基于车路协同的网联车辆交叉路口环境感知方法  

Environmental Perception Method for Networked Vehiclesat Intersection Based on Synergy of Vehicle and Road

作　　者：陆阳阳 LU Yang-yang(Jiangsu College of Engineering and Technology,Nantong 226007,China)

机构地区：[1]江苏工程职业技术学院信息工程学院,江苏南通226007

出　　处：《南通职业大学学报》2022年第3期77-80,共4页Journal of Nantong Vocational University

摘　　要：为提升交叉路口车辆环境感知能力,将V2I(vehicle-to-infrastructures)通信技术应用于车路协同的网联车辆交叉路口环境感知,采用正态分布变换点云配准算法获取车辆位置,构建路边多传感器系统,检测获取全局地图信息,并将其发送回车辆,进行交叉路口的路径规划。仿真实验结果表明,该方法在检测精度上优于PointPillar算法和VoxelRCNN算法,可提高交叉路口车辆环境感知能力和感知范围,交通效率提升效果达到预期。To improve the environmental perception of vehicles at intersections,V2I communication technology is applied to the environmental perception of networked vehicle with vehicle-road synergy at intersections.The normal distribution transformation point cloud registration algorithm is used to obtain the position of the vehicles and a roadside multi-sensor system is built to detect the local map objects,which are sent back to the vehicles for path planning at intersections.The results of simulated experiment show that the proposed method is superior to both PointPillar algorithm and VoxelRCNN algorithm in detection accuracy,which improves the perception ability and perception range of vehicle environment at intersections,and the traffic efficiency improves as well.

关 键 词：车路协同 网联车辆 环境感知 车用无线通信技术 

分 类 号：U495[交通运输工程—交通运输规划与管理] TN929.5[交通运输工程—道路与铁道工程]