A method and device for deploying roadside sensing equipment in a high-speed tunnel scenario

Abstract

This application discloses a method and apparatus for deploying roadside sensing devices in a high-speed tunnel scenario. It includes: acquiring a map of the target tunnel and sensor parameters; determining the sensing illumination range of multiple sensors according to the same illumination direction, ensuring that the entire sensing illumination range covers a designated section within the target tunnel; and generating sensor configuration data, which includes the number, parameters, or locations of the sensors. This application can combine directional lidar, long-range cameras, and short-range cameras to construct a device deployment scheme for a single sensing point, and further achieve global scene perception of the high-speed tunnel scenario by stitching together multiple single-point sensing points.

Description

Technical Field

[0001] This application relates to the field of vehicle-road cooperative technology, and in particular to a method and apparatus for deploying roadside sensing devices in a high-speed tunnel scenario. Background Technology

[0002] With the rapid development of intelligent transportation and autonomous driving technologies, vehicle-road cooperation has become an important development direction for future transportation systems. Vehicle-road cooperation achieves information interaction and collaboration between people, vehicles, and roads by integrating various technologies such as roadside perception and localization, V2X communication, and edge computing.

[0003] Against this backdrop, roadside sensing devices, as a key infrastructure for realizing vehicle-road cooperation, directly impact the accuracy and reliability of intelligent transportation systems through their performance and deployment schemes. Currently, roadside sensing devices mainly include millimeter-wave radar, lidar, and cameras. Existing deployment schemes for roadside sensing devices typically employ an omnidirectional radar combined with a rear-mounted camera, achieving bidirectional scene perception of the sensing device's location. However, this deployment method has some drawbacks.

[0004] First, due to the structural characteristics of tunnels and the unique environment within them, sensors are prone to becoming contaminated with pollutants when exposed to high humidity, heavy vehicle traffic, and high emissions. This can lead to decreased sensing performance or even sensor malfunction. While periodic cleaning can restore the original sensing performance, the frequency of this maintenance method is highly dependent on the specific environment, increasing maintenance costs and the complexity of the debugging process.

[0005] In addition, there are perception blind spots between the rear cameras. When the target perceived by the omnidirectional lidar and the target perceived by the camera enter the downstream task, the lack of visual perception data sources in this area leads to the loss of some attribute information of the target in the downstream task, which in turn affects the subsequent series of traffic scene understanding tasks.

[0006] Therefore, in view of the problems existing in the performance and deployment scheme of current roadside sensing devices, it is necessary to propose a scientific, practical and economical roadside sensing device installation scheme to improve the roadside sensing performance and intelligence level of the traffic system. Summary of the Invention

[0007] This application provides a method and apparatus for deploying roadside sensing devices in a high-speed tunnel scenario, which solves the problems of existing technologies where rear-mounted cameras are prone to contamination and failure, and where blind spots exist between cameras, resulting in a lack of regional visual perception data sources.

[0008] In a first aspect, embodiments of this application provide a method for deploying roadside sensing devices in a high-speed tunnel scenario, including the following steps:

[0009] Obtain a map of the target tunnel and sensor parameters;

[0010] The sensing range of multiple sensors is determined according to the same irradiation direction, so that the entire sensing range covers the set section inside the target tunnel.

[0011] Generate sensor configuration data, which includes the number of sensors, parameters, or locations.

[0012] In one embodiment, multiple sensors are deployed at the same location, and the generated sensor configuration parameters include a sensing distance range and at least one of the following responses:

[0013] In response to the difference in focal length between the first type of sensor and the second type of sensor, the sensing distance of the first type of sensor or the second type of sensor is determined so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect but do not overlap.

[0014] In response to the different wavelengths of the first type of sensor and the third type of sensor, the sensing distance of the first type of sensor or the third type of sensor is determined so that the sensing illumination ranges of the first type of sensor and the third type of sensor overlap.

[0015] In response to the fact that the first type of sensor and the second type of sensor have different focal lengths but the same wavelength, and that the first type of sensor and the third type of sensor have different wavelengths, the sensing distance of the first type of sensor, the second type of sensor, or the third type of sensor is determined such that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect but do not overlap, and the sensing illumination range of the first type of sensor or the second type of sensor is covered by the sensing illumination range of the third type of sensor.

[0016] In one embodiment, multiple sensors are deployed at adjacent locations, and the generated sensor configuration parameters include a sensing distance range and at least one of the following responses:

[0017] The location interval is determined in response to the type or parameters of the plurality of sensors;

[0018] In response to the point spacing, the sensing distance of the sensor is determined so that the sensor's illumination range at the first point covers the sensor's blind spot at the second point.

[0019] In response to the point spacing, the sensing distance of the first type of sensor at the first point and the second type of sensor at the second point is determined, so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect.

[0020] In one embodiment, the generated sensor configuration parameters include a sensing distance range, determine the sensing distance of the first type of sensor or the second type of sensor, and make the sensing illumination ranges of the first type of sensor and the second type of sensor intersect to achieve a stable sensing overlap area.

[0021] In one embodiment, the generated sensor configuration parameters include sensor illumination direction, and in response to the vehicle travel direction of a set section within the target tunnel, determine that the illumination direction of all sensors within the set section is the same as the vehicle travel direction.

[0022] In one embodiment, the generated sensor configuration parameters include sensor combination relationships for transmitting identity information to the same target. In response to the overlapping perception illumination ranges of multiple sensors, the sensor combination relationships for transmitting identity information to the same target within a set road segment are determined.

[0023] Secondly, this application also provides a roadside sensing device deployment system for a high-speed tunnel scenario, comprising: a computer device and device stakes; the computer device is used to implement the roadside sensing device deployment method for a high-speed tunnel scenario as described in any embodiment of the first aspect, and to generate sensor configuration data; the device stakes are used to configure the sensors.

[0024] Thirdly, embodiments of this application also provide a roadside sensing device deployment apparatus for a high-speed tunnel scenario, used to implement the roadside sensing device deployment method for a high-speed tunnel scenario described in any embodiment of the first aspect, comprising: an acquisition module for acquiring a map of the target tunnel and sensor parameters; a determination module for determining the sensing illumination range of multiple sensors according to the same illumination direction, so that the entire sensing illumination range covers a set section within the target tunnel; and a generation module for generating sensor configuration data, wherein the sensor configuration data includes the number, parameters, or locations of the sensors.

[0025] Fourthly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any one of the embodiments of the first aspect.

[0026] Fifthly, embodiments of this application also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in any one of the embodiments of the first aspect.

[0027] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects:

[0028] This application addresses the pain points of traditional deployment methods. Unlike traditional methods that rely on omnidirectional radar sensing and back-facing cameras for direction sensing, this method combines directional LiDAR, long-range cameras, and short-range cameras to construct a device deployment scheme for individual sensing points. Furthermore, it achieves global scene perception in high-speed tunnel scenarios by stitching together the sensing data from these individual points. Attached Figure Description

[0029] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0030] Figure 1 This is a system schematic diagram illustrating the application scenario of the roadside sensing device deployment method in a high-speed tunnel scenario according to this application.

[0031] Figure 2 A flowchart illustrating the method for deploying roadside sensing devices in a high-speed tunnel scenario, as provided in this application embodiment;

[0032] Figure 3 This is a schematic diagram of the deployment of roadside sensing equipment in a high-speed tunnel scenario provided in an embodiment of this application;

[0033] Figure 4 This application provides a structural diagram of a roadside sensing device deployment device for a high-speed tunnel scenario.

[0034] Figure 5 This is a structural diagram of the computer device in the embodiments of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] Currently, traditional roadside sensing equipment deployment methods mainly rely on omnidirectional lidar in conjunction with rear-mounted cameras to complete the sensing process for subsequent multi-sensor target fusion. However, such methods have visual perception blind spots in the rear-mounted cameras, resulting in a loss of target fusion performance. In addition, due to the narrow and enclosed structure of tunnels, roadside sensing equipment is easily contaminated in this environment, especially omnidirectional lidar and oncoming cameras, which are susceptible to contamination from vehicle exhaust and tunnel dust, leading to reduced sensing range or sensing failure.

[0037] Therefore, this application discloses a method and system for deploying roadside sensing devices in high-speed tunnel scenarios, particularly relating to the deployment of roadside sensing devices combining directional lidar and co-directional long and short focal length cameras, and mainly solves the following problems:

[0038] 1. Solve the problem of sensing failure caused by contamination of the directional sensing equipment in tunnels, especially on the roadside, thereby solving the problems of short cleaning cycles and high costs of sensing equipment in tunnels;

[0039] 2. Solve the problem of visual perception blind spot in the middle of the rear-mounted camera, thereby solving the problem of single source of target perception and reduced attribute dimension in the perception blind spot.

[0040] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0041] Figure 1 This is a system schematic diagram illustrating the application scenario of the roadside sensing device deployment method in a high-speed tunnel scenario provided in the embodiments of this application.

[0042] like Figure 1 As shown, the application scenarios for the roadside sensing device deployment method in high-speed tunnel scenarios provided in this application embodiment are feasible. The system includes a computer device 130, a display terminal 140, a communication network 120, multi-source sensing devices (sensors) 110, device stakes 150, and a traffic scene database 160. The computer device and the multi-source sensing devices can communicate via a wired or wireless network. The computer device is a single computer processing unit or a collection of multiple computer processing units. For example, at least a portion of the computer device can be a roadside computing unit / terminal / edge server. Optionally, at least a portion of the computer device can also be a cloud server, a vehicle-mounted computing unit / terminal, etc. This application embodiment does not specifically limit the type, quantity, or location of the computer device. The multi-source sensing devices are roadside sensing devices / roadside multi-source fusion sensing systems installed at predetermined locations at the entrance and inside the traffic tunnel. For example, they can be device stakes evenly distributed within the traffic tunnel, or at least one of millimeter-wave radar sensors, lidar sensors, cameras, etc. This application embodiment also does not specifically limit the type of multi-source sensing devices.

[0043] The system can visualize traffic scenes and also visualize the current road and traffic participant perception information generated by the digital twin of the computer device, forming a visual interface. The visualization module can be integrated into the computer device or set up separately in other locations.

[0044] The system may also include data storage devices for storing data that the computer equipment needs to process. The data storage system can be integrated into the computer equipment or placed separately in the cloud or on other networks.

[0045] Figure 2 The flowchart of the method for deploying roadside sensing devices in a high-speed tunnel scenario provided in the embodiments of this application includes steps 210 to 230.

[0046] Step 210: Obtain the map of the target tunnel and the parameters of the sensors.

[0047] The map includes a traffic scene. The geographic information data in the traffic scene can be three-dimensional geographic information data, including geographic information data of any point on the target tunnel and / or the target tunnel equipment.

[0048] For example, latitude and longitude information and graphic representation information of the target tunnel and / or target tunnel equipment can be obtained from traffic scene data. The target tunnel and / or target tunnel equipment can be modeled using sensing data and imported 3D GSI data, providing digital support for the definition of road space within the tunnel.

[0049] In one embodiment of this application, the traffic scene of the target tunnel is stored in a traffic scene database 160. When an operator retrieves the target tunnel data via a computer, the traffic scene data of the target tunnel is obtained, and a traffic scene graphic is generated on a computer terminal or a GUI connected to it.

[0050] The parameters refer to the initial parameters of the sensor. The original parameters of the sensor in the sensing system can be input into the system of this application, or the actual parameters of the sensor in the sensing system during operation can be acquired in real time.

[0051] For example, if the sensor is a lidar, then the parameters are the relevant parameters of the lidar, which are adjustable external parameters, including angular range, angular resolution, and maximum detection distance, etc.

[0052] The aforementioned angle range, such as the range of pitch angle and azimuth angle, is the range of simulated line of sight that can be determined based on the range of pitch angle and azimuth angle, with the sensor installation position as the origin, thereby determining the width and height of the field of view.

[0053] Angular resolution refers to a sensor's ability to distinguish the smallest distance between two adjacent objects. It is generally expressed as the angle subtended between the two smallest distinguishable targets, and is usually described using a radian system for measuring angles; it is also called angular resolving power (or angular resolution). Resolving power can also be expressed as the number of line pairs per unit length (line pairs / mm).

[0054] The maximum detection range refers to the farthest distance at which the sensor can detect a target under specific conditions. This distance depends on several factors. For example, if the sensor is a lidar, the radar attributes affecting the maximum range include transmit power, receive sensitivity, target reflection characteristics, and environmental interference. Radar systems detect targets by emitting electromagnetic waves and receiving their echoes. The maximum detection range can be determined by calculating the signal-to-noise ratio (SNR) of the received signal. SNR is the ratio of the average power of the target signal to the average power of the noise; the distance corresponding to the minimum SNR required to achieve a predetermined detection probability is the maximum detection range.

[0055] For example, directional lidar, in a single-point sensing device, is responsible for a sensing and illumination range of 10 to 160 meters.

[0056] Step 220: Determine the sensing and illumination range of multiple sensors according to the same illumination direction, so that the entire sensing and illumination range covers the set section inside the target tunnel;

[0057] It should be noted that the sensors in this application are a directional lidar and a camera. By using the same illumination direction, the sensing illumination range of the sensors is ensured to complement each other.

[0058] The perception illumination range is the range of traffic scene graphics within the visual field with the sensor as the origin.

[0059] It should be noted that, since the same illumination direction is used, the perceived illumination range is a fan-shaped range radiating from the sensor as the vertex in the set direction.

[0060] The designated road section within the target tunnel refers to the section within the target tunnel where sensors are installed and require complete coverage.

[0061] The sensing illumination range in the target tunnel needs to consider the distance extended along the tunnel's length. For example, when the sensor is installed at a set height on a device pile, this range is determined by the sensor's angular orientation, such as the angular range between the minimum and maximum vertical angles. Step 230: Generate sensor configuration data, which includes the number of sensors, their parameters, or their locations.

[0062] The number of sensors should be such that the sensing ranges of adjacent sensors overlap, and the sensing range of all sensors should cover the designated section within the target tunnel.

[0063] For example, a unidirectional lidar, with its installation location as the origin, has a sensing range of 10 to 160 meters from the origin. Unidirectional lidar units at different locations need a 10-meter overlap area. Therefore, the spacing between unidirectional lidar units should be 140 meters. The required number of unidirectional lidar units can be determined by rounding up the ratio of the length of the designated section within the target tunnel to the spacing between installation points.

[0064] For example, in a single-point sensing device, a directional lidar is responsible for a sensing illumination range of 10 to 160 meters. Lidars at each point are deployed at 140-meter intervals. Between points, a 10-meter overlap area is set between the starting area of ​​the current point's sensing range (10 to 20 meters) and the ending area of ​​the previous point's sensing range (150 to 160 meters).

[0065] The parameters of the sensor include internal parameters and external parameters.

[0066] The internal parameters refer to the initial parameters of the sensor. The original parameters of the sensor in the sensing system can be input into the system of this application, or the actual parameters of the sensor in the sensing system during operation can be acquired in real time.

[0067] The external parameters are adjustable parameters and may include angle range, angular resolution, and maximum detection distance, etc.

[0068] The location, i.e. the installation location of the sensor, includes the installation height and / or planar coordinates.

[0069] The installation height, combined with the sensor parameters, can determine the sensor's sensing range.

[0070] In the tunnel environment described in this application, only the coordinates along the tunnel length direction need to be considered in terms of planar coordinates. This is used to determine the spacing between the sensors.

[0071] In one embodiment, in step 230, the generated sensor configuration parameters include the sensor illumination direction, and in response to the vehicle travel direction of a set road segment within the target tunnel, it is determined that the illumination direction of all sensors within the set road segment is the same as the vehicle travel direction.

[0072] Due to the narrow and enclosed structure of tunnels, roadside sensing equipment is easily contaminated in this environment, especially omnidirectional lidar and approach cameras, which are susceptible to pollution from vehicle exhaust and dust adhering to the tunnel surface. Therefore, cleaning of sensing equipment inside tunnels is time-consuming and costly. It also easily leads to reduced sensing range or sensing failure.

[0073] By using a single-point sensing device, the directional lidar, short-focus camera, and long-focus camera all illuminate in the same direction, and the direction of illumination is the same as the direction of vehicle travel, thereby reducing the problem of pollution from vehicle exhaust and tunnel dust adhering to the sensors.

[0074] In one embodiment, in step 230, the generated sensor configuration parameters include a sensing distance range, determine the sensing distance of the first type of sensor or the second type of sensor, and make the sensing illumination ranges of the first type of sensor and the second type of sensor intersect to achieve a stable sensing overlap area.

[0075] Stable sensing refers to sensors at different installation locations transmitting identity information to the same target. Alternatively, different sensors at the same installation location transmitting identity information to the same target. Since identity information transmission requires the overlap area between two sensors to be greater than a first preset threshold, the overlap area greater than the first threshold is the overlap area for stable sensing.

[0076] In one embodiment, in step 230, the generated sensor configuration parameters include sensor combination relationships for transmitting identity information to the same target. In response to the overlapping perception illumination ranges of multiple sensors, the sensor combination relationships for transmitting identity information to the same target within a set road segment are determined.

[0077] The sensor array is located at the same point or at adjacent points.

[0078] The transmission of sensor identification information at the same location includes the following scenarios:

[0079] Sensors with different focal lengths. Sensors with different focal lengths can have overlapping areas smaller than a second set threshold, thereby completing the transmission of identity information. For example, the sensing distance ranges of the first type of sensor and the second type of sensor intersect.

[0080] Sensors operating at different wavelengths are used. Since sensors at different wavelengths all need to cover a designated section within the target tunnel, identification information needs to be transmitted within the sensing illumination range of a single point. For example, the sensing distance ranges of the first type of sensor and the third type of sensor overlap.

[0081] The transmission of sensor identification information at different locations includes the following scenarios:

[0082] At least one sensor at a location and at least one sensor at an adjacent location have an overlapping area with each other that is smaller than a second set threshold, thereby completing the transmission of identity information.

[0083] Multiple sensors at a single location overlap with multiple sensors at adjacent locations within a range smaller than a second set threshold, thereby enabling the transmission of identity information.

[0084] First, at an installation location (point) (e.g., a device pile at a set plane coordinate), multiple types of sensors with the same ray direction but different sensing ranges are set up, such as second-type sensors and third-type sensors. The sensing ranges of the two types of sensors overlap, and the minimum overlap area for achieving stable sensing is determined.

[0085] For example, the second and third types of sensors in a single-point configuration are video cameras with long and short focal lengths, respectively; a single-point configuration using both long and short focal length cameras. Target perception primarily relies on visual cameras.

[0086] For example, such as Figure 3 As shown, the directional lidar 310 is responsible for a sensing range of 10–160m, the short-focus camera 330 is responsible for a sensing range of 10–80m, and the long-focus camera 320 is responsible for a sensing range of 70–160m. All three sensors illuminate in the same direction. The video cameras at different locations face the same direction. The locations are deployed at 140m intervals.

[0087] Between points, a 10m overlap area is set between the starting area (10-20m) of the current point's sensing range and the ending area (150-160m) of the previous point's sensing range;

[0088] The telephoto video camera at the next point and the short-focus video camera at the previous point have an overlapping area. Between points, the 0-10m blind zone of the current point is supplemented by the 140-150m sensing area of ​​the previous point; within a point, the short-focus camera covers the near-end range, and the telephoto camera covers the far-end range; a 10m (70-80m) overlapping area is set in the sensing device switching area between the short-focus camera and the telephoto camera.

[0089] The above deployment method achieves full-area perception of the tunnel. The selection and combination of sensing devices mitigates the problem of roadside sensing devices failing to detect incoming traffic due to pollution; it solves the problem of blind spots in traditional methods; and it achieves full-area perception coverage of the designated road section within the target tunnel.

[0090] In one embodiment, in step 220, multiple sensors are deployed at the same location, and the sensor configuration parameters generated in step 230 include a sensing distance range and at least one of the following responses A to C:

[0091] A. In response to the difference in focal length between the first type of sensor and the second type of sensor, determine the sensing distance of the first type of sensor or the second type of sensor, so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect but do not overlap.

[0092] For example, the first type of sensor has a long focal length, while the second type of sensor has a short focal length.

[0093] The sensing distance range is determined based on the sensing illumination range because the width of the target tunnel is smaller than the width of the sensing illumination range due to the limitation in the width direction of the target tunnel. Therefore, only the length direction needs to be considered.

[0094] It should be noted that the main consideration for the road section set within the target tunnel is distance; therefore, the sensing distance range of the sensor in this application needs to cover the entire distance range of the road section set within the target tunnel.

[0095] The phrase "intersecting but not overlapping" means that the first type of sensor and the second type of sensor have an overlapping area. Furthermore, the overlapping area of ​​the sensing distance ranges of the two types of sensors is greater than a first preset threshold. The first preset threshold is the minimum distance at which information transmission can be achieved.

[0096] The overlap described in this application refers to a situation where the non-overlapping areas of the sensing distance ranges of two types of sensors are less than a third preset threshold, or where the two ranges coincide, meaning that one range completely covers the other. In other words, one range is a subset of the other range.

[0097] When two range scales are close, the second set threshold is a negligible difference, and the area where the perceived illumination ranges of the two do not overlap is smaller than the third set threshold and is close to completely overlapping.

[0098] For example, a short-focus camera is responsible for a sensing illumination range of 10–80m, and a long-focus camera is responsible for a sensing illumination range of 70–160m, with both sensors illuminating in the same direction. A 10m (70–80m) overlap area is set in the sensing device switching area between the short-focus and long-focus cameras.

[0099] B. In response to the different wavelengths of the first type of sensor and the third type of sensor, determine the sensing distance of the first type of sensor or the third type of sensor so that the sensing illumination ranges of the first type of sensor and the third type of sensor overlap.

[0100] For example, the first type of sensor is an optical camera, which operates in the visible light or infrared light band, while the third type of sensor is a lidar, which operates in the 905nm or 1550nm band.

[0101] Since sensors on different frequency bands detect different information, if there are differences in the frequency bands of the sensors, the preferred solution is that each sensor on different frequency bands needs to cover the entire range of the designated section within the target tunnel. Therefore, the sensing ranges of sensors on different frequency bands at the same location overlap, or the non-overlapping area of ​​their sensing ranges is less than a third set threshold.

[0102] For example, a directional lidar is responsible for a sensing illumination range of 10 to 160 meters, and a camera is responsible for a sensing illumination range of 10 to 160 meters. Both sensors illuminate in the same direction. The sensing illumination ranges of the two sensors can completely overlap, or the area where the sensing illumination ranges of the two sensors do not overlap is smaller than a third set threshold.

[0103] C. In response to the fact that the first type of sensor and the second type of sensor have different focal lengths but the same wavelength, and that the first type of sensor and the third type of sensor have different wavelengths, determine the sensing distance of the first type of sensor, the second type of sensor, or the third type of sensor, so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect but do not overlap, and the sensing illumination range of the first type of sensor or the second type of sensor is covered by the sensing illumination range of the third type of sensor.

[0104] For example, the first type of sensor is a telephoto camera, the second type of sensor is a short-focus camera, and the third type of sensor is a lidar.

[0105] For example, combining the characteristics of different focal lengths and wavelengths, directional lidar is responsible for the 10–160m sensing range, short-focus cameras for the 10–80m range, and long-focus cameras for the 70–160m range, with all three sensors illuminating in the same direction. Points are deployed at 140m intervals. Between points, a 10m overlap area is set between the starting area (10–20m) of the current point's sensing range and the ending area (150–160m) of the previous point's sensing range. Between points, the 0–10m blind zone of the current point is supplemented by the 140–150m sensing area of ​​the previous point. Within a point, a 10m (70–80m) overlap area is set in the area where the short-focus and long-focus cameras switch sensing modes.

[0106] According to the above embodiments, the directional LiDARs at adjacent locations have an overlap range greater than a first preset threshold, which is used to transmit identity information between different locations. The LiDAR at the same location covers the maximum sensing illumination (distance) range. The sensing illumination (distance) ranges of the telephoto camera and the short-focus camera have an overlap range greater than the first preset threshold, and the combined distance attribute of their sensing illumination (distance) ranges is the same as the sensing illumination (distance) range of the LiDAR. Furthermore, the overlapping area or the non-overlapping area of ​​their sensing illumination (distance) ranges is smaller than a third preset threshold.

[0107] It should also be noted that in responses A to C, the single-point sensor deployment scheme covers a designated section within the target tunnel. The designated section within the target tunnel refers to the section covered by a sensor device configured with a single equipment pile.

[0108] In one embodiment, in step 230, multiple sensors are deployed at adjacent locations, and the generated sensor configuration parameters include a sensing distance range and at least one of the following responses: D to F.

[0109] D. Determine the point interval in response to the type or parameters of the plurality of sensors;

[0110] Based on the type or parameters of the sensor, the sensing illumination (distance) range of the sensor can be determined. Under the premise that the sensing illumination (distance) ranges of adjacent sensors have an overlap area greater than the first set threshold, and the sensing illumination (distance) range must cover the set road section within the target tunnel, the interval of the sensor installation points can be determined.

[0111] For example, a directional lidar is responsible for sensing a range of 10–160m. Between points, a 10m overlap area is set between the starting area (10–20m) of the current point's sensing (distance) range and the ending area (150–160m) of the previous point's sensing (distance) range. Then, the points are deployed at 140m intervals.

[0112] E. In response to the point spacing, determine the sensor's sensing distance so that the sensor's illumination range at the first point covers the sensor's blind zone at the second point.

[0113] The sensor in this embodiment is a unidirectional sensor, with all sensor locations illuminating in the same direction. Due to hardware limitations, the sensor locations may not be within the sensing range of their corresponding sensors. For example, a directional lidar may be responsible for a sensing range of 10–160 m. Therefore, a directional lidar at one location cannot cover its own location, requiring the directional lidar at the adjacent preceding location to cover the following location.

[0114] For example, between points, the 0-10m blind zone of the current point is supplemented by the 140-150m sensing area of ​​the previous point.

[0115] F. In response to the point interval, determine the sensing distance of the first type of sensor at the first point and the second type of sensor at the second point, so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect.

[0116] For example, the first type of sensor at the first point is a telephoto camera; the second type of sensor at the second point is a short-focus camera. When the first type of sensor at the first point and the second type of sensor at the second point perceive the same illumination direction, and the direction is a vector from the first point to the second point, the far end of the sensing range of the first type of sensor exceeds the near end of the sensing range of the second type of sensor.

[0117] Based on the type or parameters of the sensor, the sensing illumination (distance) range of the sensor can be determined. When the point spacing is determined, the sensing illumination (distance) ranges of adjacent sensors should have an overlap area greater than a first set threshold.

[0118] It should also be noted that in responses A to F, the multi-point sensor deployment scheme is satisfied to cover a designated section within the target tunnel. The designated section within the target tunnel refers to the section covered by sensor equipment configured with multiple equipment piles.

[0119] Figure 4 A structural diagram of a roadside sensing device deployment device for a high-speed tunnel scenario is provided for embodiments of this application, used to implement the roadside sensing device deployment method for a high-speed tunnel scenario as described in any embodiment of the first aspect, comprising:

[0120] The acquisition module 410 is used to acquire the map of the target tunnel and the parameters of the sensors.

[0121] The determination module 420 is used to determine the sensing illumination range of multiple sensors according to the same illumination direction, so that the entire sensing illumination range covers the set section inside the target tunnel.

[0122] The generation module 430 is used to generate sensor configuration data, which includes the number, parameters or location of sensors.

[0123] In one embodiment, the acquisition module further includes a first acquisition unit for acquiring a map of the target tunnel and sensor parameters.

[0124] The determining module further includes a first determining unit, used to determine the sensing illumination range of multiple sensors according to the same illumination direction, so that the entire sensing illumination range covers a set section within the target tunnel.

[0125] The generation module further includes a first generation unit for generating sensor configuration data, which includes the number, parameters, or location of sensors.

[0126] In one embodiment, the acquisition module further includes a second acquisition unit, used to deploy multiple sensors at the same location and acquire sensor configuration parameters including the sensing distance range.

[0127] The determining module further includes a second determining unit, used to determine the sensing distance of the first type of sensor or the second type of sensor in response to the difference in focal length between the first type of sensor and the second type of sensor, so that the sensing illumination ranges of the first type of sensor and the second type of sensor overlap but do not cover each other.

[0128] The determining module further includes a third determining unit, used to determine the sensing distance of the first type of sensor or the third type of sensor in response to the different wavebands of the first type of sensor and the third type of sensor, so that the sensing illumination ranges of the first type of sensor and the third type of sensor cover each other.

[0129] The determining module further includes a fourth determining unit, used to determine the sensing distance of the first type of sensor, the second type of sensor, or the third type of sensor in response to the fact that the first type of sensor and the second type of sensor have different focal lengths but the same wavelength, and that the first type of sensor and the third type of sensor have different wavelengths, such that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect but do not overlap, and that the sensing illumination range of the first type of sensor or the second type of sensor is covered by the sensing illumination range of the third type of sensor.

[0130] The above embodiments are used to implement step 220 of deploying multiple sensors at the same location, and step 230 of the sensor configuration parameters including any case of sensing distance range.

[0131] In one embodiment, the acquisition module further includes a third acquisition unit for deploying multiple sensors at adjacent locations and acquiring sensor configuration parameters including the sensing distance range.

[0132] The determining module further includes a fifth determining unit, used to determine the point interval in response to the type or parameters of the plurality of sensors.

[0133] The determining module further includes a sixth determining unit, used to determine the sensing distance of the sensor in response to the point spacing, so that the sensor sensing illumination range of the first point covers the sensor sensing illumination blind zone of the second point.

[0134] The determining module further includes a seventh determining unit, used to determine the sensing distance of the first type of sensor at the first point and the second type of sensor at the second point in response to the point spacing, so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect.

[0135] The above embodiments are used to implement step 220 of deploying multiple sensors at adjacent points, and step 230 of generating sensor configuration parameters that include any of the sensing distance ranges.

[0136] In one embodiment, the acquisition module further includes a fourth acquisition unit for acquiring the sensing distance range contained in the sensor configuration parameters.

[0137] The determining module further includes an eighth determining unit, used to determine the sensing distance of the first type of sensor or the second type of sensor, so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect, thereby achieving a stable sensing overlap area.

[0138] The above embodiments are used to implement the sensor configuration parameters generated in step 230, which include any of the sensing distance ranges.

[0139] In one embodiment, the acquisition module further includes a fifth acquisition unit for acquiring the sensor illumination direction in the sensor configuration parameters.

[0140] The determining module further includes a ninth determining unit, used to determine, in response to the vehicle travel direction of a set road section within the target tunnel, that the illumination direction of all sensors within the set road section is the same as the vehicle travel direction.

[0141] In the above embodiments, the sensor configuration parameters generated in step 230 include any case of sensor illumination direction.

[0142] In one embodiment, the acquisition module further includes a sixth acquisition unit, used to acquire the sensor combination relationship for transmitting identity information to the same target in the generated sensor configuration parameters.

[0143] The determining module further includes a tenth determining unit, used to determine the sensor combination relationship for transmitting identity information to the same target within a set road segment in response to the overlapping of the sensing illumination ranges of multiple sensors.

[0144] In the above embodiments, the sensor configuration parameters generated in step 230 include any of the sensor combination relationships that enable the transfer of identity information to the same target.

[0145] To implement the methods of the various embodiments of this application, such as Figure 1 As shown, this application embodiment also provides a roadside sensing device deployment system for a high-speed tunnel scenario, comprising: a computer device 130, a device pile 150, and a display terminal 140;

[0146] A computer device is used to run the roadside sensing device deployment method for a high-speed tunnel scenario as described in any embodiment of the first aspect, generating data on the number and installation locations of the first type of sensors. For example, the computer device loads... Figure 4 The various software operating modules of the illustrated embodiment. Alternatively, it can be stated that at least a portion of the computer device is loaded. Figure 4 At least a portion of the software execution modules in the illustrated embodiment.

[0147] The display terminal, in response to the number and installation location of the first type of sensors, displays a graphic representation of the perceived illumination range. It should be noted that this graphic is a simulation based on traffic scene data, represented, for example, through vector graphics or other graphic data, containing geometric and attribute information. Furthermore, it also includes data on equipment stakes used to determine the number and installation location of the first type of sensors.

[0148] In one embodiment, a traffic scenario database is also included.

[0149] Through the aforementioned system, this application uses a high-precision map to simulate the sensor's sensing range and detect the sensor's efficiency, thereby enabling the selection of the number and installation location of the first type of sensor.

[0150] Furthermore, it also includes a communication module connected to the communication network 120, used to send data on the number and installation locations of the first type of sensors to a traffic management or maintenance center, providing equipment optimization solutions. Additionally, the communication module can also send the sensor parameters to roadside equipment, personal terminals, and other operation and maintenance terminals.

[0151] In one embodiment, the system further includes a device stake; the device stake is used to configure the sensors, and preferably, also to receive sensor configuration data. For example, this data may include one or more of the following: the number of sensors, parameters, installation location, illumination direction, sensing distance range, and sensor combination relationships for transmitting identity information.

[0152] Furthermore, the system also includes a sensor 110. The sensor is used to acquire images of the actual road scene within the sensing illumination range.

[0153] It is understood that the equipment piles and the roadside computing units connected to them can acquire configuration data from sensors in other computer devices via communication modules. This configuration data can be activated manually or automatically to set the sensor's installation location, orientation, and parameters.

[0154] It is understandable that when a sensor is connected to a roadside computing unit, the configuration data of the sensor can be obtained through the roadside computing unit and used as the control data of the sensor. This control data can be triggered and executed manually or automatically to adjust the installation position, orientation and parameters of the sensor in real time.

[0155] Sensors. Specifically, the sensor types include: LiDAR, short-focus cameras, or long-focus cameras.

[0156] The sensor deployment methods of this system include:

[0157] Multiple equipment piles arranged adjacent to each other along the tunnel direction can be represented by different planar coordinates at their installation positions. Each pile is equipped with a lidar sensor, which faces a single direction. The installation position can also include the sensor installation height on the equipment pile. The sensing ranges of the lidar sensors at adjacent installation positions overlap, and this overlap exceeds a predetermined threshold (e.g., a first predetermined threshold). This threshold is used to ensure a minimum range for target identification. However, to improve efficiency, the overlap should also be less than a second predetermined threshold. Preferably, the sensing range of the sensor combination is maximized while ensuring a minimum overlap for stable sensing.

[0158] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0159] Therefore, this application also proposes a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the methods described in any embodiment of this application.

[0160] Furthermore, this application also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in any embodiment of this application.

[0161] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0162] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0163] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0164] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, a network interface, and memory. Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0165] Figure 5 This is a structural diagram of a computer device according to an embodiment of this application. Furthermore, this application also proposes a computer device (or computing device), including a memory, a processor, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, it implements the method described in any embodiment of this application.

[0166] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-persistent storage in computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media. Computer-readable media includes both permanent and non-persistent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information that can be accessed by the computing device. As defined herein, computer-readable media do not include transient media, such as modulated data signals and carrier waves. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0167] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0168] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be understood that when a device or component is “connected” to another device or component, it may be directly connected to the other device or component, or there may be an intermediary device or component. Furthermore, the term “connection” as used herein may include partially wireless connections as well as partially wired connections.

[0169] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0170] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for deploying roadside sensing equipment in a high-speed tunnel scenario, characterized in that, Including the following steps: Obtain a map of the target tunnel and sensor parameters; The sensing range of multiple sensors is determined according to the same irradiation direction, so that the entire sensing range covers the set section inside the target tunnel. Generate sensor configuration data, which includes the number of sensors, parameters, or locations.

2. The method for deploying roadside sensing devices in a high-speed tunnel scenario according to claim 1, wherein multiple sensors are deployed at the same location, and the generated sensor configuration parameters include a sensing distance range, characterized in that... Includes at least one of the following responses: In response to the difference in focal length between the first type of sensor and the second type of sensor, the sensing distance of the first type of sensor or the second type of sensor is determined so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect but do not overlap. In response to the different wavelengths of the first type of sensor and the third type of sensor, the sensing distance of the first type of sensor or the third type of sensor is determined so that the sensing illumination ranges of the first type of sensor and the third type of sensor overlap. In response to the fact that the first type of sensor and the second type of sensor have different focal lengths but the same wavelength, and that the first type of sensor and the third type of sensor have different wavelengths, the sensing distance of the first type of sensor, the second type of sensor, or the third type of sensor is determined such that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect but do not overlap, and the sensing illumination range of the first type of sensor or the second type of sensor is covered by the sensing illumination range of the third type of sensor.

3. The method for deploying roadside sensing devices in a high-speed tunnel scenario according to claim 1, wherein multiple sensors are deployed at adjacent locations, and the generated sensor configuration parameters include a sensing distance range, characterized in that... Includes at least one of the following responses: The location interval is determined in response to the type or parameters of the plurality of sensors; In response to the point spacing, the sensing distance of the sensor is determined so that the sensor's illumination range at the first point covers the sensor's blind spot at the second point. In response to the point spacing, the sensing distance of the first type of sensor at the first point and the second type of sensor at the second point is determined, so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect.

4. The method for deploying roadside sensing devices in a high-speed tunnel scenario according to claim 1, wherein the generated sensor configuration parameters include the sensor illumination direction, characterized in that, In response to the vehicle's direction of travel in a designated section within the target tunnel, the illumination direction of all sensors within the designated section is determined to be the same as the vehicle's direction of travel.

5. The method for deploying roadside sensing devices in a high-speed tunnel scenario according to claim 1, wherein the generated sensor configuration parameters include a sensing distance range, characterized in that, Determine the sensing distance of the first type of sensor or the second type of sensor, so that the sensing illumination ranges of the first type of sensor and the second type of sensor intersect, and achieve a stable sensing overlap area.

6. The method for deploying roadside sensing devices in a high-speed tunnel scenario according to claim 1, wherein the generated sensor configuration parameters include sensor combination relationships for transmitting identity information to the same target, characterized in that, In response to the overlapping illumination ranges of multiple sensors, the sensor combination relationship for transmitting identity information to the same target within a designated road segment is determined.

7. A roadside sensing device deployment system for high-speed tunnel scenarios, characterized in that, It includes: a computer device and a device stake; the computer device is used to implement the roadside sensing device deployment method for any one of claims 1-6 in a high-speed tunnel scenario and generate sensor configuration data; the device stake is used to configure the sensor.

8. A deployment device for roadside sensing equipment in a high-speed tunnel scenario, characterized in that, The method for deploying roadside sensing devices in a high-speed tunnel scenario as described in any one of claims 1-6 includes: The acquisition module is used to acquire maps and sensor parameters of the target tunnel; The determination module is used to determine the sensing range of multiple sensors according to the same irradiation direction, so that the entire sensing range covers the set section of the target tunnel. The generation module is used to generate sensor configuration data, which includes the number, parameters, or location of sensors.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-6.

10. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1-6.

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