A vehicle-road cooperative asynchronous fusion target tracking method and system

Abstract

The application provides a vehicle-road cooperation asynchronous fusion target tracking method and system, and relates to the field of data processing. The method comprises the following steps: acquiring vehicle-end perception data, roadside perception data and historical perception data within a processing period of a preset fusion time; based on timestamp information and the preset fusion time, calculating the time deviation of the vehicle-end perception data and the roadside perception data respectively, and acquiring corresponding communication link state information, wherein the communication link state information comprises a time delay, a jitter and a packet loss rate; based on the time deviation, selecting perception data matched with the preset fusion time from the historical perception data as to-be-aligned data; and performing continuous time compensation on the to-be-aligned data according to the time deviation to obtain space-time aligned data aligned to the fusion time, which is used for target tracking. The application is used in the target tracking process of vehicle-road cooperation asynchronous fusion, and solves the technical problem of low accuracy of the prior art in target tracking based on vehicle-road multi-source perception data.

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