Binding method, device, computer equipment and medium for multiple roadside devices and traffic participating objects

Abstract

The present application is applicable to the field of data processing technology, and provides a method, device, computer equipment and medium for binding traffic participant objects, the method comprising: obtaining target feature information of a target traffic participant object that enters the service range of a target roadside device; performing feature matching on the target feature information with historical feature information acquired by a target base station to determine target historical feature information that matches the target feature information; binding the target traffic participant object to the target base station based on the target historical feature information to establish a binding relationship between the target base station and the target traffic participant object. The present application binds the target traffic participant object to the target base station through the target historical feature information, and can effectively establish a binding relationship between the target base station and the target traffic participant object. Based on the binding relationship between the target base station and the target traffic participant object, the accuracy of base station service information transmission is improved.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device, computer equipment and medium for binding multiple roadside devices and traffic participant objects. Background Art

[0002] In intelligent transportation, with the development of vehicle intelligence and road intelligence, the requirements for vehicle-road collaboration are getting higher and higher. Binding the traffic participant information of the same vehicle between different intelligent base stations on the road side is one of the difficulties in improving the reliability of traffic collaboration, and it is also one of the prerequisites for intelligent base stations to provide personalized services.

[0003] During the use of existing smart base stations, information of traffic participants within the corresponding detection range will be bound at the same time, and the base station service information will be sent to the traffic participants within the corresponding detection range based on the binding relationship. This will result in low accuracy in the sending of base station service information, and each traffic participant will receive a lot of useless information, reducing the user experience. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a method, device, computer equipment and medium for binding multiple road-side devices and traffic participants, so as to solve the problem of poor user experience caused by sending base station service information to traffic participants within the corresponding detection range at the same time in the prior art.

[0005] A first aspect of an embodiment of the present application provides a method for binding multiple road side devices and traffic participant objects, including:

[0006] Acquire target characteristic information of a target traffic participant object entering the service range of the target roadside equipment; the target characteristic information is characteristic information obtained based on the target traffic participant object; the characteristic information is used to describe the state and / or attribute of the corresponding traffic participant object;

[0007] Performing feature matching on the target feature information and the historical feature information acquired by the target base station to determine the target historical feature information that matches the target feature information, wherein the historical feature information is feature information acquired before the target traffic participant enters the service range, and the historical feature information includes historical feature information acquired through communication with other roadside devices;

[0008] According to the target historical feature information, the target traffic participant object is bound to the target base station to establish a binding relationship between the target base station and the target traffic participant object; the binding relationship is used to personalize the output of service information related to the target traffic participant object obtained by the target base station.

[0009] Furthermore, target characteristic information of the target traffic participant that enters the service range of the target roadside equipment is obtained, including:

[0010] Communicate with the target traffic participant object to obtain the target characteristic information, wherein the target characteristic information includes the object information and / or passing information obtained through the traffic participant object's own equipment, and the passing information is information obtained by passing through other roadside equipment before entering the service area. The other roadside equipment is a roadside equipment other than the target roadside equipment, and the passing information includes the identity and timestamp of the corresponding roadside equipment.

[0011] Furthermore, the passing information also includes detection information related to the target traffic participant object obtained by the target traffic participant object from the other roadside equipment.

[0012] Furthermore, the historical feature information includes the identity information and timestamp of the corresponding roadside equipment, and the target feature information includes the route information;

[0013] Correspondingly, the determining of the target historical feature information matching the target feature information includes:

[0014] If there are multiple pieces of historical feature information that match the target feature information, the target historical feature information is determined from the multiple pieces of historical feature information that match according to the identity information and timestamp of the roadside device in the matched historical feature information.

[0015] Furthermore, target characteristic information of the target traffic participant that enters the service range of the target roadside equipment is obtained, including:

[0016] After the target traffic participant enters the sensing range of the target roadside device, target feature information of the target traffic participant is obtained according to the sensing information of the target roadside device.

[0017] Furthermore, the object information includes mileage; the historical feature information also includes the mileage corresponding to the vehicle;

[0018] Correspondingly, the determining of the target historical feature information matching the target feature information includes:

[0019] If there are multiple historical feature information that match the target feature information, the target historical feature information is determined from the multiple matching historical feature information based on the mileage in the target feature information, the mileage in the historical feature information, and the positional relationship between the roadside equipment corresponding to the historical feature information and the target roadside equipment.

[0020] Furthermore, the method further comprises:

[0021] Predicting the next service area that the target traffic participant is about to enter based on the target feature information;

[0022] Based on the prediction result, the target feature information is transmitted to the roadside equipment corresponding to the next service area.

[0023] Furthermore, the roadside equipment includes a laser radar and a camera. Correspondingly, after the target traffic participant enters the perception range of the target roadside equipment, the target feature information of the target traffic participant is obtained according to the perception information of the target roadside equipment, including:

[0024] Acquire a point cloud of a laser radar and an image of a camera of the target roadside equipment at the same time;

[0025] Performing target detection on the point cloud to obtain a point cloud detection result;

[0026] Performing target detection on the image to obtain an image detection result;

[0027] Fusing the point cloud detection result and the image detection result to obtain the perception information of the target roadside equipment;

[0028] Target feature information of the target traffic participant is obtained according to the perception information.

[0029] Furthermore, the method further comprises:

[0030] Inputting the target feature information of the target traffic participant object into a feature extraction network to obtain a feature matrix of the target traffic participant object; the feature matrix includes color information and contour information;

[0031] Assigning a feature acquisition identifier to a feature matrix of a target traffic participant object to obtain roadside feature information of the target traffic participant object;

[0032] The roadside characteristic information is sent to the target traffic participant so that the target traffic participant obtains the broadcast characteristic information based on the roadside characteristic information; the broadcast characteristic information is used for the next roadside device to obtain the target characteristic information based on the broadcast characteristic, and the next roadside device is the roadside device corresponding to the next service area that the target traffic participant is about to enter.

[0033] Furthermore, the method further comprises:

[0034] The target within the perception range of the target roadside device is tracked according to the point cloud and image of the target roadside device to obtain the motion status information of the target traffic participant object and the surrounding traffic participant objects; the target feature information includes the motion status information; the surrounding traffic participant objects are the traffic participant objects around the target traffic participant object, and the motion status information includes the motion trajectory of the target object, the relative position of the surrounding traffic participant objects and the target traffic participant object, and the lane information of the target traffic participant object.

[0035] Furthermore, the method further comprises:

[0036] According to the motion state of the target traffic participant, predicting the next service area that the target traffic participant is about to enter, and obtaining at least one candidate service area;

[0037] Obtaining the passing information of the target traffic participant according to the roadside feature information of the target traffic participant;

[0038] The passing information of the target traffic participant is sent to the roadside equipment corresponding to the candidate service area.

[0039] Furthermore, the broadcast characteristic information also includes motion status information of the target traffic participant object and surrounding traffic participant objects.

[0040] Further, the feature acquisition identifier is a timestamp, and feature matching is performed on the target feature information with historical feature information acquired by the target base station, including:

[0041] Matching color information, contour information and timestamp between the target feature information and the historical feature information; if only one historical feature information is matched, determining the matched historical feature information as the target historical feature information;

[0042] If the color information, contour information and timestamp in the target feature information match multiple historical feature information, determine the previous roadside device of the target traffic participant according to the mileage information of the target traffic participant, and determine the target historical feature information from the multiple historical feature information according to the previous roadside device and the route information in the target feature information;

[0043] If there are multiple pieces of route information corresponding to the previous roadside device, the target historical feature information is determined from the multiple historical feature information according to the motion state information of the previous roadside device in the target feature information.

[0044] A second aspect of an embodiment of the present application provides a device for binding multiple roadside devices and traffic participant objects, including:

[0045] A target characteristic information acquisition unit, used to acquire target characteristic information of a target traffic participant object entering the service range of a target roadside device; the target characteristic information is characteristic information obtained based on the target traffic participant object; the characteristic information is used to describe the state and / or attribute of the corresponding traffic participant object;

[0046] a feature matching unit, configured to perform feature matching on the target feature information and the historical feature information acquired by the target base station to determine target historical feature information that matches the target feature information, wherein the historical feature information is feature information acquired before the target traffic participant enters the service range, and the historical feature information includes historical feature information acquired through communication with other roadside devices;

[0047] A binding unit is used to bind the target traffic participant object with the target base station according to the target historical feature information to establish a binding relationship between the target base station and the target traffic participant object; the binding relationship is used to personalize the output of service information related to the target traffic participant object obtained by the target base station.

[0048] A third aspect of an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the computer device, wherein when the processor executes the computer program, each step of the method for binding multiple road-side devices and traffic participant objects provided in the first aspect is implemented.

[0049] The fourth aspect of an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the method for binding multiple road-side devices and traffic participant objects provided in the first aspect.

[0050] The embodiments of the present application provide a method, device, computer equipment and medium for binding multiple roadside devices and traffic participants. The method matches target feature information with historical feature information acquired by a target base station to determine information in historical feature information acquired by other roadside devices that has similar features to the target feature information. The target traffic participant object is bound to the target base station through the target historical feature information, and a binding relationship between the target base station and the target traffic participant object is effectively established. Based on the binding relationship between the target base station and the target traffic participant object, the accuracy of base station service information transmission is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0052] Figure 1 It is a flowchart of a method for binding multiple road side devices and traffic participant objects provided in an embodiment of the present application;

[0053] Figure 2 is a flowchart of a method for binding multiple road side devices to traffic participant objects provided by another embodiment of the present application;

[0054] Figure 3 is a flowchart of a method for binding multiple road side devices to traffic participant objects provided by another embodiment of the present application;

[0055] Figure 4 is a flowchart of a method for binding multiple road side devices to traffic participant objects provided by another embodiment of the present application;

[0056] Figure 5 is a flowchart of a method for binding multiple road side devices to traffic participant objects provided by another embodiment of the present application;

[0057] Figure 6 is a flowchart of a method for binding multiple road side devices to traffic participant objects provided by another embodiment of the present application;

[0058] Figure 7 It is a structural block diagram of a device for binding multiple road side devices and traffic participant objects provided in an embodiment of the present application;

[0059] Figure 8 It is a structural block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] See also Figure 1 , Figure 1 A flowchart of a method for binding multiple road side devices and traffic participant objects provided by an embodiment of the present application is shown. The method for binding multiple road side devices and traffic participant objects is applied to any computer device. The method for binding multiple road side devices and traffic participant objects includes:

[0062] Step S10, obtaining target characteristic information of target traffic participants that enter the service range of the target roadside equipment;

[0063] Among them, a feature acquisition module is provided on the target roadside equipment, and the feature acquisition module can be set according to needs. For example, the target roadside equipment can be set as an acquisition device of a camera, a lidar or a millimeter-wave radar. The feature acquisition module is used to collect features of the target traffic participants within the corresponding service range of the target roadside equipment to obtain the target feature information.

[0064] In this step, the target feature information is feature information obtained based on the target traffic participant object, and the feature information is used to describe the state and / or attribute of the corresponding traffic participant object. Optionally, the feature information can be appearance parameters obtained by feature extraction of the captured image and / or appearance parameters, driving speed and position information (GPS module) obtained by the target traffic participant object itself from the driving system through the CAN interface, etc. The state of the traffic participant object can be change information such as speed, position, and heading, and the attribute of the traffic participant object can be attribute information that does not change much, such as color, size, and outline.

[0065] Optionally, in this step, target characteristic information of a target traffic participant that enters the service range of the target roadside equipment is obtained, including:

[0066] Communicating with the target traffic participant to obtain the target characteristic information;

[0067] Among them, the target feature information includes the object information and / or passing information obtained through the traffic participant's own equipment. The passing information is the information obtained by passing through other roadside equipment before entering the service area. Other roadside equipment is roadside equipment other than the target roadside equipment. The passing information includes the identity and timestamp of the corresponding roadside equipment. Furthermore, the passing information also includes detection information related to the target traffic participant obtained by the target traffic participant from other roadside equipment. In this embodiment, when the target traffic participant enters the service range of different roadside equipment, it will obtain detection information related to itself.

[0068] Step S20, feature matching the target feature information with historical feature information acquired by the target base station to determine target historical feature information that matches the target feature information;

[0069] Among them, the historical feature information is the feature information obtained before the target traffic participant enters the service range, and the historical feature information includes the historical feature information obtained by communicating with other roadside equipment. In this step, a similarity detection algorithm such as cosine calculation similarity or Euclidean distance formula can be used to perform feature matching between the target feature information and the historical feature information obtained by the target base station, and based on the feature similarity between the target feature information and the historical feature information obtained by the target base station, the target historical feature information that matches the target feature information is determined.

[0070] Step S30, binding the target traffic participant object with the target base station according to the target historical feature information, so as to establish a binding relationship between the target base station and the target traffic participant object;

[0071] Among them, the binding relationship is used to personalize the output of the service information related to the target traffic participant object obtained by the target base station. In this step, the service information related to the object can be sent to the output terminal of the target traffic participant object, or displayed in a differentiated manner on the roadside output device, so as to achieve the effect of personalized display of the service information related to the target traffic participant object, which facilitates the corresponding user of the target traffic participant object or the traffic participant object monitoring personnel to view the service information related to the target traffic participant object.

[0072] Optionally, in this embodiment, the method further includes:

[0073] Predicting a next service area that the target traffic participant is about to enter according to the target characteristic information, and transmitting the target characteristic information to a roadside device corresponding to the next service area based on the prediction result;

[0074] Among them, by predicting the next service area that the target traffic participant is about to enter, the accuracy of sending the target characteristic information is effectively improved, so that there is no need to transmit the target characteristic information to roadside equipment that is not related to the target traffic participant.

[0075] In this embodiment, by matching the target feature information with the historical feature information acquired by the target base station, information having similar features to the target feature information in the historical feature information acquired by other roadside equipment communications is determined. The target traffic participant object is bound to the target base station through the target historical feature information, and the binding relationship between the target base station and the target traffic participant object can be effectively established. Based on the binding relationship between the target base station and the target traffic participant object, the accuracy of base station service information transmission is improved.

[0076] See also Figure 2 , Figure 2This is a flowchart of a method for binding multiple roadside devices and traffic participants provided by another embodiment of the present application. Figure 1 Embodiment, the method for binding multiple road side devices and traffic participating objects provided in this embodiment is used for Figure 1 In the embodiment, step S30 is further refined, the historical feature information includes the identity information and timestamp of the corresponding roadside equipment, and the target feature information includes the route information, including:

[0077] Step S31, if there are multiple pieces of historical feature information that match the target feature information, determine the target historical feature information from the multiple pieces of historical feature information that match according to the identity information and timestamp of the roadside equipment in the matched historical feature information;

[0078] In this embodiment, if there are multiple historical feature information that match the target feature information, based on the identity information and timestamp in each historical feature information, the previous roadside device corresponding to the target traffic participant can be effectively determined, and based on the determined previous roadside device, the target historical feature information in the historical feature information can be determined, that is, the information sent by the previous roadside device to the target traffic participant is the target historical feature information.

[0079] See also Figure 3 , Figure 3 This is a flowchart of a method for binding multiple roadside devices and traffic participants provided by another embodiment of the present application. Figure 1 Embodiment, the method for binding multiple road side devices and traffic participating objects provided in this embodiment is used for Figure 1 In the embodiment, step S10 is further refined, and the method includes:

[0080] Step S11, after the target traffic participant enters the sensing range of the target roadside device, obtaining target feature information of the target traffic participant according to the sensing information of the target roadside device;

[0081] The perception information includes appearance parameters, driving speed, location information, heading change information, etc. In this step, the target feature information can be generated by vector transformation;

[0082] Optionally, the roadside equipment includes a laser radar and a camera. Correspondingly, after the target traffic participant enters the perception range of the target roadside equipment, the target feature information of the target traffic participant is obtained according to the perception information of the target roadside equipment, including:

[0083] Acquire a point cloud of a laser radar and an image of a camera of the target roadside equipment at the same time;

[0084] Performing target detection on the point cloud to obtain a point cloud detection result, and performing target detection on the image to obtain an image detection result; wherein, by performing target detection on the point cloud, point cloud features of all traffic objects within the corresponding service range of the target roadside equipment are extracted;

[0085] The point cloud detection result and the image detection result are fused to obtain the perception information of the target roadside equipment, and the target feature information of the target traffic participant is obtained according to the perception information;

[0086] Among them, the point cloud detection results and the image detection results are fused to obtain perception information carrying two feature information, and the point cloud features of the target traffic participant object are feature matched with the perception information to obtain the target feature information of the target traffic participant object.

[0087] Furthermore, in this embodiment, the historical feature information also includes the mileage corresponding to the vehicle;

[0088] Correspondingly, the determining of the target historical feature information matching the target feature information includes:

[0089] If there are multiple historical feature information that match the target feature information, the target historical feature information is determined from the multiple matching historical feature information based on the mileage in the target feature information, the mileage in the historical feature information, and the positional relationship between the roadside equipment corresponding to the historical feature information and the target roadside equipment.

[0090] In this embodiment, if there are multiple historical feature information that match the target feature information, the previous roadside equipment can be effectively determined based on the mileage in the target feature information, the mileage in the historical feature information, and the positional relationship between the roadside equipment corresponding to the historical feature information and the target roadside equipment, and the target historical feature information in the historical feature information can be determined based on the determined previous roadside equipment.

[0091] See also Figure 4 , Figure 4 This is a flowchart of a method for binding multiple roadside devices and traffic participants provided by another embodiment of the present application. Figure 4 Embodiment, the method for binding multiple road side devices and traffic participating objects provided in this embodiment is used for Figure 4 The steps in the embodiment are further refined, and the method includes:

[0092] Step S40, inputting the target feature information of the target traffic participant into a feature extraction network to obtain a feature matrix of the target traffic participant;

[0093] Among them, the feature matrix includes color information and contour information;

[0094] Step S50, assigning a feature acquisition identifier to the feature matrix of the target traffic participant object to obtain the roadside feature information of the target traffic participant object;

[0095] Among them, by assigning features to the feature matrix of the target traffic participant object to obtain an identification, the effect of identifying and marking the feature matrix of the target traffic participant object is achieved, which facilitates the subsequent identification of the target traffic participant object.

[0096] Step S60, sending the roadside characteristic information to the target traffic participant, so that the target traffic participant obtains broadcast characteristic information based on the roadside characteristic information;

[0097] Among them, the broadcast characteristic information is used for the next roadside device to obtain the target characteristic information based on the broadcast characteristics. The next roadside device is the roadside device corresponding to the next service area that the target traffic participant is about to enter.

[0098] In this embodiment, the target feature information of the target traffic participant is input into the feature extraction network to obtain a feature matrix that characterizes the target traffic participant, and the feature matrix of the target traffic participant is assigned features to obtain an identifier, so as to achieve the effect of identifying and marking the feature matrix of the target traffic participant, thereby facilitating the subsequent identification of the target traffic participant, and sending the roadside feature information to the target traffic participant, so that the target traffic participant obtains the broadcast feature information based on the roadside feature information.

[0099] See also Figure 5 , Figure 5 This is a flowchart of a method for binding multiple roadside devices and traffic participants provided by another embodiment of the present application. Figure 4 Embodiment, the method for binding multiple road side devices and traffic participating objects provided in this embodiment is used for Figure 4 The steps in the embodiment are further refined, and the method includes:

[0100] Step S70, tracking the target within the sensing range of the target roadside device according to the point cloud and image of the target roadside device, and obtaining the motion state information of the target traffic participant and surrounding traffic participants;

[0101] The target feature information includes motion state information; the surrounding traffic participants are traffic participants around the target traffic participant, and the motion state information includes the motion trajectory of the target object, the relative position between the surrounding traffic participants and the target traffic participant, and the lane information of the target traffic participant;

[0102] Step S80, predicting the next service area that the target traffic participant is about to enter according to the motion state of the target traffic participant, and obtaining at least one candidate service area;

[0103] Among them, based on the motion trajectory of the target traffic participant, the relative positions of the surrounding traffic participants and the target traffic participant, and the lane information of the target traffic participant, the next service area that the target traffic participant is about to enter can be effectively predicted.

[0104] Step S90, obtaining the passing information of the target traffic participant according to the roadside feature information of the target traffic participant, and sending the passing information of the target traffic participant to the roadside equipment corresponding to the candidate service area;

[0105] Among them, the target traffic participant's route information is obtained through the roadside feature information of the target traffic participant, and the target traffic participant's route information is sent to the roadside equipment corresponding to the candidate service area, thereby ensuring the information binding between the roadside equipment corresponding to the subsequent candidate service area and the target traffic participant.

[0106] See also Figure 6 , Figure 6 This is a flowchart of a method for binding multiple roadside devices and traffic participants provided by another embodiment of the present application. Figure 1 Embodiment, the method for binding multiple road side devices and traffic participating objects provided in this embodiment is used for Figure 1 In the embodiment, step S20 is further refined, and the method includes:

[0107] Step S21, matching color information, contour information and timestamp between the target feature information and the historical feature information;

[0108] The feature information in the historical feature information that matches the target feature information is determined by matching the color information, the outline information and the timestamp between the target feature information and the historical feature information.

[0109] Step S22: if only one piece of historical feature information is matched, the matched historical feature information is determined as the target historical feature information;

[0110] Step S23, if the color information, contour information and timestamp in the target feature information match multiple historical feature information, determine the previous roadside device of the target traffic participant according to the mileage information of the target traffic participant, and determine the target historical feature information from the multiple historical feature information according to the previous roadside device and the route information in the target feature information;

[0111] Optionally, in this step, determining the previous roadside equipment of the target traffic participant according to the mileage information of the target traffic participant includes:

[0112] Determine the target time period according to the current time and the timestamp in the target feature information;

[0113] According to the mileage information of the target traffic participant, the mileage and heading information of the target traffic participant in the target time period are determined, and the previous base station of the target traffic participant is determined according to the mileage and heading information.

[0114] Step S24, if there are multiple pieces of route information corresponding to the previous roadside device, determine the target historical feature information from the multiple pieces of historical feature information according to the motion state information of the previous roadside device in the target feature information;

[0115] In this embodiment, color information, contour information and timestamp are matched between the target feature information and the historical feature information to determine the feature information in the historical feature information that matches the target feature information. If the color information, contour information and timestamp in the target feature information match multiple historical feature information, the previous roadside equipment of the target traffic participant can be effectively determined through the mileage information of the target traffic participant. Based on the determined previous roadside equipment and the route information in the target feature information, the target historical feature information can be effectively determined from multiple historical feature information.

[0116] See also Figure 7 , Figure 7 1 is a structural block diagram of a device 100 for binding multiple roadside devices and traffic participants provided in an embodiment of the present application. In this embodiment, the device 100 for binding multiple roadside devices and traffic participants includes various units for executing Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 4 , Figure 5 , Figure 6 For details, please refer to the steps in the corresponding embodiment. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 4 , Figure 5 , Figure 6 as well as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 4 , Figure 5 , Figure 6For the convenience of explanation, only the parts related to this embodiment are shown. Figure 7 The device 100 for binding multiple roadside devices and traffic participating objects includes: a target feature information acquisition unit 10, a feature matching unit 11 and a binding unit 12, wherein:

[0117] The target feature information acquisition unit 10 is used to acquire the target feature information of the target traffic participant object that enters the service range of the target roadside equipment; the target feature information is feature information obtained based on the target traffic participant object; the feature information is used to describe the state and / or attributes of the corresponding traffic participant object.

[0118] Among them, the target feature information acquisition unit 10 is also used to: communicate with the target traffic participant object to obtain the target feature information, wherein the target feature information includes the object information and / or passing information obtained through the traffic participant object's own equipment, and the passing information is information obtained by passing through other roadside equipment before entering the service area. The other roadside equipment is a roadside equipment other than the target roadside equipment, and the passing information includes the identity and timestamp of the corresponding roadside equipment.

[0119] Furthermore, the passing information also includes detection information related to the target traffic participant object obtained by the target traffic participant object from the other roadside equipment.

[0120] Optionally, the target feature information acquisition unit 10 is further used to obtain target feature information of the target traffic participant according to the perception information of the target roadside device after the target traffic participant enters the perception range of the target roadside device.

[0121] The feature matching unit 11 is used to perform feature matching on the target feature information with the historical feature information acquired by the target base station to determine the target historical feature information that matches the target feature information, wherein the historical feature information is feature information acquired before the target traffic participant enters the service range, and the historical feature information includes historical feature information acquired through communication with other roadside equipment.

[0122] The historical feature information includes the identity information and timestamp of the corresponding roadside equipment, and the target feature information includes the route information;

[0123] Correspondingly, the determining of the target historical feature information matching the target feature information includes:

[0124] If there are multiple pieces of historical feature information that match the target feature information, the target historical feature information is determined from the multiple pieces of historical feature information that match according to the identity information and timestamp of the roadside device in the matched historical feature information.

[0125] Furthermore, the object information includes mileage; the historical feature information also includes the mileage corresponding to the vehicle;

[0126] Correspondingly, the determining of the target historical feature information matching the target feature information includes:

[0127] If there are multiple historical feature information that match the target feature information, the target historical feature information is determined from the multiple matching historical feature information based on the mileage in the target feature information, the mileage in the historical feature information, and the positional relationship between the roadside equipment corresponding to the historical feature information and the target roadside equipment.

[0128] The binding unit 12 is used to bind the target traffic participant object with the target base station according to the target historical feature information to establish a binding relationship between the target base station and the target traffic participant object; the binding relationship is used to personalize the output of the service information related to the target traffic participant object obtained by the target base station.

[0129] Furthermore, in this embodiment, it also includes:

[0130] A prediction unit 13, configured to predict the next service area that the target traffic participant is about to enter according to the target feature information;

[0131] Based on the prediction result, the target feature information is transmitted to the roadside equipment corresponding to the next service area.

[0132] Furthermore, in this embodiment, the roadside equipment includes a laser radar and a camera. Correspondingly, after the target traffic participant enters the sensing range of the target roadside equipment, the target feature information of the target traffic participant is obtained according to the sensing information of the target roadside equipment, including:

[0133] Acquire a point cloud of a laser radar and an image of a camera of the target roadside equipment at the same time;

[0134] Performing target detection on the point cloud to obtain a point cloud detection result;

[0135] Performing target detection on the image to obtain an image detection result;

[0136] Fusing the point cloud detection result and the image detection result to obtain the perception information of the target roadside equipment;

[0137] Target feature information of the target traffic participant is obtained according to the perception information.

[0138] Preferably, in this embodiment, it also includes:

[0139] The feature broadcasting unit 14 is used to input the target feature information of the target traffic participant object into a feature extraction network to obtain a feature matrix of the target traffic participant object; the feature matrix includes color information and contour information;

[0140] Assigning a feature acquisition identifier to a feature matrix of a target traffic participant object to obtain roadside feature information of the target traffic participant object;

[0141] The roadside characteristic information is sent to the target traffic participant so that the target traffic participant obtains the broadcast characteristic information based on the roadside characteristic information; the broadcast characteristic information is used for the next roadside device to obtain the target characteristic information based on the broadcast characteristic, and the next roadside device is the roadside device corresponding to the next service area that the target traffic participant is about to enter.

[0142] Among them, the feature broadcast unit 14 is also used to: track the target within the perception range of the target roadside device according to the point cloud and image of the target roadside device, and obtain the motion status information of the target traffic participant object and the surrounding traffic participant objects; the target feature information includes the motion status information; the surrounding traffic participant objects are the traffic participant objects around the target traffic participant object, and the motion status information includes the motion trajectory of the target object, the relative position of the surrounding traffic participant objects and the target traffic participant object, and the lane information of the target traffic participant object.

[0143] Furthermore, the feature broadcast unit 14 is also used to: predict the next service area that the target traffic participant is about to enter according to the motion state of the target traffic participant, and obtain at least one candidate service area;

[0144] Obtaining the passing information of the target traffic participant according to the roadside feature information of the target traffic participant;

[0145] The passing information of the target traffic participant is sent to the roadside equipment corresponding to the candidate service area.

[0146] Furthermore, the broadcast characteristic information also includes movement status information of the target traffic participant and surrounding traffic participants.

[0147] Preferably, the feature broadcast unit 14 is further used to: match color information, contour information and timestamp between the target feature information and the historical feature information; if only one historical feature information is matched, determine the matched historical feature information as the target historical feature information;

[0148] If the color information, contour information and timestamp in the target feature information match multiple historical feature information, determine the previous roadside device of the target traffic participant according to the mileage information of the target traffic participant, and determine the target historical feature information from the multiple historical feature information according to the previous roadside device and the route information in the target feature information;

[0149] If there are multiple pieces of route information corresponding to the previous roadside device, the target historical feature information is determined from the multiple historical feature information according to the motion state information of the previous roadside device in the target feature information.

[0150] In this embodiment, by matching the target feature information with the historical feature information acquired by the target base station, information having similar features to the target feature information in the historical feature information acquired by other roadside equipment communications is determined. The target traffic participant object is bound to the target base station through the target historical feature information, and the binding relationship between the target base station and the target traffic participant object can be effectively established. Based on the binding relationship between the target base station and the target traffic participant object, the accuracy of base station service information transmission is improved.

[0151] Figure 8 2 is a structural block diagram of a computer device 2 provided in another embodiment of the present application. Figure 8 As shown, the computer device 2 of this embodiment includes: a processor 20, a memory 21, and a computer program 22 stored in the memory 21 and executable on the processor 20, such as a program for a method for binding multiple roadside devices to traffic participating objects. When the processor 20 executes the computer program 22, the steps in each embodiment of the method for binding multiple roadside devices to traffic participating objects are implemented.

[0152] Exemplarily, the computer program 22 may be divided into one or more units, which are stored in the memory 21 and executed by the processor 20 to complete the present application. The one or more units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 22 in the computer device 2.

[0153] The computer device may include, but is not limited to, a processor 20 and a memory 21. Those skilled in the art will appreciate that Figure 8It is only an example of the computer device 2 and does not constitute a limitation of the computer device 2. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device may also include input and output devices, network access devices, buses, etc.

[0154] The processor 20 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0155] The memory 21 may be an internal storage unit of the computer device 2, such as a hard disk or memory of the computer device 2. The memory 21 may also be an external storage device of the computer device 2, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 2. Further, the memory 21 may also include both an internal storage unit of the computer device 2 and an external storage device. The memory 21 is used to store the computer program and other programs and data required by the computer device. The memory 21 may also be used to temporarily store data that has been output or is to be output.

[0156] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0157] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium can be non-volatile or volatile. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in computer-readable storage media can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable storage media do not include electrical carrier signals and telecommunication signals.

[0158] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for binding multiple roadside devices and traffic participating objects, characterized in that: include: Acquire target characteristic information of target traffic participants that enter the service range of the target roadside equipment; The target characteristic information is characteristic information obtained based on the target traffic participant object; The characteristic information is used to describe the state and / or attributes of the corresponding traffic participant object; Performing feature matching on the target feature information and the historical feature information acquired by the target base station to determine the target historical feature information that matches the target feature information, wherein the historical feature information is feature information acquired before the target traffic participant enters the service range, and the historical feature information includes historical feature information acquired through communication with other roadside devices; According to the target historical feature information, the target traffic participant object is bound to the target base station to establish a binding relationship between the target base station and the target traffic participant object; the binding relationship is used to personalize the service information related to the target traffic participant object obtained by the target base station; wherein, obtaining the target feature information of the target traffic participant object entering the service range of the target roadside equipment includes: Communicate with the target traffic participant object to obtain the target feature information, wherein the target feature information includes the object information and / or path information obtained through the traffic participant object's own equipment, the path information is information obtained through other roadside equipment before entering the service area, the other roadside equipment is a roadside equipment other than the target roadside equipment, and the path information includes the identity and timestamp of the corresponding roadside equipment; The target characteristic information of the target traffic participant that enters the service range of the target roadside equipment is obtained, including: After the target traffic participant enters the sensing range of the target roadside device, obtaining target feature information of the target traffic participant according to the sensing information of the target roadside device; Wherein, the roadside equipment includes a laser radar and a camera. Correspondingly, after the target traffic participant enters the perception range of the target roadside equipment, the target feature information of the target traffic participant is obtained according to the perception information of the target roadside equipment, including: Acquire a point cloud of a laser radar and an image of a camera of the target roadside equipment at the same time; Performing target detection on the point cloud to obtain a point cloud detection result; Performing target detection on the image to obtain an image detection result; Fusing the point cloud detection result and the image detection result to obtain the perception information of the target roadside equipment; Obtaining target feature information of the target traffic participant according to the perception information; The method further includes: inputting the target feature information of the target traffic participant into a feature extraction network to obtain a feature matrix of the target traffic participant; the feature matrix includes color information and contour information; assigning a feature acquisition identifier to the feature matrix of the target traffic participant to obtain roadside feature information of the target traffic participant; sending the roadside feature information to the target traffic participant so that the target traffic participant obtains broadcast feature information based on the roadside feature information; the broadcast feature information is used by a next roadside device to obtain the target feature information based on the broadcast feature, and the next roadside device is a roadside device corresponding to the next service area that the target traffic participant is about to enter; The method also includes: tracking the target within the perception range of the target roadside device according to the point cloud and image of the target roadside device to obtain the motion state information of the target traffic participant object and surrounding traffic participant objects; the target feature information includes the motion state information; the surrounding traffic participant objects are the traffic participant objects around the target traffic participant object, and the motion state information includes the motion trajectory of the target object, the relative position of the surrounding traffic participant objects and the target traffic participant object, and the lane information of the target traffic participant object.

2. The method according to claim 1, characterized in that The passing information also includes detection information related to the target traffic participant object obtained by the target traffic participant object from the other roadside equipment.

3. The method according to claim 1, characterized in that The historical feature information includes the identity information and timestamp of the corresponding roadside equipment, and the target feature information includes the route information; Correspondingly, the determining of the target historical feature information matching the target feature information includes: If there are multiple pieces of historical feature information that match the target feature information, the target historical feature information is determined from the multiple pieces of historical feature information that match according to the identity information and timestamp of the roadside device in the matched historical feature information.

4. The method according to claim 1, characterized in that: The object information includes mileage; the historical feature information also includes the mileage corresponding to the vehicle; Correspondingly, the determining of the target historical feature information matching the target feature information includes: If there are multiple historical feature information that match the target feature information, the target historical feature information is determined from the multiple matching historical feature information based on the mileage in the target feature information, the mileage in the historical feature information, and the positional relationship between the roadside equipment corresponding to the historical feature information and the target roadside equipment.

5. The method according to claim 1, characterized in that The method further comprises: Predicting the next service area that the target traffic participant is about to enter based on the target feature information; Based on the prediction result, the target feature information is transmitted to the roadside equipment corresponding to the next service area.

6. The method according to claim 1, characterized in that The method further comprises: According to the motion state of the target traffic participant, predicting the next service area that the target traffic participant is about to enter, and obtaining at least one candidate service area; Obtaining the passing information of the target traffic participant according to the roadside feature information of the target traffic participant; The passing information of the target traffic participant is sent to the roadside equipment corresponding to the candidate service area.

7. The method according to claim 1, characterized in that The broadcast characteristic information also includes movement status information of the target traffic participant and surrounding traffic participants.

8. The method according to claim 7, characterized in that The feature acquisition identifier is a timestamp, and feature matching is performed on the target feature information with historical feature information acquired by the target base station, including: Matching color information, contour information and timestamp between the target feature information and the historical feature information; if only one historical feature information is matched, determining the matched historical feature information as the target historical feature information; If the color information, contour information and timestamp in the target feature information match multiple historical feature information, determine the previous roadside device of the target traffic participant according to the mileage information of the target traffic participant, and determine the target historical feature information from the multiple historical feature information according to the previous roadside device and the route information in the target feature information; If there are multiple pieces of route information corresponding to the previous roadside device, the target historical feature information is determined from the multiple historical feature information according to the motion state information of the previous roadside device in the target feature information.

9. A device for binding multiple roadside devices and traffic participating objects, characterized in that: include: A target feature information acquisition unit, used to acquire target feature information of a target traffic participant that enters a service range of a target roadside device; The target characteristic information is characteristic information obtained based on the target traffic participant object; The characteristic information is used to describe the state and / or attributes of the corresponding traffic participant object; a feature matching unit, configured to perform feature matching on the target feature information and the historical feature information acquired by the target base station to determine target historical feature information that matches the target feature information, wherein the historical feature information is feature information acquired before the target traffic participant enters the service range, and the historical feature information includes historical feature information acquired through communication with other roadside devices; A binding unit is used to bind the target traffic participant object with the target base station according to the target historical feature information, so as to establish a binding relationship between the target base station and the target traffic participant object; the binding relationship is used to personalize the service information related to the target traffic participant object obtained by the target base station; wherein, obtaining the target feature information of the target traffic participant object entering the service range of the target roadside equipment includes: After the target traffic participant enters the sensing range of the target roadside device, obtaining target feature information of the target traffic participant according to the sensing information of the target roadside device; Wherein, the roadside equipment includes a laser radar and a camera, and correspondingly, the target feature information acquisition unit is used to acquire the point cloud of the laser radar of the target roadside equipment and the image of the camera at the same time; perform target detection on the point cloud to obtain a point cloud detection result; perform target detection on the image to obtain an image detection result; fuse the point cloud detection result and the image detection result to obtain the perception information of the target roadside equipment; obtain the target feature information of the target traffic participant according to the perception information; The device also includes a feature broadcast unit, which is used to: input the target feature information of the target traffic participant into a feature extraction network to obtain a feature matrix of the target traffic participant; the feature matrix includes color information and contour information; assign a feature acquisition identifier to the feature matrix of the target traffic participant to obtain roadside feature information of the target traffic participant; send the roadside feature information to the target traffic participant so that the target traffic participant obtains broadcast feature information based on the roadside feature information; the broadcast feature information is used for the next roadside device to obtain the target feature information based on the broadcast feature, and the next roadside device is the roadside device corresponding to the next service area that the target traffic participant is about to enter; The feature broadcast unit is also used to track the target within the perception range of the target roadside device according to the point cloud and image of the target roadside device to obtain the motion status information of the target traffic participant object and the surrounding traffic participant objects; the target feature information includes the motion status information; the surrounding traffic participant objects are the traffic participant objects around the target traffic participant object, and the motion status information includes the motion trajectory of the target object, the relative position of the surrounding traffic participant objects and the target traffic participant object, and the lane information of the target traffic participant object.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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