Roadside sensor

Abstract

The utility model discloses a roadside sensor. The roadside sensor comprises a sensor main body and a calibration matching device, the calibration matching device is used for providing sound wave information required by calibration for calibration calculation equipment of the roadside sensor, and the calibration matching device comprises at least one sound wave receiver and a plurality of sound wave emitters; the plurality of sound wave emitters are distributed at different positions of a monitoring range of the roadside sensor, and the plurality of sound wave emitters emit sound wave signals in sequence; and the sound wave receiver is arranged on the sensor main body, receives the sound wave signal, generates sound wave information and sends the sound wave information to the calibration calculation equipment. According to the technical scheme of the invention, the calibration matching device is additionally arranged to improve the structure of the roadside sensor, so that the calibration calculation equipment can complete the calibration and calibration of the roadside sensor according to the sound wave information provided by the calibration matching device, and the sensitivity of the roadside sensor to the environment change in a calibration and calibration scene is reduced. And the calibration timeliness of the roadside sensor is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a roadside sensor. Background Art

[0002] As China vigorously promotes digital infrastructure development, new roadside infrastructure projects such as vehicle-infrastructure collaboration (VIS) and digital twins are being implemented across the country. The service quality of roadside equipment in VIS systems determines the overall system's operational performance and profoundly impacts the safety of intelligent transportation systems based on VIS. The positional accuracy of roadside sensors plays a crucial role in determining the service quality of roadside equipment.

[0003] Currently, existing calibration schemes for roadside sensors have many limitations. For example, camera calibration needs to be performed in a well-lit environment, and lidar and millimeter-wave radar need to be calibrated during the day when there is no haze. It can be seen that roadside equipment can only calibrate roadside sensors under specific conditions, is more sensitive to environmental changes, and has poor real-time performance. Utility Model Content

[0004] An embodiment of the present application provides a roadside sensor, which realizes the calibration of the roadside sensor based on acoustic wave information rather than the perception data of the roadside sensor, reduces the sensitivity of the roadside sensor to environmental changes in the calibration scenario, and makes the calibration of the roadside sensor more real-time.

[0005] The embodiments of this application adopt the following technical solutions:

[0006] An embodiment of the present application provides a roadside sensor, the roadside sensor comprising a sensor body and a calibration coordination device, the calibration coordination device being configured to provide acoustic wave information required for calibration to a calibration computing device of the roadside sensor, the calibration coordination device comprising at least one acoustic wave receiver and a plurality of acoustic wave transmitters;

[0007] The multiple sound wave transmitters are distributed at different positions within the monitoring range of the roadside sensor, and the multiple sound wave transmitters transmit sound wave signals in sequence;

[0008] The at least one sound wave receiver is arranged on the sensor body, receives the sound wave signal and generates sound wave information, and sends the sound wave information to the calibration calculation device.

[0009] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0010] The embodiment of the present application improves the structure of the roadside sensor by adding a calibration cooperation device, adds an acoustic wave receiver to the sensor body of the roadside sensor, and sets multiple acoustic wave transmitters to cooperate with the acoustic wave receiver, so that the roadside sensor can receive multiple groups of acoustic wave signals at different positions through its own acoustic wave receiver, and then the calibration calculation device of the roadside sensor can convert the point calculation scheme for calculating the calibration point based on the perception data of the roadside sensor into a point calculation scheme based on multiple groups of acoustic wave signals. This can reduce the sensitivity of the roadside sensor to environmental changes in the calibration scenario and improve the calibration timeliness of the roadside sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0012] Figure 1 This is a schematic structural diagram of a roadside sensor in an embodiment of the present application;

[0013] Figure 2 This is a schematic diagram of the installation relationship between a sensor body and an acoustic wave receiver in an embodiment of the present application;

[0014] Figure 3 This is a schematic structural diagram of a sound wave transmitter in an embodiment of the present application;

[0015] Figure 4 Schematic diagram of the communication relationship between a calibration coordination device and MEC in an embodiment of the present application;

[0016] Figure 5 This is a schematic diagram of acoustic wave signal transmission of a roadside sensor in a traffic scene in an embodiment of the present application;

[0017] In the figure: 10-sensor body, 11-first installation position, 12-second installation position, 13-third installation position, 14-third installation position, 15-fourth installation position, 20-sound wave receiver, 30-sound wave transmitter, 31-transmitter body, 32-support rod, 33-base. DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0019] The following describes the embodiments of the present application in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the present application include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0020] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0021] The embodiment of the present application provides a roadside sensor, such as Figure 1 As shown, the roadside sensor of the embodiment of the present application includes a sensor body 10 and a calibration device. The sensor body 10 is mounted on a roadside pole, such as a horizontal roadside pole, a vertical roadside pole, or a signal light pole. In other traffic scenarios, the sensor body 10 can also be mounted on a building wall. The sensor body 10 is used to perceive the traffic environment, such as detecting traffic participants and detecting lanes in drivable areas within the traffic environment. The sensor body 10 of the embodiment of the present application can be a camera, a lidar, a millimeter-wave radar, or other sensors.

[0022] The calibration cooperation device in the embodiment of the present application is used to provide the calibration calculation equipment of the roadside sensor with the acoustic wave information required for calibration. The acoustic wave information here includes the acoustic wave signal transmission time of each acoustic wave transmitter and the acoustic wave receiver's acoustic wave signal reception time for each acoustic wave transmitter.

[0023] The calibration coordination device includes at least one acoustic wave receiver 20 and multiple acoustic wave transmitters 30. These multiple acoustic wave transmitters 30 are distributed at different locations within the monitoring range of the roadside sensor. The acoustic wave transmitters should be located in open areas without obstructions and interference (such as echo interference and wind noise) to ensure accurate reception and recognition of acoustic wave signals. Typically, at least three acoustic wave transmitters are required to provide sufficient information to determine the spatial position of the sensor probe in the world coordinate system.

[0024] The multiple sound wave transmitters 30 transmit sound wave signals in sequence, that is, after one sound wave transmitter 30 completes the sound wave signal transmission, another sound wave transmitter 30 transmits the sound wave signal again until all sound wave transmitters complete the sound wave signal transmission, so as to avoid mutual interference of the sound wave signals and affect the accurate reception and recognition of the sound wave signal by the sound wave receiver 20.

[0025] The acoustic wave receiver 20 is arranged on the sensor body 10, receives the acoustic wave signal and generates acoustic wave information, and sends the acoustic wave information to the calibration calculation device. The calibration calculation device includes, for example, a multi-access edge computing device (Mobile Edge Computing, MEC), a roadside unit (Road Side Unit, RSU), and a cloud. The calibration calculation device can calculate the calibration matrix of the roadside sensor based on the received acoustic wave information and the pre-acquired installation position information of each acoustic wave transmitter, so that the calibration calculation device does not need the sensor probe to perceive the environment, thereby avoiding the adverse effects of special environments such as light and haze on the calibration of the roadside sensor, reducing the sensitivity of the roadside sensor to environmental changes in the calibration scenario, and improving the calibration timeliness of the roadside sensor.

[0026] Based on cost considerations and the fact that the number of acoustic wave receivers has approximately the same impact on the final calibration result, in some embodiments of the present application, the calibration coordination device includes one acoustic wave receiver.

[0027] The relative pose between the sensor probe and the acoustic receiver affects the accuracy of the calibration calculation results. The larger the relative pose between the two, the less accurate the calibration calculation results. When the relative pose between the two exceeds a certain range, it may be necessary to compensate for the relevant position data during the calibration calculation process. The relative pose between the sensor probe and the acoustic receiver mainly includes the position offset and angular offset of the acoustic receiver relative to the sensor probe. When the position offset and angular offset of the acoustic receiver relative to the sensor probe are both small, the impact of the relative pose on the accuracy of the calibration calculation results can be ignored.

[0028] Based on this, in some embodiments of the present application, the sensor body 10 includes a sensor probe, and the sound wave receiver 20 is arranged on the side of the sensor probe.

[0029] The side of the sensor probe can be understood as the area surrounding the sensor probe. When the acoustic wave receiver is arranged in the area surrounding the sensor probe, the position offset of the acoustic wave receiver relative to the sensor probe is relatively small. Optionally, the acoustic wave receiver 20 can be installed directly above, directly below, directly to the left, or directly to the right of the sensor probe.

[0030] like Figure 2As shown, the acoustic wave receiver can be set at the first installation position 11, the second installation position 12, the third installation position 14, the fourth installation position 15 or the third installation position 13 of the sensor probe, that is, the acoustic wave receiver can be installed at an idle position in the peripheral area of the sensor probe. When the acoustic wave receiver is set at the above-mentioned installation positions, the position offset of the acoustic wave receiver relative to the sensor probe can be made as small as possible. Taking the camera as an example, when the acoustic wave receiver is installed directly above the camera probe, the position offset of the acoustic wave receiver relative to the sensor probe is usually around 2-3 mm. At this time, the position offset of the acoustic wave receiver relative to the sensor probe has little effect on the calibration results.

[0031] It's worth noting that, depending on the specifications of the roadside sensor, the acoustic receiver can be installed diagonally above or below the probe. When the acoustic receiver is significantly offset from the sensor probe, the calibration equipment must perform appropriate position compensation during the calibration calculation to ensure accurate results.

[0032] In some embodiments of the present application, the angle between the main axis corresponding to the beam receiving direction of the acoustic wave receiver and the central axis of the sensor probe is smaller than a set value, so that the angular offset of the acoustic wave receiver relative to the sensor probe is smaller. At this time, the orientations of the acoustic wave receiver and the sensor probe are approximately the same, and the set value is an angle value close to 0, for example, the set value is a value less than 5°.

[0033] That is to say, the embodiment of the present application reasonably arranges the installation position of the acoustic wave receiver on the sensor body so that the position offset and angle offset of the acoustic wave receiver relative to the sensor probe are sufficiently small, thereby reducing the complexity of the calibration algorithm of the calibration calculation device, simplifying the calculation steps of the calibration parameters, and improving the calculation efficiency.

[0034] In some embodiments of the present application, the acoustic wave receiver 20 is detachably mounted on the sensor body 10. On the one hand, it is convenient to replace or repair the acoustic wave receiver of the roadside sensor. On the other hand, it is also convenient to add acoustic wave receivers to existing roadside cameras, roadside lidars and other sensors.

[0035] This embodiment can utilize existing technologies to implement detachable mounting between the acoustic wave receiver and the sensor body, including, for example, sliding mounting, clamping mounting, and snap-on mounting. In this embodiment, a mounting component for the acoustic wave receiver is provided at the aforementioned mounting location of the sensor body. This mounting component can be a slide, a snap-on slot, or a positioning protrusion. Correspondingly, the acoustic wave receiver is provided with a fixing component, which can be at least one of a slider, a snap, and a quick-release clip. Optionally, screws and bolts can be further used to reinforce the mounting stability of the acoustic wave receiver.

[0036] In order to ensure that the acoustic wave receiver is firmly installed on the sensor body 10, when the roadside sensor body shakes or vibrates due to wind or heavy vehicles passing by, the acoustic wave receiver can shake or vibrate synchronously with the roadside sensor. The above-mentioned mounting components and fixing components can be made of high-strength materials, such as stainless steel or high-strength alloy.

[0037] In some optional implementation schemes of this embodiment, a special bracket can also be provided for the acoustic wave receiver 20. The special bracket is an adjustable bracket to adapt to the installation environment of sensor bodies of different specifications or different models. Those skilled in the art can design a special bracket in combination with existing technologies, and the embodiments of this application do not impose specific restrictions on this.

[0038] The acoustic wave transmitter 30 in the embodiment of the present application can mainly include two types. The first type is independently set at the road edge position or road isolation zone area within the monitoring range of the side sensor, such as Figure 5 As shown, acoustic wave transmitters 1 and 5 are installed at the outer edge of the road, and acoustic wave transmitters 3 and 4 are installed in the road isolation zone area; the second type is installed on a specific target object, such as acoustic wave transmitter 2 installed on a road marking pole.

[0039] The structures of these two types of acoustic wave transmitters are described below.

[0040] For the first type of sound wave generator, Figure 3 As shown, the acoustic wave transmitter 30 includes a fixing bracket and a transmitter body 31;

[0041] The fixed bracket includes a base 33 and a support rod 32. The transmitter body 31 is installed on the top of the support rod 32. The support rod 32 can be raised and lowered and rotated relative to the base 33. The base 33 can be designed as a tripod structure or a structure with high stability.

[0042] In practical applications, this type of sound wave generator can be placed at the edge of a road or at a road isolation belt, green belt, etc. The sound wave transmitter can be aligned with the direction of the sound wave receiver by rotating the support rod 32, and then the support rod can be raised and lowered to prevent green plants or other obstacles from blocking the sound wave signal.

[0043] For the second type of acoustic wave transmitter, the acoustic wave transmitter 30 includes a rotatable mounting bracket, and the acoustic wave transmitter 30 is mounted on a specific target object through the mounting bracket. The specific target object is, for example, Figure 5 The vertical pole of the road marking shown can also be a building wall within the monitoring range of the sensor body.

[0044] It should be noted that, in the embodiment of the present application, different roadside sensors can share the same acoustic wave transmitter, for example, Figure 5 In the scene shown, the sound wave transmitter 3 and the sound wave transmitter 4 can be shared by the cameras Cam1 and Cam3 on the crossbar.

[0045] In actual applications, when the acoustic wave transmitter includes a positioning module, the acoustic wave transmitter's own installation position information can be sent to the calibration calculation device through its own positioning module; when the acoustic wave transmitter does not include a positioning module, when the acoustic wave transmitter is installed, the installation position information of the acoustic wave transmitter can be obtained through a positioning device (such as a handheld RTK device) and provided to the calibration calculation device.

[0046] It should be noted that the installation position information of the acoustic wave transmitter is used to provide the real spatial position required for the calibration algorithm of the calibration equipment. Therefore, when the roadside sensor body is shaken or vibrated by wind or heavy vehicles passing by, the acoustic wave transmitter should be ensured not to be affected by the wind or heavy vehicles.

[0047] In some embodiments of the present application, the horizontal installation distance between the sound wave transmitter 30 and the sound wave receiver 20 does not exceed 50 meters, and the vertical installation distance does not exceed 150 meters, to ensure that the sound wave receiver successfully receives the sound wave signal.

[0048] like Figure 4 As shown, in some embodiments of the present application, the acoustic wave receiver 20 includes a first wireless communication module, through which signals are transmitted with the calibration computing device, and the acoustic wave transmitter 30 includes a second wireless communication module, through which signals are transmitted with the calibration computing device.

[0049] It should be noted that, in the description of this application, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0050] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0051] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0052] In the description of this application, the terms "left", "right", "front", "rear", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0053] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0054] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0055] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A roadside sensor, characterized in that: The roadside sensor includes a sensor body and a calibration coordination device, wherein the calibration coordination device is used to provide the calibration calculation device of the roadside sensor with the acoustic wave information required for calibration, and the calibration coordination device includes at least one acoustic wave receiver and multiple acoustic wave transmitters; The multiple sound wave transmitters are distributed at different positions within the monitoring range of the roadside sensor, and the multiple sound wave transmitters transmit sound wave signals in sequence; The at least one sound wave receiver is arranged on the sensor body, receives the sound wave signal and generates sound wave information, and sends the sound wave information to the calibration calculation device.

2. The roadside sensor according to claim 1, characterized in that: The calibration matching device includes an acoustic wave receiver, which is detachably mounted on the sensor body.

3. The roadside sensor according to claim 1, characterized in that: The sensor body includes a sensor probe, and the sound wave receiver is arranged on the side of the sensor probe.

4. The roadside sensor according to claim 3, characterized in that: The angle between the main axis corresponding to the beam receiving direction of the acoustic wave receiver and the central axis of the sensor probe is smaller than a set value.

5. The roadside sensor according to claim 1, characterized in that: The sound wave transmitter comprises a fixing bracket and a transmitter body; The fixing bracket includes a base and a support rod. The launcher body is installed on the top of the support rod. The support rod can be lifted and rotated relative to the base.

6. The roadside sensor according to claim 1, characterized in that: The acoustic wave transmitter comprises a rotatable mounting bracket, and the acoustic wave transmitter is mounted on a specific target object through the mounting bracket.

7. The roadside sensor according to claim 1, characterized in that: The horizontal installation distance between the sound wave transmitter and the sound wave receiver does not exceed 50 meters, and the vertical installation distance does not exceed 150 meters.

8. The roadside sensor according to claim 1, characterized in that: The acoustic wave receiver includes a first wireless communication module, and signals are transmitted with the calibration calculation device through the first wireless communication module.

9. The roadside sensor according to claim 1, characterized in that: The acoustic wave transmitter includes a second wireless communication module, and signals are transmitted with the calibration calculation device via the second wireless communication module.

10. The roadside sensor according to any one of claims 1 to 9, characterized in that: The sensor body is a camera, a laser radar or a millimeter wave radar.

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