基于激光测距传感器的车辆轨迹全息感知方法  

Vehicle trajectory holographic perception method based on laser range sensors

作　　者：张辉 温鑫 陈海宇 黄世淳 ZHANG Hui;WEN Xin;CHEN Hai-yu;HUANG Shi-chun(School of Intelligent Systems Engineering,Sun Yat-sen University,Shenzhen 518107,China)

机构地区：[1]中山大学智能工程学院,广东深圳518107

出　　处：《吉林大学学报（工学版）》2024年第8期2378-2384,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金面上项目(52172350).

摘　　要：为实现高速公路全路段车辆轨迹的实时全息感知,提出一种成本效益高、易于部署的车辆轨迹全息感知方法。首先,基于路侧分布式布设的由激光测距传感器构成的感知设备,实时采集车辆的离散轨迹断面信息;之后,通过条件匹配,将相邻检测断面信息进行匹配关联,得到每一辆车的轨迹点序列;最终,利用三次样条插值方法重构车辆的完整轨迹。经验证,该方法得到的车辆重构轨迹与其真实轨迹基本吻合,可见该方法在理论上是可行的。To achieve real-time holographic perception of vehicle trajectories on all sections of highways,this paper aims to explore a cost-effective and easily deployable method for holographic perception of vehicle trajectories.Initially,perception devices composed of laser range sensors,distributed along the roadside,are used to collect discrete trajectory profile information of vehicles in real time.Subsequently,by conditional matching,the information from adjacent detection profiles is matched and associated to obtain the sequence of trajectory points for each vehicle.Finally,cubic spline interpolation is used to reconstruct the complete trajectory of the vehicles.Verification shows that the reconstructed vehicle trajectories are fundamentally consistent with their actual trajectories,demonstrating the feasibility of this method in theory.

关 键 词：车辆轨迹全息感知 激光测距传感器 轨迹重构 路侧感知设备 

分 类 号：U417.9[交通运输工程—道路与铁道工程]