Roadside sensing and computing device oriented to vehicle-road cloud integration and vehicle-road cloud integration system

Abstract

The invention relates to the technical field of intelligent traffic systems, and discloses a roadside sensing computing device oriented to vehicle and road cloud integration and a vehicle and road cloud integration system. The roadside sensing and calculating device comprises a bearing structure formed by a base and an upper cover, and the bearing structure is provided with at least three kinds of sensing sensors including a camera unit, a laser radar unit and a millimeter wave radar unit and a calculating unit in an integrated mode. And the calculation unit is used for fusing and analyzing data from the camera unit, data from the millimeter wave radar unit and data from the laser radar unit. Through the integration of the sensing sensors and the calculation unit, the installation stability and the determinacy of the relative positions among various sensing sensors are effectively ensured, the field installation and the joint calibration are facilitated, the overall data transmission speed is higher, and the construction time and the construction cost are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation systems, and in particular to a roadside perception computing device and a vehicle-road-cloud integration system for vehicle-road-cloud integration. Background Art

[0002] The vehicle-road-cloud integrated system integrates the physical space and information space of people, vehicles, roads and clouds through the new generation of information and communication technologies. Based on system collaborative perception, decision-making and control, it realizes the safe, energy-saving, comfortable and efficient operation of the intelligent networked vehicle traffic system. It uses advanced technologies such as sensors, big data, artificial intelligence and communication networks to collect and analyze real-time data from vehicles, road infrastructure and the cloud to optimize traffic management, enhance road safety and improve traffic efficiency.

[0003] The vehicle-road-cloud integrated roadside perception system is deployed on both sides of the road. It detects vehicles, non-motor vehicles, pedestrians and other objects in the coverage area through perception sensors such as cameras, millimeter-wave radars, and lidars. It performs deep fusion and analysis through computing units to accurately identify the traffic status of traffic participants on the road and the road traffic environment, and effectively assists autonomous driving vehicles in driving safely. The roadside perception system can combine the vehicle status and other traffic facility information collected by the RSU (Road Side Unit) equipment, as well as the cloud information obtained through the Internet, to achieve vehicle-roadside-cloud collaborative perception and improve detection and recognition accuracy. At present, the perception sensors and computing units of the roadside perception system are split, which makes installation very troublesome, and the joint calibration between sensors is also complicated, which is time-consuming and labor-intensive in engineering implementation.

[0004] With the continuous development of vehicle-road-cloud integration, intelligent roadside infrastructure faces challenges such as high integration, strong scenario applicability, and convenient installation and debugging. Summary of the invention

[0005] The purpose of the present invention is to provide a roadside perception computing device and a vehicle-road-cloud integration system for vehicle-road-cloud integration, so that the roadside perception computing device has a high degree of integration, the joint calibration between perception sensors is simple, and the installation and implementation are convenient.

[0006] In order to solve the above technical problems, the embodiments of the present invention provide a technical solution as follows:

[0007] A roadside perception and computing device for vehicle-road-cloud integration includes a bearing structure formed by a base and an upper cover covering an open end of the base, the bearing structure is provided with a perception sensor module and a computing module communicatively connected to the perception sensor module, the perception sensor module includes at least three perception sensors, namely a camera unit, a laser radar unit and a millimeter-wave radar unit, the computing module includes a computing unit, the computing unit is connected to the camera unit, the millimeter-wave radar unit and the laser radar unit, and the computing unit is used to fuse and analyze data from the camera unit, the millimeter-wave radar unit and the laser radar unit.

[0008] Furthermore, the computing unit includes at least one processor and a memory, wherein the processor is used to execute algorithms for data fusion and analysis, and the memory is used to store algorithms and data.

[0009] Furthermore, the algorithm includes but is not limited to recognition algorithms for vehicles, non-motor vehicles, pedestrians and other objects, as well as traffic environment analysis and safety auxiliary decision-making algorithms based on the recognition results.

[0010] Furthermore, the camera unit and the millimeter-wave radar unit are fixedly arranged between the base and the upper cover, and the laser radar unit is fixedly arranged on a side of the upper cover away from the base.

[0011] Furthermore, the camera unit and the millimeter-wave radar unit are fixed inside the base by fasteners.

[0012] Furthermore, the base is provided with a first window corresponding to the camera unit, and the first window is made of a high-transparency material provided with an anti-reflection coating.

[0013] Furthermore, the base is provided with a second window corresponding to the millimeter wave radar unit, and the second window is made of a material with high transmittance and low dielectricity.

[0014] Furthermore, a sealing strip is provided between the upper cover and the base, and the computing unit, the camera unit, and the millimeter-wave radar unit are sealed between the base and the upper cover.

[0015] Furthermore, the base is provided with a docking plug, and the docking plug is used to connect to an external device or system.

[0016] In order to solve the above technical problems, the present invention also proposes a vehicle-road-cloud integrated system, including a roadside perception and computing device as described in any of the above items, and a vehicle OBU, RSU and cloud control platform connected thereto. The system can realize the efficient operation of the intelligent connected vehicle traffic system based on the collaborative perception, decision-making and control of each component.

[0017] Compared with the prior art, the roadside perception computing device and vehicle-road-cloud integration system provided by the present invention effectively ensures the stability of installation and the certainty of relative positions between various perception sensors through the integrated setting of perception sensor modules and computing modules, facilitates on-site installation and joint calibration, and has a faster overall data transmission speed, saving construction time and cost. The three perception sensors of the laser radar unit, camera unit and millimeter wave radar unit can complement each other and maximize the performance of the perception sensor module, which is suitable for a variety of scenarios and increases the comprehensive performance of the roadside perception computing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0019] Figure 1 This is a structural block diagram of a vehicle-road-cloud integrated system in one embodiment of the present invention;

[0020] Figure 2 is a schematic diagram of the decomposition structure of a roadside perception computing device in one embodiment of the present invention;

[0021] Figure 3 It is a front schematic diagram of a roadside perception computing device in one embodiment of the present invention.

[0022] Explanation of the accompanying drawings: 10. Roadside perception and computing device; 11. Perception sensor module; 12. Computing module; 1. LiDAR unit; 2. Upper cover; 3. Computing unit; 4. Camera unit; 41. First window; 5. Millimeter-wave radar unit; 51. Second window; 6. Base; 7. Docking plug; 20. Cloud control platform; 30. RSU; 40. OBU. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present invention clearer, the following will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present invention, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed for protection in the claims of the present application can be implemented.

[0024] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0025] like Figure 1 As shown, one embodiment of the present invention relates to a vehicle-road-cloud integrated system, including a roadside perception computing device 10, and a vehicle OBU40, a roadside unit RSU30 and a cloud control platform 20 connected thereto. The system can realize the efficient operation of an intelligent networked vehicle traffic system based on the collaborative perception, decision-making and control of each component. The roadside perception computing device 10 is an integrated setting of multiple perception sensors and a computing unit 3. The perception sensors at least include a camera unit 4, a laser radar unit 1, and a millimeter wave radar unit 5. Various perception sensors are respectively connected to the computing unit 3 for communication. The computing unit 3 can perform fusion analysis on the data of multiple perception sensors and output them to the cloud control platform 20 and the roadside unit RSU30. The roadside unit RSU30 can exchange data with the vehicle OBU40. Through the mutual coordination and control of the roadside perception computing device 10, the cloud control platform 20, the RSU30 and the vehicle OBU40, the processing of various traffic data is realized, and the efficient operation of the intelligent networked vehicle traffic system is realized.

[0026] like Figure 2-3As shown, one embodiment of the present invention relates to a roadside perception computing device 10 for vehicle-road-cloud integration, the roadside perception computing device 10 includes a bearing structure formed by a base 6 and an upper cover 2 covering the open end of the base 6, the bearing structure is provided with a perception sensor module 11 and a computing module 12 communicatively connected to the perception sensor module 11, the perception sensor module 11 includes at least three perception sensors, namely, a camera unit 4, a laser radar unit 1 and a millimeter wave radar unit 5, the computing module 12 includes a computing unit 3, the computing unit 3 is connected to the camera unit 4, the millimeter wave radar unit 5 and the laser radar unit 1, the computing unit 3 is used to fuse and analyze the data from the camera unit 4, the millimeter wave radar unit 5 and the laser radar unit 1. Preferably, the camera unit 4, the millimeter wave radar unit 5 and the laser radar unit 1 are connected to the computing unit 3 through their own independent signal transmission lines to achieve high-speed and stable data transmission. By integrating the perception sensor module 11 and the computing module 12 together, the installation stability and relative position certainty between various perception sensors are effectively guaranteed, making the joint calibration between various perception sensors more convenient and the installation implementation more convenient; due to the integrated setting of the computing unit 3 and the perception sensor, the overall data transmission delay is smaller and the transmission stability is higher.

[0027] In one embodiment, it relates to a roadside perception computing device 10 for vehicle-road-cloud integration, wherein the computing unit 3 includes at least one processor and a memory, the processor is used to execute the algorithm for data fusion and analysis of the computing unit 3 and the camera unit 4, the millimeter wave radar unit 5, and the laser radar unit 1, and the memory is used to store the algorithm and data. The algorithm includes but is not limited to the recognition algorithm for vehicles, non-motor vehicles, pedestrians and other objects, and the traffic environment analysis and safety auxiliary decision-making algorithm based on the recognition results.

[0028] In one embodiment, it relates to a roadside perception computing device 10 for vehicle-road-cloud integration, wherein the camera unit 4 and the millimeter-wave radar unit 5 are fixedly arranged between the base 6 and the upper cover 2, and the laser radar unit 1 is fixedly arranged on the side of the upper cover 2 away from the base 6. Preferably, the camera unit 4 and the millimeter-wave radar unit 5 are fixedly arranged inside the base 6 by fasteners, the laser radar unit 1 is fixedly connected to the upper cover 2 by fasteners, and the computing unit 3 is arranged on the side of the upper cover 2 facing the base 6 by fasteners, and the fasteners can adopt various technical solutions in the prior art, such as screws, bolts, etc. The fixed connection method using fasteners can effectively realize the detachable fixed connection between the perception sensor and the computing unit 3 and the bearing structure, which is convenient for installation and maintenance.

[0029] In one embodiment, it relates to a roadside perception computing device 10 for vehicle-road-cloud integration, wherein the base 6 is provided with a first window 41 corresponding to the camera unit 4, the material of the first window 41 has high transparency to ensure that light can fully penetrate without affecting the image quality, and the first window 41 is provided with an anti-reflective coating to reduce glare and ghosting, and improve the clarity and contrast of the image; the base 6 is provided with a second window 51 corresponding to the millimeter-wave radar unit 5, the second window 51 is made of a material with high transmittance and low dielectric medium, the second window 51 is made of a high transmittance material so that electromagnetic waves can efficiently pass through the second window 51 without loss, and the second window 51 also has low dielectric loss to reduce the attenuation of the signal during propagation.

[0030] In one embodiment, it relates to a roadside perception computing device 10 for vehicle-road-cloud integration, including a sealing strip, which is arranged between an upper cover 2 and a base 6, and the upper cover 2 and the base 6 are detachably fixed by fasteners, and the computing unit 3, the camera unit 4, and the millimeter-wave radar unit 5 are sealed and arranged between the base 6 and the upper cover 2. Preferably, the material of the structural upper cover 2 and the structural base 6 has waterproof, dustproof, and weather-resistant properties, and can operate normally in harsh environments.

[0031] In one embodiment, it relates to a roadside perception computing device 10 for vehicle-road-cloud integration, including a docking plug 7, wherein the base 6 is provided with at least one docking plug 7, and the docking plug 7 is used to connect to an external device or system to facilitate data transmission between the roadside perception computing device 10 and the external device or system.

[0032] Compared with the prior art, the roadside perception computing device and vehicle-road-cloud integration system provided by the present invention effectively ensures the stability of installation and the certainty of relative positions between various perception sensors through the integrated setting of perception sensor modules and computing modules, facilitates on-site installation and joint calibration, and has a faster overall data transmission speed, saving construction time and cost. The three perception sensors of the laser radar unit, camera unit and millimeter wave radar unit can complement each other and maximize the performance of the perception sensor module, which is suitable for a variety of scenarios and increases the comprehensive performance of the roadside perception computing device.

[0033] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A roadside perception computing device (10) for vehicle-road-cloud integration, characterized in that: The invention comprises a bearing structure formed by a base (6) and an upper cover (2) covering an open end of the base (6); the bearing structure is provided with a perception sensor module (11) and a computing module (12) communicatively connected to the perception sensor module (11); the perception sensor module (11) comprises at least three perception sensors, namely a camera unit (4), a laser radar unit (1) and a millimeter wave radar unit (5); the computing module (12) comprises a computing unit (3); the computing unit (3) is connected to the camera unit (4), the millimeter wave radar unit (5) and the laser radar unit (1); the computing unit (3) is used to fuse and analyze data from the camera unit (4), the millimeter wave radar unit (5) and the laser radar unit (1).

2. The roadside perception computing device (10) for vehicle-road-cloud integration according to claim 1, characterized in that: The computing unit (3) comprises at least one processor and a memory, wherein the processor is used to execute algorithms for data fusion and analysis, and the memory is used to store algorithms and data.

3. The roadside perception computing device (10) for vehicle-road-cloud integration according to claim 2, characterized in that: The algorithms include but are not limited to recognition algorithms for vehicles, non-motor vehicles, pedestrians and other objects, as well as traffic environment analysis and safety auxiliary decision-making algorithms based on the recognition results.

4. The roadside perception computing device (10) for vehicle-road-cloud integration according to claim 1, characterized in that: The camera unit (4) and the millimeter wave radar unit (5) are fixedly arranged between the base (6) and the upper cover (2), and the laser radar unit (1) is fixedly arranged on a side of the upper cover (2) away from the base (6).

5. The roadside perception computing device (10) for vehicle-road-cloud integration according to claim 4, characterized in that: The camera unit (4) and the millimeter wave radar unit (5) are fixedly arranged inside the base (6) by means of fasteners.

6. The roadside perception computing device (10) for vehicle-road-cloud integration according to claim 5, characterized in that: The base (6) is provided with a first window (41) corresponding to the camera unit (4), and the first window (41) is made of a high-transparency material provided with an anti-reflection coating.

7. The roadside perception computing device (10) for vehicle-road-cloud integration according to claim 5, characterized in that: The base (6) is provided with a second window (51) corresponding to the millimeter wave radar unit (5), and the second window (51) is made of a material with high transmittance and low dielectricity.

8. The roadside perception computing device (10) for vehicle-road-cloud integration according to claim 1, characterized in that: A sealing strip is provided between the upper cover (2) and the base (6), and the computing unit (3), the camera unit (4), and the millimeter wave radar unit (5) are sealed and arranged between the base (6) and the upper cover (2).

9. The roadside perception computing device (10) for vehicle-road-cloud integration according to any one of claims 1 to 8, characterized in that: The base (6) is provided with a docking plug (7), and the docking plug (7) is used to connect to an external device or system.

10. A vehicle-road-cloud integrated system, characterized in that: The system comprises a roadside perception computing device (10) as described in any one of claims 1 to 9, and a vehicle OBU (40), an RSU (30) and a cloud control platform (20) connected thereto, wherein the system can realize efficient operation of an intelligent connected vehicle traffic system based on collaborative perception, decision-making and control of each component.

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