The invention provides a cloud sensing shared
information fusion method for a vehicle and road cloud cooperative
system. The method comprises the steps that the vehicle and road cloud cooperative
system comprises a cloud, a vehicle end and a road end; the cloud end obtains environment sensing information from other terminals through
network communication; a space-time two-dimensional calibration
system is constructed, and the space-time two-dimensional calibration system is adopted to calibrate the
environmental perception information; dividing a unified global ID for each target by adopting a global target
feature matching method, and performing redundancy removal
processing on the calibrated
environmental perception information by adopting a confidence evaluation comprehensive redundancy removal mechanism; performing pre-
estimation compensation on the environment
perception information after redundancy removal by adopting a model based on state
estimation and
kinematics; transmitting the compensated information to a corresponding terminal by adopting a sensing information routing sharing strategy based on the global ID to complete
information sharing; according to the method, a
resampling optimization strategy and a collaborative prediction
correction algorithm are adopted, compared with a traditional
linear prediction compensation method, situation information real-time performance and prediction accuracy are remarkably improved, and timeliness and reliability of follow-up decisions are effectively guaranteed.