Method and device for determining parameters of road end sensor, storage medium and electronic equipment

Abstract

The invention provides a road end sensor parameter determination method and device, a storage medium and electronic equipment, and the method comprises the steps: building a virtual model of a road end sensor, and setting an initial pose of the road end sensor in a target region; acquiring three-dimensional static environment information in the target area, wherein the three-dimensional static environment information at least comprises three-dimensional coordinate information of an object in the target area; simulating the sensing range of the road end sensor in the target area in combination with the virtual model, the initial pose of the road end sensor and the three-dimensional static environment information to obtain a simulated sensing range; comparing the simulation sensing range with the target sensing range to obtain a comparison result, and adjusting the pose of the road end sensor according to the comparison result to enable the simulation sensing range to be the same as the target sensing range. According to the method, the pose of the sensor can be interactively adjusted, so that the environment sensing range meets the application requirements, and a reasonable sensor mounting direction is designed.

Description

Technical Field

[0001] The present application relates to the field of field of view simulation, and in particular, to a method for determining road-side sensor parameters, a device for determining road-side sensor parameters, a computer-readable storage medium, and an electronic device. Background Art

[0002] The installation position of the roadside sensor will affect the system's perception range of the surrounding environment, thereby affecting the performance of the downstream road environment perception task. The roadside sensor in the prior art cannot dynamically adjust the installation position according to the downstream road perception task, resulting in the data received by the roadside sensor being unable to meet the needs of the downstream road perception task. Summary of the invention

[0003] The main purpose of the present application is to provide a method for determining road-end sensor parameters, a device for determining road-end sensor parameters, a computer-readable storage medium and an electronic device, so as to at least solve the problem that the installation orientation of the road-end sensor in the prior art cannot meet the requirements of downstream road perception tasks.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for determining road-end sensor parameters is provided, including: establishing a virtual model of the road-end sensor, and setting the initial posture of the road-end sensor in a target area; obtaining three-dimensional static environmental information in the target area, the three-dimensional static environmental information at least including three-dimensional coordinate information of objects in the target area; combining the virtual model, the initial posture of the road-end sensor and the three-dimensional static environmental information, simulating the perception range of the road-end sensor in the target area to obtain a simulated perception range; comparing the simulated perception range with the target perception range to obtain a comparison result, and adjusting the posture of the road-end sensor according to the comparison result so that the simulated perception range is the same as the target perception range.

[0005] Optionally, obtaining the three-dimensional static environment information within the target area includes: obtaining a high-precision map of the target area and a point cloud map of the target area; determining the distribution of lane lines within the target area according to the high-precision map of the target area; determining the three-dimensional coordinate information of the objects within the target area according to the point cloud map of the target area, the objects including at least signal indicator lights; unifying the distribution of lane lines within the target area and the three-dimensional coordinate information of the objects within the target area into a world coordinate system to obtain the three-dimensional static environment information of the target area.

[0006] Optionally, in combination with the virtual model, the initial posture of the road-end sensor and the three-dimensional static environment information, the perception range of the road-end sensor in the target area is simulated to obtain a simulated perception range, including: determining the ideal perception range of the road-end sensor based on the virtual model and the initial posture of the road-end sensor; determining the perception occlusion condition of the road-end sensor based on the ideal perception range of the road-end sensor and the three-dimensional static environment information; determining the simulated perception range of the road-end sensor based on the perception occlusion condition of the road-end sensor and the three-dimensional static environment information, so as to simulate the perception range of the road-end sensor in the target area.

[0007] Optionally, the virtual model includes a virtual camera model and a non-camera sensor model, and combines the virtual model, the initial posture of the road-end sensor and the three-dimensional static environment information to simulate the perception range of the road-end sensor in the target area to obtain a simulated perception range, including: determining the ideal perception range of the non-camera sensor according to the non-camera sensor model and the initial posture of the non-camera sensor, and jointly rendering the effective three-dimensional view of the non-camera sensor according to the ideal perception range of the non-camera sensor and the three-dimensional static environment information, and the effective three-dimensional view is the simulated perception range of the non-camera sensor in the target area; determining the two-dimensional image captured by the camera according to the virtual camera model and the initial posture of the camera, and determining the effective two-dimensional image of the camera according to the two-dimensional image and the three-dimensional static environment information, and the effective two-dimensional image is the simulated perception range of the camera in the target area; determining the simulated perception range of the road-end sensor according to the effective three-dimensional view of the non-camera sensor and the effective two-dimensional image of the camera.

[0008] Optionally, adjusting the posture of the road-end sensor according to the comparison result so that the simulated perception range is the same as the target perception range, including: obtaining perception application requirements, and determining the target perception range according to the perception application requirements, the perception application requirements at least including a target object that needs to be perceived, and the target perception range including the target object; when the comparison result is that the simulated perception range is the same as the target perception range, determining the initial posture of the road-end sensor as the target posture of the road-end sensor; when the comparison result is that the simulated perception range is different from the target perception range, dynamically adjusting the posture of the road-end sensor according to the simulated perception range and the target perception range, and determining the posture of the road-end sensor when the simulated perception range is the same as the target perception range as the target posture of the road-end sensor.

[0009] Optionally, there are multiple road-end sensors, and establishing a virtual model of the road-end sensors includes: acquiring operating parameters of all the road-end sensors, where the operating parameters of the road-end sensors are the operating parameters of the road-end sensors in actual operation; and establishing a virtual model corresponding to each road-end sensor according to the operating parameters of each road-end sensor.

[0010] Optionally, when the road-end sensor is a non-camera sensor, the operating parameters of the road-end sensor include at least the field of view angle and the effective detection distance; when the road-end sensor is a camera sensor, the operating parameters of the road-end sensor include at least the optical center, focal length, and distortion parameters.

[0011] According to another aspect of the present application, a device for determining road-end sensor parameters is provided, comprising: a first processing unit, used to establish a virtual model of the road-end sensor and set the initial posture of the road-end sensor in a target area; an acquisition unit, used to acquire three-dimensional static environmental information in the target area, the three-dimensional static environmental information at least including three-dimensional coordinate information of objects in the target area; a simulation unit, used to simulate the perception range of the road-end sensor in the target area by combining the virtual model, the initial posture of the road-end sensor and the three-dimensional static environmental information to obtain a simulated perception range; a second processing unit, used to compare the simulated perception range with the target perception range to obtain a comparison result, and adjust the posture of the road-end sensor according to the comparison result so that the simulated perception range is the same as the target perception range.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods for determining road-end sensor parameters.

[0013] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for determining road-end sensor parameters for executing any one of the above-described methods.

[0014] Applying the technical solution of the present application, the method for determining the parameters of the road-end sensor mentioned above first establishes a virtual model of the road-end sensor and sets the initial posture of the road-end sensor in the target area; then obtains the three-dimensional static environment information in the target area, and the three-dimensional static environment information at least includes the three-dimensional coordinate information of the objects in the target area; then combines the virtual model, the initial posture of the road-end sensor and the three-dimensional static environment information to simulate the perception range of the road-end sensor in the target area to obtain a simulated perception range; finally, compares the simulated perception range with the target perception range to obtain a comparison result, and adjusts the posture of the road-end sensor according to the comparison result so that the simulated perception range is the same as the target perception range. This method combines the virtual sensor model and the three-dimensional static environment to generate a sensor simulation field of view, and combines the three-dimensional static environment and the sensor simulation field of view to generate an environmental perception range. It can interactively adjust the sensor posture so that the environmental perception range meets the application requirements, thereby designing a reasonable sensor installation orientation, solving the problem that the installation orientation of the road-end sensor in the prior art cannot meet the requirements of downstream road perception tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for determining roadside sensor parameters provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic diagram of a process of determining a roadside sensor parameter according to an embodiment of the present application is shown;

[0018] Figure 3 A schematic diagram of a three-dimensional static environment provided according to an embodiment of the present application is shown;

[0019] Figure 4 A schematic diagram of a simulated field of view of two sensors provided according to an embodiment of the present application is shown;

[0020] Figure 5 A schematic diagram showing the sensing range of two sensors in an environment according to an embodiment of the present application is shown;

[0021] Figure 6 A schematic diagram showing distribution information of lane lines and traffic light frames in a two-dimensional image of a virtual camera provided according to an embodiment of the present application is shown;

[0022] Figure 7A schematic diagram of a sensor posture setting interface provided according to an embodiment of the present application is shown;

[0023] Figure 8 A schematic flow chart of another method for determining parameters of a roadside sensor provided according to an embodiment of the present application is shown;

[0024] Fig. 9 A structural block diagram of a device for determining roadside sensor parameters provided according to an embodiment of the present application is shown.

[0025] The above drawings include the following reference numerals:

[0026] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] As introduced in the background technology, the installation orientation of the road-end sensor will affect the system's perception range of the surrounding environment, thereby affecting the performance of the downstream perception task of the road environment. The road-end sensors in the prior art cannot dynamically adjust the installation orientation according to the downstream road perception task, resulting in the data received by the road-end sensor being unable to meet the requirements of the downstream road perception task. In order to solve the problem that the installation orientation of the road-end sensors in the prior art cannot meet the requirements of the downstream road perception task, the embodiments of the present application provide a method for determining road-end sensor parameters, a device for determining road-end sensor parameters, a computer-readable storage medium and an electronic device.

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a method for determining roadside sensor parameters according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0033] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the Z method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] In this embodiment, a method for determining road-side sensor parameters running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] Figure 2 FIG. 1 is a flow chart of a method for determining roadside sensor parameters according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0036] Step S201, establishing a virtual model of a roadside sensor and setting an initial position of the roadside sensor in a target area;

[0037] Specifically, virtual models of road-side sensors such as cameras, lidar, combined inertial navigation, and multi-sensor fusion are constructed and the initial pose is set to provide a basis for obtaining the simulated field of view of the sensor in the environment.

[0038] In an optional solution, a rough initial position value is set for the sensor installed on the traffic signal pole according to requirements to generate the corresponding environment perception range.

[0039] There are multiple roadside sensors, and establishing a virtual model of the roadside sensors includes the following steps:

[0040] Step S2011, obtaining the operating parameters of all the road-end sensors, where the operating parameters of the road-end sensors are the operating parameters of the road-end sensors in actual operation;

[0041] Step S2012: establishing virtual models corresponding to the roadside sensors according to the operating parameters of the roadside sensors.

[0042] Specifically, the operating parameters reflect the status and performance of the road-end sensors in actual work. Constructing virtual models corresponding to the above-mentioned road-end sensors according to the operating parameters can improve the accuracy and reliability of the system.

[0043] Among them, roadside sensors include non-camera and camera sensors. For non-camera sensors, such as lidar, millimeter-wave radar, etc., it is necessary to set operating parameters such as field of view angle and effective detection distance; for cameras, in addition to the above parameters, it is also necessary to set imaging parameters, such as optical center, focal length, distortion parameters, etc. A virtual sensor model is established based on the operating parameters of the roadside sensor and the corresponding physical characteristics, and the field of view range of the roadside sensor under ideal conditions is calculated.

[0044] Step S202, obtaining three-dimensional static environment information within the target area, wherein the three-dimensional static environment information at least includes three-dimensional coordinate information of objects within the target area;

[0045] Specifically, combining three-dimensional static environmental information can obtain the simulated field of view of the sensor in the environment, which helps to make more reasonable and effective decisions and effectively meet downstream application needs.

[0046] The step of obtaining the three-dimensional static environment information in the target area includes the following steps:

[0047] Step S301, obtaining a high-precision map of the target area and a point cloud map of the target area;

[0048] Step S302, determining the distribution of lane lines in the target area according to the high-precision map of the target area;

[0049] Step S303, determining the three-dimensional coordinate information of the object in the target area according to the point cloud map of the target area, where the object at least includes a signal indicator light;

[0050] Step S304: unify the distribution of lane lines in the target area and the three-dimensional coordinate information of the objects in the target area into a world coordinate system to obtain the three-dimensional static environment information of the target area.

[0051] Specifically, obtaining the precise distribution of elements such as lane lines and traffic lights, as well as the occupancy of three-dimensional space, is used to generate a simulated field of view of the sensor in the environment, which helps to achieve the optimal installation orientation of the sensor and effectively meet downstream application needs.

[0052] Furthermore, according to the road graph and static point cloud map within the target range, the detailed environmental information such as the distribution of lane lines, traffic lights and other elements and the occupation of three-dimensional space are obtained, and this information is described uniformly in the world coordinate system to establish a three-dimensional static environment within the target range. Figure 3 As shown in the figure, a static point cloud map (Part A), lane lines, traffic lights and other road information are given. Among them, the road map is obtained by manually or automatically marking detailed information such as lanes (including bicycle lanes, lanes and central left turn lanes), clear areas, intersections, traffic lights, stop signs, etc. on the basis of the static point cloud map. The accuracy of the road map can reach the centimeter level.

[0053] In addition, the establishment of a three-dimensional static environment can adopt solutions other than road maps and static point cloud maps. For example, three-dimensional scene information can be restored based on camera images.

[0054] Step S203, combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information, simulating the perception range of the roadside sensor in the target area to obtain a simulated perception range;

[0055] Specifically, the environmental perception range of the sensor can be obtained by combining the three-dimensional static environment and the sensor simulation field of view. The installation orientation of the sensor can be designed according to the environmental perception range to obtain a more accurate field of view to meet application requirements.

[0056] The method of simulating the perception range of the roadside sensor in the target area by combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information to obtain the simulated perception range includes the following steps:

[0057] Step S401, determining an ideal sensing range of the roadside sensor according to the virtual model and the initial position of the roadside sensor;

[0058] Step S402, determining the perception occlusion of the roadside sensor according to the ideal perception range of the roadside sensor and the three-dimensional static environment information;

[0059] Step S403, determining a simulated perception range of the roadside sensor according to the perception occlusion condition of the roadside sensor and the three-dimensional static environment information, so as to simulate the perception range of the roadside sensor in the target area.

[0060] Specifically, the perception range of the simulated roadside sensor in the target area can obtain the effective field of view area, and according to the size requirements of the effective market area, the precise installation orientation of the sensor can be obtained. Under the fixed sensor posture, according to the virtual sensor model and the established three-dimensional static environment information, the occlusion in the ideal field of view of the sensor is detected, and the simulated field of view subject to environmental constraints is further generated. Figure 4 As shown, part B is the effective market area, and part C is the blocked area in the ideal field of view.

[0061] The virtual model includes a virtual camera model and a non-camera sensor model. Combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information, simulating the perception range of the roadside sensor in the target area to obtain a simulated perception range includes the following steps:

[0062] Step S501, determining an ideal perception range of the non-camera sensor according to the non-camera sensor model and the initial position and posture of the non-camera sensor, and jointly rendering to obtain an effective three-dimensional view of the non-camera sensor according to the ideal perception range of the non-camera sensor and the three-dimensional static environment information, where the effective three-dimensional view is a simulated perception range of the non-camera sensor in the target area;

[0063] Step S502, determining a two-dimensional image captured by the camera according to the virtual camera model and the initial position of the camera, and determining a valid two-dimensional image of the camera according to the two-dimensional image and the three-dimensional static environment information, wherein the valid two-dimensional image is a simulated perception range of the camera in the target area;

[0064] Step S503: determining a simulated perception range of the roadside sensor according to the effective three-dimensional view of the non-camera sensor and the effective two-dimensional image of the camera.

[0065] Specifically, the perception range details can be examined by dynamically adjusting the observation perspective. Figure 5 The perception range of the two sensors in the environment is demonstrated, that is, the result of joint rendering of the static environment and the sensor simulated field of view.

[0066] The image obtained by imaging the environmental elements using the virtual camera model can visually check whether the camera's posture is reasonable based on the distribution of the environmental elements in the image frame. Figure 6As shown, the distribution information of lane lines and traffic light frames (part D) is displayed in the virtual camera two-dimensional image.

[0067] Among them, when the above-mentioned road-end sensor is a non-camera sensor, the operating parameters of the above-mentioned road-end sensor at least include the field of view angle and the effective detection distance. When the above-mentioned road-end sensor is a camera sensor, the operating parameters of the above-mentioned road-end sensor at least include the optical center, focal length, and distortion parameters.

[0068] Specifically, the road-side sensor has the function of acquiring image information and corresponding operating parameters, which are used to establish a more accurate virtual model corresponding to the road-side sensor and improve the performance of the system's downstream perception tasks.

[0069] Step S204, comparing the simulated perception range with the target perception range to obtain a comparison result, and adjusting the posture of the roadside sensor according to the comparison result so that the simulated perception range is the same as the target perception range.

[0070] Specifically, the sensor posture can be interactively adjusted to make the environmental perception range meet the application requirements, thereby designing a reasonable sensor installation orientation to better meet application needs.

[0071] The step of adjusting the position and posture of the roadside sensor according to the comparison result so that the simulated sensing range is the same as the target sensing range includes the following steps:

[0072] Step S601, obtaining a sensing application requirement, and determining the target sensing range according to the sensing application requirement, wherein the sensing application requirement at least includes a target object to be sensed, and the target sensing range includes the target object;

[0073] Step S602, when the comparison result is that the simulated perception range is the same as the target perception range, determining the initial posture of the roadside sensor as the target posture of the roadside sensor;

[0074] Step S603, when the comparison result is that the simulated perception range is different from the target perception range, the posture of the road-end sensor is dynamically adjusted according to the simulated perception range and the target perception range, and the posture of the road-end sensor when the simulated perception range is the same as the target perception range is determined as the target posture of the road-end sensor.

[0075] Specifically, after the environmental perception range is generated, the sensor posture is dynamically adjusted to make the generated environmental perception range meet the downstream application requirements. Figure 7 A posture setting interface is provided, and the sensor posture is interactively adjusted based on the above perception range results to obtain the optimal installation position of the sensor.

[0076] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the method for determining the parameters of the road-end sensor of the present application will be described in detail below in conjunction with specific embodiments.

[0077] This embodiment relates to a specific method for determining roadside sensor parameters, such as Figure 8 As shown, the following steps are included:

[0078] Step S1: Establish a virtual sensor model and set the initial position of the sensor;

[0079] Step S2: after performing occlusion detection, a sensor simulation field of view is generated, and then a three-dimensional static environment is generated;

[0080] Step S3: combining the three-dimensional static environment and the sensor simulation field of view, using the environment and the sensor simulation field of view to jointly render a three-dimensional view or a virtual camera two-dimensional image to generate an environmental perception range;

[0081] Step S4: Dynamically adjust the sensor posture according to the environmental perception range so that it meets the downstream application requirements.

[0082] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0083] The embodiment of the present application also provides a device for determining road-end sensor parameters. It should be noted that the device for determining road-end sensor parameters in the embodiment of the present application can be used to execute the method for determining road-end sensor parameters provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0084] The following is an introduction to the device for determining roadside sensor parameters provided in an embodiment of the present application.

[0085] Fig. 9 is a schematic diagram of a device for determining roadside sensor parameters according to an embodiment of the present application. Fig. 9As shown, the device includes: a first processing unit 10, an acquisition unit 20, a simulation unit 30 and a second processing unit 40, the first processing unit 10 is used to establish a virtual model of the road-end sensor and set the initial posture of the road-end sensor in the target area; the acquisition unit 20 is used to obtain the three-dimensional static environment information in the target area, and the three-dimensional static environment information at least includes the three-dimensional coordinate information of the objects in the target area; the simulation unit 30 is used to combine the virtual model, the initial posture of the road-end sensor and the three-dimensional static environment information, simulate the perception range of the road-end sensor in the target area, and obtain the simulated perception range; the second processing unit 40 is used to compare the simulated perception range with the target perception range, obtain the comparison result, and adjust the posture of the road-end sensor according to the comparison result, so that the simulated perception range is the same as the target perception range.

[0086] The device for determining the parameters of the roadside sensor of the present application includes: a first processing unit, an acquisition unit, a simulation unit and a second processing unit, wherein the first processing unit is used to establish a virtual model of the roadside sensor and set the initial posture of the roadside sensor in the target area; the acquisition unit is used to acquire the three-dimensional static environment information in the target area, and the three-dimensional static environment information at least includes the three-dimensional coordinate information of the object in the target area; the simulation unit is used to combine the virtual model, the initial posture of the roadside sensor and the three-dimensional static environment information, simulate the perception range of the roadside sensor in the target area, and obtain the simulated perception range; the second processing unit is used to compare the simulated perception range with the target perception range, obtain the comparison result, and adjust the posture of the roadside sensor according to the comparison result, so that the simulated perception range is the same as the target perception range. The device combines the virtual sensor model and the three-dimensional static environment to generate the sensor simulation field of view, and combines the three-dimensional static environment and the sensor simulation field of view to generate the environmental perception range, and can interactively adjust the sensor posture so that the environmental perception range meets the application requirements, thereby designing a reasonable sensor installation orientation, solving the problem that the installation orientation of the roadside sensor in the prior art cannot meet the requirements of the downstream road perception task.

[0087] In some examples, the first processing unit includes a first processing module and a second processing module, the first processing module is used to obtain the operating parameters of all the road-end sensors, the operating parameters of the road-end sensors are the operating parameters of the road-end sensors in actual operation; the second processing module is used to establish virtual models corresponding to the road-end sensors according to the operating parameters of the road-end sensors. The operating parameters reflect the state and performance of the road-end sensors in actual operation, and constructing virtual models corresponding to the road-end sensors according to the operating parameters can improve the accuracy and reliability of the system.

[0088] In some instances, the acquisition unit includes a first acquisition module, a second acquisition module, a third acquisition module, and a fourth acquisition module. The first acquisition module is used to acquire a high-precision map of the target area and a point cloud map of the target area; the second acquisition module is used to determine the distribution of lane lines in the target area according to the high-precision map of the target area; the third acquisition module is used to determine the three-dimensional coordinate information of the objects in the target area according to the point cloud map of the target area, and the objects at least include signal indicators; the fourth acquisition module is used to unify the distribution of lane lines in the target area and the three-dimensional coordinate information of the objects in the target area into the world coordinate system to obtain the three-dimensional static environment information of the target area. Obtaining the accurate distribution of elements such as lane lines and traffic lights and the occupation of three-dimensional space for generating a simulated field of view of the sensor in the environment helps to achieve the optimal installation orientation of the sensor and effectively meet downstream application requirements.

[0089] In some examples, the simulation unit includes a first simulation module, a second simulation module and a third simulation module. The first simulation module is used to determine the ideal perception range of the roadside sensor according to the virtual model and the initial position of the roadside sensor; the second simulation module is used to determine the perception occlusion of the roadside sensor according to the ideal perception range of the roadside sensor and the three-dimensional static environment information; the third simulation module is used to determine the simulated perception range of the roadside sensor according to the perception occlusion of the roadside sensor and the three-dimensional static environment information, so as to simulate the perception range of the roadside sensor in the target area. The perception range of the simulated roadside sensor in the target area can obtain the effective field of view area, and the accurate installation position of the sensor can be obtained according to the size requirements of the effective market area.

[0090] In some examples, the simulation unit further includes a fourth simulation module, a fifth simulation module and a sixth simulation module. The fourth simulation module is used to determine the ideal perception range of the non-camera sensor according to the non-camera sensor model and the initial posture of the non-camera sensor, and to render the effective three-dimensional view of the non-camera sensor according to the ideal perception range of the non-camera sensor and the three-dimensional static environment information. The effective three-dimensional view is the simulated perception range of the non-camera sensor in the target area. The fifth simulation module is used to determine the two-dimensional image captured by the camera according to the virtual camera model and the initial posture of the camera, and to determine the effective two-dimensional image of the camera according to the two-dimensional image and the three-dimensional static environment information. The effective two-dimensional image is the simulated perception range of the camera in the target area. The sixth simulation module is used to determine the simulated perception range of the roadside sensor according to the effective three-dimensional view of the non-camera sensor and the effective two-dimensional image of the camera. The perception range details can be checked by dynamically adjusting the observation angle. The image obtained by imaging the environmental elements using the virtual camera model can intuitively check whether the posture of the camera is reasonable according to the distribution of the environmental elements in the image frame.

[0091] In some examples, when the roadside sensor is a non-camera sensor, the simulation unit's operating parameters include at least the field of view angle and the effective detection distance; when the roadside sensor is a camera sensor, the operating parameters include at least the optical center, focal length, and distortion parameters. The roadside sensor has the function of acquiring image information, and the corresponding operating parameters are acquired to establish a more accurate virtual model corresponding to the roadside sensor, thereby improving the performance of the system's downstream perception tasks.

[0092] In some instances, the second processing unit includes a third processing module, a fourth processing module, and a fifth processing module. The third processing module is used to obtain the perception application requirements and determine the target perception range according to the perception application requirements. The perception application requirements at least include the target object to be perceived, and the target perception range includes the target object. The fourth processing module is used to determine the initial posture of the roadside sensor as the target posture of the roadside sensor when the comparison result is that the simulation perception range is the same as the target perception range. The fifth processing module is used to dynamically adjust the posture of the roadside sensor according to the simulation perception range and the target perception range when the comparison result is that the simulation perception range is different from the target perception range, and determine the posture of the roadside sensor when the simulation perception range is the same as the target perception range as the target posture of the roadside sensor. After the environmental perception range is generated, the sensor posture is dynamically adjusted to make the generated environmental perception range meet the downstream application requirements.

[0093] The device for determining the parameters of the roadside sensor includes a processor and a memory. The first processing unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0094] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem that the installation position of the roadside sensor in the prior art cannot meet the requirements of the downstream road perception task can be solved by adjusting the kernel parameters.

[0095] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0096] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for determining the road-end sensor parameters.

[0097] Specifically, the method for determining the roadside sensor parameters includes:

[0098] Step S201, establishing a virtual model of a roadside sensor and setting an initial position of the roadside sensor in a target area;

[0099] Step S202, obtaining three-dimensional static environment information within the target area, wherein the three-dimensional static environment information at least includes three-dimensional coordinate information of objects within the target area;

[0100] Step S203, combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information, simulating the perception range of the roadside sensor in the target area to obtain a simulated perception range;

[0101] Step S204, comparing the simulated perception range with the target perception range to obtain a comparison result, and adjusting the posture of the roadside sensor according to the comparison result so that the simulated perception range is the same as the target perception range.

[0102] Optionally, obtaining the three-dimensional static environment information within the target area includes: obtaining a high-precision map of the target area and a point cloud map of the target area; determining the distribution of lane lines within the target area according to the high-precision map of the target area; determining the three-dimensional coordinate information of the objects within the target area according to the point cloud map of the target area, wherein the objects include at least signal indicator lights; unifying the distribution of lane lines within the target area and the three-dimensional coordinate information of the objects within the target area into a world coordinate system to obtain the three-dimensional static environment information of the target area.

[0103] Optionally, in combination with the above-mentioned virtual model, the initial posture of the above-mentioned road-end sensor and the above-mentioned three-dimensional static environmental information, the perception range of the above-mentioned road-end sensor in the above-mentioned target area is simulated to obtain a simulated perception range, including: determining the ideal perception range of the above-mentioned road-end sensor according to the above-mentioned virtual model and the initial posture of the above-mentioned road-end sensor; determining the perception occlusion situation of the above-mentioned road-end sensor according to the ideal perception range of the above-mentioned road-end sensor and the above-mentioned three-dimensional static environmental information; determining the simulated perception range of the above-mentioned road-end sensor according to the perception occlusion situation of the above-mentioned road-end sensor and the above-mentioned three-dimensional static environmental information, so as to simulate the perception range of the above-mentioned road-end sensor in the above-mentioned target area.

[0104] Optionally, the virtual model includes a virtual camera model and a non-camera sensor model, and combines the virtual model, the initial posture of the road-end sensor and the three-dimensional static environment information to simulate the perception range of the road-end sensor in the target area to obtain a simulated perception range, including: determining the ideal perception range of the non-camera sensor according to the non-camera sensor model and the initial posture of the non-camera sensor, and jointly rendering the effective three-dimensional view of the non-camera sensor according to the ideal perception range of the non-camera sensor and the three-dimensional static environment information, wherein the effective three-dimensional view is the simulated perception range of the non-camera sensor in the target area; determining the two-dimensional image captured by the camera according to the virtual camera model and the initial posture of the camera, and determining the effective two-dimensional image of the camera according to the two-dimensional image and the three-dimensional static environment information, wherein the effective two-dimensional image is the simulated perception range of the camera in the target area; determining the simulated perception range of the road-end sensor according to the effective three-dimensional view of the non-camera sensor and the effective two-dimensional image of the camera.

[0105] Optionally, the posture of the road-end sensor is adjusted according to the comparison result so that the simulated perception range is the same as the target perception range, including: obtaining perception application requirements, and determining the target perception range according to the perception application requirements, the perception application requirements at least including the target object to be perceived, and the target perception range including the target object; when the comparison result is that the simulated perception range is the same as the target perception range, the initial posture of the road-end sensor is determined as the target posture of the road-end sensor; when the comparison result is that the simulated perception range is different from the target perception range, the posture of the road-end sensor is dynamically adjusted according to the simulated perception range and the target perception range, and the posture of the road-end sensor when the simulated perception range is the same as the target perception range is determined as the target posture of the road-end sensor.

[0106] Optionally, there are multiple road-end sensors, and establishing a virtual model of the road-end sensors includes: acquiring operating parameters of all the road-end sensors, where the operating parameters of the road-end sensors are operating parameters in actual work of the road-end sensors; and establishing virtual models corresponding to each of the road-end sensors according to the operating parameters of each of the road-end sensors.

[0107] Optionally, when the road-end sensor is a non-camera sensor, the operating parameters of the road-end sensor include at least the field of view angle and the effective detection distance; when the road-end sensor is a camera sensor, the operating parameters of the road-end sensor include at least the optical center, focal length, and distortion parameters.

[0108] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the method for determining the parameters of the road-end sensor is executed when the program is run.

[0109] Specifically, the method for determining the roadside sensor parameters includes:

[0110] Step S201, establishing a virtual model of a roadside sensor and setting an initial position of the roadside sensor in a target area;

[0111] Step S202, obtaining three-dimensional static environment information within the target area, wherein the three-dimensional static environment information at least includes three-dimensional coordinate information of objects within the target area;

[0112] Step S203, combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information, simulating the perception range of the roadside sensor in the target area to obtain a simulated perception range;

[0113] Step S204, comparing the simulated perception range with the target perception range to obtain a comparison result, and adjusting the posture of the roadside sensor according to the comparison result so that the simulated perception range is the same as the target perception range.

[0114] An embodiment of the present invention provides a device, the device comprising a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0115] Step S201, establishing a virtual model of a roadside sensor and setting an initial position of the roadside sensor in a target area;

[0116] Step S202, obtaining three-dimensional static environment information within the target area, wherein the three-dimensional static environment information at least includes three-dimensional coordinate information of objects within the target area;

[0117] Step S203, combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information, simulating the perception range of the roadside sensor in the target area to obtain a simulated perception range;

[0118] Step S204, comparing the simulated perception range with the target perception range to obtain a comparison result, and adjusting the posture of the roadside sensor according to the comparison result so that the simulated perception range is the same as the target perception range.

[0119] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0120] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0121] Step S201, establishing a virtual model of a roadside sensor and setting an initial position of the roadside sensor in a target area;

[0122] Step S202, obtaining three-dimensional static environment information within the target area, wherein the three-dimensional static environment information at least includes three-dimensional coordinate information of objects within the target area;

[0123] Step S203, combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information, simulating the perception range of the roadside sensor in the target area to obtain a simulated perception range;

[0124] Step S204, comparing the simulated perception range with the target perception range to obtain a comparison result, and adjusting the posture of the roadside sensor according to the comparison result so that the simulated perception range is the same as the target perception range.

[0125] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0126] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0127] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0128] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0130] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0131] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0132] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0133] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0134] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0135] 1) The method for determining the parameters of the road-end sensor of the present application first establishes a virtual model of the road-end sensor and sets the initial posture of the road-end sensor in the target area; then obtains the three-dimensional static environment information in the target area, and the three-dimensional static environment information at least includes the three-dimensional coordinate information of the objects in the target area; then combines the virtual model, the initial posture of the road-end sensor and the three-dimensional static environment information to simulate the perception range of the road-end sensor in the target area to obtain a simulated perception range; finally, compares the simulated perception range with the target perception range to obtain a comparison result, and adjusts the posture of the road-end sensor according to the comparison result so that the simulated perception range is the same as the target perception range. This method combines the virtual sensor model and the three-dimensional static environment to generate a sensor simulation field of view, and combines the three-dimensional static environment and the sensor simulation field of view to generate an environmental perception range. It can interactively adjust the sensor posture so that the environmental perception range meets the application requirements, thereby designing a reasonable sensor installation orientation, solving the problem that the installation orientation of the road-end sensor in the prior art cannot meet the requirements of downstream road perception tasks.

[0136] 2) The device for determining the parameters of the roadside sensor of the present application includes: a first processing unit, an acquisition unit, a simulation unit and a second processing unit. The first processing unit is used to establish a virtual model of the roadside sensor and set the initial posture of the roadside sensor in the target area; the acquisition unit is used to acquire the three-dimensional static environment information in the target area, and the three-dimensional static environment information at least includes the three-dimensional coordinate information of the object in the target area; the simulation unit is used to combine the virtual model, the initial posture of the roadside sensor and the three-dimensional static environment information to simulate the perception range of the roadside sensor in the target area to obtain the simulated perception range; the second processing unit is used to compare the simulated perception range with the target perception range to obtain the comparison result, and adjust the posture of the roadside sensor according to the comparison result so that the simulated perception range is the same as the target perception range. The device combines the virtual sensor model and the three-dimensional static environment to generate the sensor simulation field of view, and combines the three-dimensional static environment and the sensor simulation field of view to generate the environmental perception range. The sensor posture can be interactively adjusted to make the environmental perception range meet the application requirements, thereby designing a reasonable sensor installation orientation, solving the problem that the installation orientation of the roadside sensor in the prior art cannot meet the requirements of the downstream road perception task.

[0137] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining roadside sensor parameters, characterized in that: include: Establishing a virtual model of a roadside sensor and setting an initial position of the roadside sensor in a target area; Acquire three-dimensional static environment information within the target area, wherein the three-dimensional static environment information at least includes three-dimensional coordinate information of objects within the target area; Combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information, simulating the perception range of the roadside sensor in the target area to obtain a simulated perception range; The simulated perception range is compared with the target perception range to obtain a comparison result, and the posture of the roadside sensor is adjusted according to the comparison result so that the simulated perception range is the same as the target perception range.

2. The method according to claim 1, characterized in that Acquiring three-dimensional static environment information within the target area includes: Obtaining a high-precision map of the target area and a point cloud map of the target area; Determine the distribution of lane lines within the target area according to the high-precision map of the target area; Determine the three-dimensional coordinate information of the object in the target area according to the point cloud map of the target area, wherein the object at least includes a signal indicator light; The distribution of lane lines in the target area and the three-dimensional coordinate information of the objects in the target area are unified into the world coordinate system to obtain the three-dimensional static environment information of the target area.

3. The method according to claim 1, characterized in that include: Combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information, simulating the perception range of the roadside sensor in the target area to obtain a simulated perception range, including: Determining an ideal sensing range of the roadside sensor according to the virtual model and the initial position of the roadside sensor; Determining a perception occlusion condition of the roadside sensor according to an ideal perception range of the roadside sensor and the three-dimensional static environment information; According to the perception occlusion condition of the roadside sensor and the three-dimensional static environment information, a simulated perception range of the roadside sensor is determined to simulate the perception range of the roadside sensor in the target area.

4. The method according to claim 1, characterized in that: The virtual model includes a virtual camera model and a non-camera sensor model. Combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information, simulating the perception range of the roadside sensor in the target area to obtain a simulated perception range includes: Determine an ideal perception range of the non-camera sensor according to the non-camera sensor model and the initial position and posture of the non-camera sensor, and jointly render to obtain an effective three-dimensional view of the non-camera sensor according to the ideal perception range of the non-camera sensor and the three-dimensional static environment information, wherein the effective three-dimensional view is a simulated perception range of the non-camera sensor in the target area; Determine a two-dimensional image captured by the camera according to the virtual camera model and the initial position and posture of the camera, and determine a valid two-dimensional image of the camera according to the two-dimensional image and the three-dimensional static environment information, wherein the valid two-dimensional image is a simulated perception range of the camera in the target area; The simulated perception range of the roadside sensor is determined based on the effective three-dimensional view of the non-camera sensor and the effective two-dimensional image of the camera.

5. The method according to claim 1, characterized in that Adjusting the posture of the roadside sensor according to the comparison result so that the simulated perception range is the same as the target perception range includes: Acquire a perception application requirement, and determine the target perception range according to the perception application requirement, wherein the perception application requirement at least includes a target object to be perceived, and the target perception range includes the target object; When the comparison result shows that the simulated perception range is the same as the target perception range, determining the initial posture of the roadside sensor as the target posture of the roadside sensor; When the comparison result is that the simulated perception range is different from the target perception range, the posture of the roadside sensor is dynamically adjusted according to the simulated perception range and the target perception range, and the posture of the roadside sensor when the simulated perception range is the same as the target perception range is determined as the target posture of the roadside sensor.

6. The method according to any one of claims 1 to 5, characterized in that There are multiple roadside sensors, and a virtual model of the roadside sensors is established, including: Acquiring operating parameters of all the road-end sensors, where the operating parameters of the road-end sensors are operating parameters of the road-end sensors in actual operation; According to the operating parameters of each of the road-end sensors, a virtual model corresponding to each of the road-end sensors is established respectively.

7. The method according to claim 6, characterized in that When the roadside sensor is a non-camera sensor, the operating parameters of the roadside sensor include at least the field of view angle and the effective detection distance. When the roadside sensor is a camera sensor, the operating parameters of the roadside sensor include at least the optical center, focal length, and distortion parameters.

8. A device for determining roadside sensor parameters, characterized in that: include: A first processing unit, used to establish a virtual model of the roadside sensor and set an initial position of the roadside sensor in a target area; An acquisition unit, configured to acquire three-dimensional static environment information within the target area, wherein the three-dimensional static environment information at least includes three-dimensional coordinate information of objects within the target area; A simulation unit, configured to simulate the perception range of the roadside sensor in the target area by combining the virtual model, the initial position of the roadside sensor and the three-dimensional static environment information to obtain a simulated perception range; The second processing unit is used to compare the simulated perception range with the target perception range to obtain a comparison result, and adjust the posture of the roadside sensor according to the comparison result so that the simulated perception range is the same as the target perception range.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for determining the parameters of the road-end sensor according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for determining road-end sensor parameters as described in any one of claims 1 to 7.

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