the first target refers to a target corresponding to the target traffic participant.

[0098] The blind area determination module is configured to determine that the target traffic participant enters the blind area of the road side perception device when it is detected that the first target disappears from the road side perception information.

[0099] Optionally, the information correction module 43 is specifically configured to:

[0100] restore the first target in the road side perception information according to the traffic information of the target traffic participant.

[0101] Optionally, the information correction module 43 is specifically configured to:

[0102] add the traffic information of the target traffic participant to the road side perception information to restore the first target in the road side perception information.

[0103] Optionally, the information acquisition instruction is further used to instruct the target traffic participant to perceive traffic information of other traffic participants, and the information correction module 43 is further configured to:

[0104] correct the road side perception information according to the traffic information of the other traffic participants.

[0105] Optionally, the information correction module 43 is specifically configured to:

[0106] detect whether a second target exists in the road side perception information, wherein the second target refers to a target corresponding to the other traffic participants.

[0107] If the second target exists, traffic information of the other traffic participants is fused with perception information of the second target in the roadside perception information to obtain fused perception information.

[0108] If the second target does not exist, the traffic information of the other traffic participants is added to the roadside perception information.

[0109] The perception information correction device provided by the embodiments of the present application can be applied in the foregoing method embodiments one and two, and details are referred to the descriptions of the foregoing embodiments one and two, which will not be described herein again.

[0110] Referring to Figure 5 is an architecture example diagram of a roadside cooperative system provided by the fourth embodiment of the present application, only parts related to the embodiments of the present application are shown for the convenience of description.

[0111] The roadside cooperative system includes a roadside perception device 51 and a target traffic participant 52;

[0112] The roadside perception device 51 is configured to acquire roadside perception information in real time, and send an information acquisition instruction to the target traffic participant 52 when detecting that the target traffic participant 51 enters a visual blind area.

[0113] The target traffic participant 52 is configured to acquire traffic information of the target traffic participant 52 after receiving the information acquisition instruction, and send the traffic information of the target traffic participant 52 to the roadside perception device 51.

[0114] The roadside perception device 51 is configured to correct the roadside perception information according to the traffic information of the target traffic participant 52 after receiving the traffic information of the target traffic participant 52.

[0115] Optionally, the roadside perception device 51 is further configured to:

[0116] When detecting that the target traffic participant 52 is in a visual range, a first target is determined from the roadside perception information, and the target traffic participant 52 is bound to the first target, the first target being a target corresponding to the target traffic participant 52.

[0117] When detecting that the first target disappears from the roadside perception information, it is determined that the target traffic participant 52 enters the visual blind area.

[0118] Optionally, the roadside perception device 51 is specifically configured to:

[0119] According to the traffic information of the target traffic participant 52, the first target is restored in the roadside perception information.

[0120] Optionally, the roadside perception device 51 is specifically configured to:

[0121] add the traffic information of the target traffic participant 52 to the roadside perception information, and restore the first target in the roadside perception information.

[0122] Optionally, the target traffic participant 52 is further configured to:

[0123] after receiving the information acquisition instruction, perceive traffic information of other traffic participants, and send the traffic information of the other traffic participants to the roadside perception device 51;

[0124] The roadside perception device 51 is further configured to:

[0125] correct the roadside perception information according to the traffic information of the other traffic participants.

[0126] Optionally, the roadside perception device 51 is specifically configured to:

[0127] detect whether a second target exists in the roadside perception information, the second target being a target corresponding to the other traffic participants;

[0128] if the second target exists, fuse the traffic information of the other traffic participants with perception information of the second target in the roadside perception information to obtain fused perception information;

[0129] if the second target does not exist, add the traffic information of the other traffic participants to the roadside perception information.

[0130] The roadside cooperative system provided by the embodiments of the present application can be applied in the foregoing method embodiments one and two, and details are referred to the descriptions of the foregoing embodiments one and two, which will not be described here.

[0131] Figure 6 is a structural schematic diagram of the roadside perception device provided by the embodiment five. As shown in the figure, Figure 6 the roadside perception device 6 of this embodiment includes one or more processors 60 (only one is shown in the figure), a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60. The processor 60 implements the steps in the above-mentioned various method embodiments when executing the computer program 62. Among them, the processor 60 in the roadside perception device 6 can be an edge computing module, and the roadside perception device 6 further includes a roadside sensor and a roadside communication module.

[0132] Those skilled in the art can understand, Figure 6The example of the roadside perception device 6 does not constitute a limitation on the roadside perception device 6, and can include more or fewer components than shown, or combine certain components, or have different components, for example, the roadside perception device 6 can also include an input / output device, a network access device, a bus, etc.

[0133] The processor 60 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0134] The memory 61 can be an internal storage unit of the roadside perception device 6, for example, a hard disk or a memory of the roadside perception device 6. The memory 61 can also be an external storage device of the roadside perception device 6, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 61 can include both the internal storage unit and the external storage device of the roadside perception device 6. The memory 61 is used to store computer programs and other programs and data required by the roadside perception device. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the device can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0136] In the above embodiments, the description of each embodiment is focused on, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0137] Those skilled in the art can appreciate that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0138] In the embodiments provided in the present application, it should be understood that the disclosed device / roadside perception device and method can be implemented in other ways. For example, the device / roadside perception device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual units can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0139] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0140] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0141] The integrated modules / units, if implemented in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer readable storage medium, and when executed by a processor, can implement the steps of the above-mentioned various method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electric carrier signals and telecommunication signals.

[0142] The above-mentioned embodiment methods can also be completed by a computer program product, when the computer program product runs on the roadside perception device, so that the roadside perception device executes to implement the steps in the above-mentioned various method embodiments.

[0143] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A perception information correction method characterized by comprising: The sensing information correction method is applied to a roadside sensing device, and the sensing information correction method comprises: Real-time acquisition of roadside sensing information of the roadside sensing device; When it is determined that a target traffic participant enters a blind area of a field of view of the roadside sensing device, an information acquisition instruction is sent to the target traffic participant, and the information acquisition instruction is used to instruct the target traffic participant to acquire traffic information of the target traffic participant; According to the traffic information of the target traffic participant, the roadside sensing information is corrected; Before the target traffic participant enters the blind area of the field of view of the roadside sensing device, the sensing information correction method further comprises: When it is detected that the target traffic participant is within a field of view range of the roadside sensing device, a first target is determined from the roadside sensing information, and the target traffic participant is bound to the first target, and the first target refers to a target corresponding to the target traffic participant; When it is detected that the first target disappears from the roadside sensing information, it is determined that the target traffic participant enters the blind area of the field of view of the roadside sensing device.

2. The perception information correction method according to claim 1, characterized by, The roadside sensing information is corrected according to the traffic information of the target traffic participant, and the roadside sensing information is recovered in the roadside sensing information according to the traffic information of the target traffic participant. The roadside sensing information is recovered in the roadside sensing information according to the traffic information of the target traffic participant, and the traffic information of the target traffic participant is added to the roadside sensing information to recover the first target in the roadside sensing information.

3. The perception information correction method according to claim 2, characterized by, The information acquisition instruction is also used to instruct the target traffic participant to sense traffic information of other traffic participants; and the sensing information correction method further comprises: The roadside sensing information is corrected according to the traffic information of the other traffic participants.

4. The perception information correction method according to any one of claims 1 to 3, characterized by, The roadside sensing information is corrected according to the traffic information of the other traffic participants, and whether a second target exists in the roadside sensing information is detected, and the second target refers to a target corresponding to the other traffic participants; If the second target exists, the traffic information of the other traffic participants is fused with sensing information of the second target in the roadside sensing information to obtain fused sensing information; 5. The sensing information correction method according to claim 4, characterized by, If the second target does not exist, the traffic information of the other traffic participants is added to the roadside sensing information. The sensing information correction device is applied to a roadside sensing device, and the sensing information correction device comprises: An information acquisition module is configured to acquire roadside sensing information of the roadside sensing device in real time; An instruction sending module is configured to send an information acquisition instruction to a target traffic participant when it is determined that the target traffic participant enters a blind area of a field of view of the roadside sensing device, and the information acquisition instruction is used to instruct the target traffic participant to acquire traffic information of the target traffic participant; 6. A perception information correction device characterized by comprising: An information correction module is configured to correct the roadside sensing information according to the traffic information of the target traffic participant; The sensing information correction device further comprises: ​ ​ ​ The first processing module is configured to determine a first target from the roadside perception information when it is detected that the target traffic participant is within the visual range of the roadside perception device, and bind the target traffic participant with the first target, where the first target refers to a target corresponding to the target traffic participant. The blind area determination module is configured to determine that the target traffic participant enters a visual blind area of the roadside perception device when it is detected that the first target disappears from the roadside perception information.

7. A roadside coordination system, characterized by The roadside cooperative system comprises a roadside perception device and a target traffic participant. The roadside perception device is configured to acquire roadside perception information in real time, and send an information acquisition instruction to the target traffic participant when it is detected that the target traffic participant enters a visual blind area. The target traffic participant is configured to acquire its own traffic information after receiving the information acquisition instruction, and send the traffic information of the target traffic participant to the roadside perception device. The roadside perception device is configured to correct the roadside perception information according to the traffic information of the target traffic participant after receiving the traffic information of the target traffic participant. The roadside perception device is further configured to: determine a first target from the roadside perception information when it is detected that the target traffic participant is within the visual range of the roadside perception device, and bind the target traffic participant with the first target, where the first target refers to a target corresponding to the target traffic participant; determine that the target traffic participant enters a visual blind area of the roadside perception device when it is detected that the first target disappears from the roadside perception information.

8. A roadside perception 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 perception information correction method according to any one of claims 1 to 5 when executing the computer program.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program, when executed by the processor, implements the steps of the perception information correction method according to any one of claims 1 to 5.

Images