Roadside equipment

Abstract

The utility model provides roadside equipment. The roadside equipment comprises a chassis; the mounting rod is arranged on the chassis; the at least one special bracket is arranged on the mounting rod; the road condition auxiliary equipment is mounted on the special bracket, and the road condition auxiliary equipment can be detachably mounted on the special bracket; wherein the special bracket is an adjustable bracket; the adjustable support comprises a posture adjusting structural part, and the posture adjusting structural part is used for adjusting the posture of the posture adjusting structural part so as to meet the requirement for the detection angle of the road condition auxiliary equipment placed on the adjustable support. The road condition auxiliary equipment comprises road condition detection equipment and / or navigation equipment. The adjustable bracket enables the roadside equipment to have a flexible and adjustable monitoring visual angle; the navigation equipment enables the roadside equipment to have an automatic calibration function and good anti-vibration performance, completely adapts to constantly changing mine road environments, and provides guarantee for the safety of automatic driving vehicles.

Description

Technical Field

[0001] The present disclosure relates to the field of driverless technologies, and particularly to a roadside device. Background Art

[0002] During the operation of autonomous driving in mines, in order to ensure the safety of vehicle driving, it is usually necessary for roadside devices to effectively sense and monitor key positions such as intersection areas. The initialization process of mobile roadside devices is complex, and it is necessary to accurately adjust attitude parameters such as the heading angle, pitch angle, and roll angle of the device to ensure that the data collected by the sensing device can clearly reflect the state of the target intersection to be observed. After each perspective adjustment, it is necessary to manually recalibrate the device to ensure that sensing devices such as lidar can accurately be converted into the projection coordinate system. In the related art, roadside devices are fixedly installed, which brings difficulties to subsequent calibration work. Summary of the Invention

[0003] Embodiments of the present disclosure provide a roadside device to solve the problems of difficult perspective adjustment and device calibration in the prior art.

[0004] Based on the above problems, a roadside device provided by embodiments of the present disclosure includes:

[0005] A chassis;

[0006] A mounting rod disposed on the chassis;

[0007] At least one dedicated bracket disposed on the mounting rod; and

[0008] A road condition auxiliary device mounted on the dedicated bracket, and the road condition auxiliary device can be detachably mounted on the dedicated bracket;

[0009] Wherein, the dedicated bracket is an adjustable bracket; the adjustable bracket includes an attitude adjustment structural member, and the attitude adjustment structural member is used to adjust its own attitude to meet the detection angle requirements of the road condition auxiliary device placed on the adjustable bracket;

[0010] The road condition auxiliary device includes: a road condition detection device and / or a navigation device.

[0011] In a possible implementation manner, the adjustable bracket further includes: a fixing mechanism, an adjusting structure, and a supporting mechanism;

[0012] The fixing mechanism is used to fix the adjustable bracket at a preset height on the mounting rod;

[0013] The attitude adjustment structural member includes the adjustment structure; the adjustment structure is disposed at the connection of the fixing mechanism and the supporting mechanism for adjusting the angle of the supporting mechanism in multiple directions; the multiple directions include at least two of the following: the roll direction relative to the horizontal direction, the pitch direction relative to the horizontal direction, and the heading direction;

[0014] The supporting mechanism is used to provide support for the road condition assistance device.

[0015] In a possible implementation manner, the navigation device includes: a combined navigation antenna and an inertial navigation device;

[0016] The positions of the combined navigation antenna and the inertial navigation device are relatively fixed; the relatively fixed positions include: the spatial positions and the heading angles of the two are respectively relatively fixed.

[0017] In a possible implementation manner, the combined navigation antenna is disposed at the topmost end of the mounting rod; and / or,

[0018] The combined navigation antenna includes a dual antenna.

[0019] In a possible implementation manner, the navigation device includes: an inertial navigation device; and / or,

[0020] The road condition detection device includes: a lidar and / or a camera.

[0021] In a possible implementation manner, the positions of the road condition detection device and the navigation device are relatively fixed; the relatively fixed positions include: at least one of the spatial positions, the heading angle, the pitch angle, and the roll angle of the two are respectively relatively fixed.

[0022] In a possible implementation manner, the lidar, the camera, and the inertial navigation device are simultaneously disposed on each dedicated bracket.

[0023] In a possible implementation manner, the inertial navigation device includes: an inertial measurement unit;

[0024] The inertial measurement unit includes a shaking perception component and a shaking parameter detection component. The shaking perception component is used to perceive the shaking of the mounting rod, and the shaking parameter detection component is used to determine the direction and angle of the shaking of the mounting rod after perceiving the shaking of the mounting rod.

[0025] In a possible implementation manner, the chassis includes an axle, wheels, a box body, a power supply device, and support legs;

[0026] The wheels are disposed at both ends of the axle;

[0027] The box body is disposed on the upper surface of the axle.

[0028] The power supply device is disposed inside the box body and is used to supply electric energy to the navigation device and the road condition detection device. The box body is also used for storing items.

[0029] The support leg is disposed below the axle and is used to be retracted to a preset position that does not affect the wheel movement during the movement of the roadside device, and to lower and fix the support leg when the roadside device reaches the preset position to provide support for the roadside device.

[0030] In a possible implementation manner, the bottom of the mounting rod is disposed on the upper surface of the axle through a detachable mechanism and is adjacent to the box body in position; the mounting rod is connected to one side of the box body through a hinge mechanism, so that the mounting rod rotates around the hinge mechanism as the axis; the hinge mechanism enables the mounting rod to rotate around its own rod body as the axis.

[0031] In a possible implementation manner, the mounting rod is a liftable rod and includes at least two sub-rods; the lifting system of the liftable rod adopts: a rope type lifting system, a hydraulic system, and / or a motor drive type lifting system; and / or

[0032] The roadside device further includes a trailer hitch; the trailer hitch is disposed on the chassis.

[0033] The beneficial effects of the embodiments of the present disclosure include:

[0034] The roadside device provided by the embodiments of the present disclosure includes: a chassis; a mounting rod disposed on the chassis; at least one special bracket disposed on the mounting rod; and a road condition auxiliary device mounted on the special bracket, and the road condition auxiliary device can be detachably mounted on the special bracket; wherein, the special bracket is an adjustable bracket; the adjustable bracket includes an attitude adjustment structural member, and the attitude adjustment structural member is used to adjust its own attitude to meet the detection angle requirements of the road condition auxiliary device placed on the adjustable bracket; the road condition auxiliary device includes: a road condition detection device and / or a navigation device. For the roadside device provided by the embodiments of the present disclosure, the special bracket is an adjustable bracket, and the attitude of the special bracket itself is adjusted through the attitude adjustment structural member of the adjustable bracket to meet the detection angle requirements of the road condition auxiliary device placed on the adjustable bracket. It can be seen that the adjustable bracket enables the roadside device to have a flexible and adjustable monitoring perspective, which brings convenience to the subsequent calibration work and provides guarantee for the safety of autonomous driving vehicles. Description of the Drawings

[0035] Figure 1 It is one of the structural schematic diagrams of the roadside device provided by the embodiments of the present disclosure.

[0036] Figure 2 The second schematic structural diagram of the roadside device provided by the embodiment of the present disclosure;

[0037] Figure 3 The third schematic structural diagram of the roadside device provided by the embodiment of the present disclosure;

[0038] Figure 4 The schematic diagram of the shaking of the roadside device provided by the embodiment of the present disclosure;

[0039] Figure 5 The fourth schematic structural diagram of the roadside device provided by the embodiment of the present disclosure. Specific embodiments

[0040] The embodiment of the present disclosure provides a roadside device. The preferred embodiments of the present disclosure will be described below with reference to the accompanying drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure. And without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0041] The embodiment of the present disclosure provides a roadside device, as Figure 1 shown, including: a chassis 100; a mounting rod 200 disposed on the chassis 100; at least one special bracket 300 disposed on the mounting rod 200; and a road condition auxiliary device 400 mounted on the special bracket 300, and the road condition auxiliary device 400 can be detachably mounted on the special bracket 300; wherein, the special bracket 300 is an adjustable bracket; the adjustable bracket includes an attitude adjustment structural member, and the attitude adjustment structural member is used to adjust its own attitude to meet the detection angle requirements of the road condition auxiliary device 400 placed on the adjustable bracket; the road condition auxiliary device 400 includes: a road condition detection device 401 and / or a navigation device 402.

[0042] The roadside device provided by the embodiment of the present disclosure is applicable to scenarios with complex road conditions, such as mines, wildernesses, etc. In such scenarios, the turning areas usually have obstacles such as trees and rocks blocking the radar signals of unmanned vehicles, so that when the driverless vehicle reaches the turning area, it cannot accurately obtain the road condition information of the turning area, which is extremely likely to lead to safety accidents. The roadside device is also called a Road Side Unit (RSU), which is a key device in the vehicle-road-cloud integration system. One of its key functions includes: road condition monitoring and expanding the perception range of vehicles. By setting the roadside device at the corner of the turning area, it can monitor the road conditions behind the obstacles, obtain information beyond the perception range of the unmanned vehicle sensor, and share this information with the unmanned vehicle, thereby improving traffic safety.

[0043] Such as Figure 1As shown in the figure, the roadside device includes a chassis 100, which can reduce the center of gravity height of the roadside device and provide better stability for the roadside device; a mounting rod 200 provided on the chassis 100, which provides the necessary mounting height for the road condition auxiliary device 400 to detect road conditions; a special bracket 300 (taking one special bracket 300 installed in the figure as an example) is an adjustable bracket, and the adjustable bracket includes an attitude adjustment structure member 301. The attitude adjustment structure member 301 is used to adjust its own attitude to meet the detection angle requirements of the road condition auxiliary device 400 placed on the adjustable bracket. Thus, after the road condition auxiliary device 400 is installed on the corresponding special bracket 300, by adjusting the attitude of the special bracket 300, the viewing angle of the road condition auxiliary device 400 can be adjusted, which brings convenience to the subsequent calibration work and ensures the comprehensive monitoring of the road conditions by the road condition auxiliary device 400.

[0044] In another embodiment provided by the present disclosure, the adjustable bracket further includes: a fixing mechanism 301, an adjusting structure 302, and a supporting mechanism 303;

[0045] The fixing mechanism 301 is used to fix the adjustable bracket at a preset height on the mounting rod 200;

[0046] The attitude adjustment structure member includes an adjusting structure 302; the adjusting structure 302 is arranged at the connection of the fixing mechanism 301 and the supporting mechanism 303 and is used to adjust the angles of the supporting mechanism 303 in multiple directions; the multiple directions include at least two of the following: the roll direction relative to the horizontal direction, the pitch direction relative to the horizontal direction, and the heading;

[0047] The supporting mechanism 303 is used to provide support for the road condition auxiliary device 400.

[0048] In the embodiment of the present disclosure, as Figure 1 and Figure 2 shown, the preset height of the fixing mechanism 301 on the mounting rod 200 can be adjusted according to actual needs. At the same time, by adjusting the angle between the fixing mechanism 301 and the circumferential direction of the mounting rod 200, the heading angle of the device installed on the supporting mechanism 303 can also be adjusted.

[0049] The attitude adjustment structural member includes an adjustment structure 302; the adjustment structure 302 is at the connection of the fixing mechanism 301 and the supporting mechanism 303, and can enable the supporting mechanism 303 to rotate relative to the fixing mechanism 301 in multiple directions, so as to realize angle adjustment, and the multiple directions include at least two directions. The adjustment structure 302 can also support the adjustment of the heading angle. In this way, after the road condition auxiliary device 400 is installed on the corresponding special bracket 300, by adjusting the attitude of the special bracket 300 through the adjustment structure 302, at least one of the roll angle, pitch angle, heading angle, etc. of the road condition auxiliary device 400 can be adjusted, so as to improve the accuracy of the data collected by the road condition auxiliary device 400.

[0050] In another embodiment provided by the present disclosure, the navigation device 402 includes: a combined navigation antenna 4021 and an inertial navigation device 4022;

[0051] The positions of the combined navigation antenna 4021 and the inertial navigation device 4022 are relatively fixed; the relatively fixed positions include: the spatial positions and the heading angles of the two are respectively relatively fixed.

[0052] In the embodiment of the present disclosure, as Figure 3 shown, the navigation device 402 composed of the combined navigation antenna 4021 and the inertial navigation device 4022 can provide more accurate positioning, orientation and navigation accuracy for the roadside device. When in use, it is usually necessary to perform external parameter calibration on the combined navigation antenna 4021 and the inertial navigation device 4022, that is, to determine the rotation and translation relationship between the two sensors. The translation relationship between the combined navigation antenna 4021 and the inertial navigation device 4022 can include the spatial position relationship between the two, and the rotation relationship is usually adjusted through the heading angle. Therefore, in order to make the combined navigation antenna 4021 and the inertial navigation device 4022 meet the requirements of external parameter calibration, it is necessary to make the positions of the combined navigation antenna 4021 and the inertial navigation device 4022 relatively fixed, that is, the spatial positions and the heading angles of the two are respectively relatively fixed, so as to better provide accurate calibration parameter information for the automatic calibration of the roadside device.

[0053] The combined navigation antenna 4021 can be implemented as a Global Navigation Satellite System (GNSS), and the inertial navigation device 4022 can be implemented as an Inertial Measurement Unit (IMU).

[0054] In another embodiment provided by the present disclosure, the combined navigation antenna 4021 is arranged at the top of the installation rod; and / or, the combined navigation antenna includes a dual antenna.

[0055] In the embodiment of the present disclosure, as Figure 3As shown, the combined navigation antenna 4021 is disposed at the topmost end of the mounting rod, which can maximize signal reception, reduce the occlusion and interference of obstacles to the signal, thereby improving the signal reception quality and the positioning accuracy. The combined navigation antenna includes a dual antenna. Different from a single antenna, the dual antenna can obtain the position information of two points. The dual antenna system can easily determine the direction by connecting the two points without any movement, and can obtain an accurate heading angle even in a stationary state.

[0056] In another embodiment provided by the present disclosure, the navigation device 402 includes: an inertial navigation device 4022; and / or, the road condition detection device 401 includes: a lidar 4011 and / or a camera 4012.

[0057] In the embodiment of the present disclosure, as Figure 3 shown, the inertial navigation device 4022 may include a gyroscope for measuring the angular velocity. Based on Newton's laws of motion, the angle is determined by integrating the angular velocity measurement value. After adjusting the monitoring angle of the roadside device through a dedicated bracket, the change of the angle can be obtained through a software algorithm, thereby realizing the calibration of the roadside device; the road condition detection device 401 may include: a lidar 4011 and / or a camera 4012. The roadside device is disposed at the corner of the turning area, which can bypass the occlusion, monitor the road condition in real time, obtain information beyond the sensing range of the unmanned vehicle sensor, and share this information with the unmanned vehicle, thereby improving traffic safety.

[0058] In another embodiment provided by the present disclosure, the positions of the road condition detection device 401 and the navigation device 402 are relatively fixed; relatively fixed positions include: at least one of their spatial positions, heading angles, pitch angles, and roll angles is relatively fixed respectively.

[0059] In the embodiment of the present disclosure, in order to cooperate to complete the sensing work, the road condition detection device 401 and the navigation device 402 also need to perform joint extrinsic parameter calibration. Then, requirements are put forward for the installation positions of the road condition detection device 401 and the navigation device 402, that is, the positions of the road condition detection device 401 and the navigation device 402 are relatively fixed; relatively fixed positions include: at least one of their spatial positions, heading angles, pitch angles, and roll angles is relatively fixed respectively, so as to provide accurate calibration parameter information for the calibration of the roadside device.

[0060] In another embodiment provided by the present disclosure, a lidar 4011, a camera 4012, and an inertial navigation device 4022 are simultaneously disposed on each dedicated bracket 300.

[0061] In the embodiment of the present disclosure, as Figure 3As shown in the figure, the lidar 4011, the camera 4012, and the inertial navigation device 4022 can be simultaneously arranged on the same dedicated bracket, which can ensure the accuracy of road condition monitoring data. Moreover, when adjusting the spatial position and angle of the dedicated bracket 300, the relative positions of the lidar 4011, the camera 4012, and the inertial navigation device 4022 can be guaranteed to be fixed. When adjusting the viewing angles of the three devices through the dedicated bracket, since the three devices are installed on the same dedicated bracket, the angle change values of the three devices are the same. Therefore, it is only necessary to estimate the changed angles based on the data obtained by the inertial navigation device 4022, which provides convenience for subsequent external parameter calibration.

[0062] In another embodiment provided by the present disclosure, the inertial navigation device 4022 includes: an inertial measurement unit;

[0063] The inertial measurement unit includes a shaking perception component and a shaking parameter detection component. The shaking perception component is used to perceive the shaking of the mounting rod 200, and the shaking parameter detection component is used to determine the direction and angle of the shaking of the mounting rod 200 after perceiving the shaking of the mounting rod 200.

[0064] Because the mine environment is complex and changeable, there are influencing factors such as wind force and vehicle vibration, which cause the roadside equipment to shake. For example, Figure 4 As shown in the figure, when the roadside equipment is stationary, it is located at position a. Under external interference, it may shake to position b or position c, which affects the accuracy of the data collected by the sensing equipment. Therefore, this poses a relatively high requirement for the anti-vibration ability of the roadside equipment.

[0065] In the embodiment of the present disclosure, the inertial measurement unit (IMU, Inertial Measurement Unit) includes a shaking perception component and a shaking parameter detection component. When the roadside equipment shakes due to external forces such as wind force and vehicle vibration, the shaking perception component perceives the shaking of the mounting rod 200. After the shaking parameter detection component perceives the shaking of the mounting rod 200, it determines the direction and angle of the shaking of the mounting rod 200. Then, through the calculation and processing of software algorithms, the error of the data collected by the road condition auxiliary equipment is compensated, and the data noise brought by the external force during data collection by the road condition detection equipment can be eliminated, thereby providing good anti-vibration performance for the roadside equipment and ensuring accurate collection data even in a harsh environment.

[0066] In yet another embodiment provided by the present disclosure, the chassis 100 includes an axle 101, wheels 102, a box body 103, a power supply device 104, and support legs 105; the wheels 102 are disposed at both ends of the axle 101; the box body 103 is disposed on the upper surface of the axle 101; the power supply device 104 is disposed inside the box body 103 and is used to supply electrical energy to the navigation device 402 and the road condition detection device 401, and the box body 103 is also used to store items; the support legs 105 are disposed below the axle 101 and are used to be retracted to a preset position that does not affect the movement of the wheels 102 during the movement of the roadside device, and when the roadside device reaches the preset position, the support legs 105 are lowered for fixation to provide support for the roadside device.

[0067] Traditional roadside devices are usually fixedly installed and rely on dedicated pipelines and power supplies for power supply, which limits their applicability in the dynamically changing mine road environment. However, the mine road environment has the characteristic of dynamic change. As the mining and stripping operations proceed, the road conditions and intersection positions may change, which requires the roadside device to be able to adapt to this dynamic change and have a certain degree of mobility.

[0068] In the embodiments of the present disclosure, as Figure 5 shown, the chassis can be a movable chassis, so that when the road conditions and intersection positions change, the roadside device has a certain degree of mobility.

[0069] In yet another embodiment provided by the present disclosure, the bottom of the mounting rod 200 is disposed on the upper surface of the axle 101 through a detachable mechanism 106 and is adjacent to the box body 103 in position; the mounting rod 200 is connected to one side of the box body 103 through a hinged mechanism 107, so that the mounting rod 200 rotates around the hinged mechanism 107 as the axis; the hinged mechanism 107 enables the mounting rod 200 to rotate around its rod body as the axis.

[0070] In the embodiments of the present disclosure, as Figure 5 shown, the bottom of the mounting rod 200 is disposed on the upper surface of the axle 101 through a detachable mechanism 106 and is adjacent to the box body 103 in position; the mounting rod 200 is connected to one side of the box body 103 through a hinged mechanism 107, so that during the process of the mounting rod 200 rotating around the hinged mechanism 107 as the axis, it can be disengaged from the upper surface of the axle 101, which is convenient for the transportation and maintenance of the roadside device; the hinged mechanism 107 enables the mounting rod 200 to rotate around its rod body as the axis, so that the heading angle of the road condition auxiliary device can be flexibly adjusted.

[0071] In another embodiment provided by the present disclosure, the mounting rod 200 is a liftable rod, including at least two sub-rods; the lifting system of the liftable rod adopts: a rope-type lifting system, a hydraulic system, and / or a motor-driven lifting system; and / or the road test device further includes a trailer hitch 108; the trailer hitch 108 is arranged on the chassis.

[0072] In the embodiment of the present disclosure, the mounting rod 200 is a liftable rod, including at least two sub-rods, so as to adjust the installation height of the road condition assistance device 400 thereon, thereby expanding the range of monitoring road conditions; the lifting system of the liftable rod adopts: a rope-type lifting system, a hydraulic system, and / or a motor-driven lifting system; the rope-type lifting system drives the rotation of the rotating shaft through a rope to drive the lifting of each rod body, which is suitable for working scenarios with frequent lifting, and has a simple structure and low cost; the hydraulic lifting system drives the lifting of each rod body depending on the operation of the hydraulic system, with strong load-bearing capacity and high stability; the motor-driven lifting system drives the lifting of each rod body through the synchronous spiral rotation transmission mode of each lead screw, can be automatically locked at any height, has a fast lifting speed and high precision; and / or, as Figure 5 shown, the road test device further includes a trailer hitch 108; the trailer hitch 108 is arranged on the chassis, and the roadside device can be transported to any position in the operation area by a vehicle.

[0073] The roadside device provided by the embodiment of the present disclosure realizes the adjustment of the device perspective and the device calibration by implementing a dedicated bracket as an adjustable bracket; realizes the anti-vibration design through the inertial measurement unit; enables the roadside device to flexibly adjust its position according to the changes of the road through the movable chassis to ensure effective monitoring of key areas. In summary, the embodiment of the present disclosure provides a mobile roadside device that can cope with a dynamically changing environment, has strong adaptability and can operate reliably, providing guarantee for the safety of autonomous driving vehicles.

[0074] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented by hardware, or can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present disclosure.

[0075] Those skilled in the art can understand that the drawings are only schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing the present disclosure.

[0076] Those skilled in the art can understand that the modules in the devices in the embodiments can be distributed in the devices in the embodiments as described in the embodiments, or can be correspondingly changed to be located in one or more devices different from the embodiments. The modules in the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0077] The serial numbers of the above embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0078] Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalent technologies, the present disclosure also intends to include these modifications and variations.

Claims

1. A roadside device, characterized in that, Comprising: Chassis; Mounting rod disposed on the chassis; At least one dedicated bracket disposed on the mounting rod; And Road condition auxiliary equipment mounted on the dedicated bracket, and the road condition auxiliary equipment can be detachably mounted on the dedicated bracket; Wherein, the dedicated bracket is an adjustable bracket; the adjustable bracket includes an attitude adjustment structural member, and the attitude adjustment structural member is used to adjust its own attitude to meet the detection angle requirements of the road condition auxiliary equipment placed on the adjustable bracket; The road condition auxiliary equipment includes: road condition detection equipment and / or navigation equipment.

2. The roadside device according to claim 1, characterized in that, The adjustable bracket further includes: a fixing mechanism, an adjusting structure, and a supporting mechanism; The fixing mechanism is used to fix the adjustable bracket at a preset height on the mounting rod; The attitude adjustment structural member includes the adjusting structure; the adjusting structure is disposed at the connection of the fixing mechanism and the supporting mechanism and is used to adjust the angle of the supporting mechanism in multiple directions; the multiple directions include at least two of the following: the roll direction relative to the horizontal direction, the pitch direction relative to the horizontal direction, and the heading; The supporting mechanism is used to provide support for the road condition auxiliary equipment.

3. The roadside device according to claim 1, wherein, The navigation equipment includes: a combined navigation antenna and an inertial navigation device; The positions of the combined navigation antenna and the inertial navigation device are relatively fixed; the relatively fixed positions include: their spatial positions and heading angles are respectively relatively fixed.

4. The roadside device according to claim 3, wherein The combined navigation antenna is disposed at the topmost end of the mounting rod; and / or, The combined navigation antenna includes a dual antenna.

5. The roadside device according to claim 1, wherein The navigation equipment includes: an inertial navigation device; and / or, The road condition detection equipment includes: a lidar and / or a camera.

6. The roadside device according to claim 1, wherein The positions of the road condition detection equipment and the navigation equipment are relatively fixed; the relatively fixed positions include: at least one of their spatial positions, heading angles, pitch angles, and roll angles is respectively relatively fixed.

7. The roadside device according to claim 5, characterized in that, The lidar, the camera, and the inertial navigation device are simultaneously disposed on each dedicated bracket.

8. The roadside device according to claim 5, characterized in that, The inertial navigation device includes: an inertial measurement unit; The inertial measurement unit includes a shaking perception component and a shaking parameter detection component. The shaking perception component is used to perceive the shaking of the mounting rod, and the shaking parameter detection component is used to determine the direction and angle of the shaking of the mounting rod after perceiving the shaking of the mounting rod.

9. The roadside device according to claim 1, characterized in that, The chassis includes an axle, wheels, a box body, a power supply device, and support legs; The wheels are disposed at both ends of the axle; The box body is disposed on the upper surface of the axle; The power supply device is disposed inside the box body and is used to provide electrical energy for the navigation equipment and the road condition detection equipment, and the box body is also used to store items; The support legs are arranged below the axle and are used to be retracted to a preset position that does not affect the travel of the wheels during the travel of the roadside device, and to lower and fix the support legs to provide support for the roadside device when the roadside device reaches the preset position.

10. The roadside device according to claim 1, characterized in that, The chassis includes an axle and a box body; The bottom of the mounting rod is arranged on the upper surface of the axle through a detachable mechanism and is adjacent to the box body in position; the mounting rod is connected to one side of the box body through a hinge mechanism, so that the mounting rod rotates around the hinge mechanism as the axis; the hinge mechanism enables the mounting rod to rotate around its own rod body as the axis.

11. The roadside device according to claim 1, characterized in that, The mounting rod is a liftable rod and includes at least two sub-rods; the lifting system of the liftable rod adopts: a rope-type lifting system, a hydraulic system, and / or a motor-driven lifting system; and / or The roadside device further includes a trailer hitch; the trailer hitch is arranged on the chassis.

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