CN110661984A - High-precision V2X perception camera system - Google Patents
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Abstract
The application provides a high-precision V2X perception camera system, which comprises at least one pair of perception cameras, wherein each pair of perception cameras comprise a first perception camera and a second perception camera, the first perception camera and the second perception camera in each pair of perception cameras are arranged above the road in the same traffic direction, are positioned at two sides of an intersection and are respectively used for shooting the front and the back of a vehicle passing through the road; the shooting directions of a first perception camera and a second perception camera in each pair of perception cameras are opposite, and the high-precision shooting areas of the first perception camera and the second perception camera are overlapped. The system provides a camera arrangement scheme under a vehicle-road cooperation scene, and can be used for carrying out high-precision image acquisition on the front and the back of a vehicle passing through a road junction under the vehicle-road cooperation scene.
Description
Technical Field
The embodiment of the application relates to the technical field of car networking, especially relates to a high accuracy V2X perception camera system.
Background
With the great progress of science and technology and the gradual improvement of living standard, people no longer simply define automobiles as transportation means and transportation means, and the requirements of the automobiles on the aspects of safety, environmental protection, comfort, entertainment and the like are more and more increased. The rapid increase of the demands in these aspects leads to the increasing prominence of the problems of shortage of spectrum resources, crowded frequency bands, safety and the like of vehicle-mounted communication, and the realization and the deployment of the vehicle networking will be imperative. The internet of vehicles (V2X) is considered to be one of the fields with the most industrial potential and the most clear market demand in the internet of things system. In the specific implementation of V2X, a vehicle-road cooperation scenario is proposed, in which a camera sensor is built at an intersection to detect inside the intersection.
However, in a vehicle-road cooperation scenario, what camera arrangement is adopted at the intersection currently has no suitable scheme.
Disclosure of Invention
The embodiment of the application provides a high-precision V2X perception camera system, provides a camera arrangement scheme under a vehicle-road cooperation scene, and realizes high-precision shooting of vehicles passing by a road junction with a small number of cameras.
The application provides a high accuracy V2X perception camera system includes:
at least one pair of perceptual cameras, each pair of perceptual cameras comprising a first perceptual camera and a second perceptual camera;
the first perception camera and the second perception camera in each pair of perception cameras are arranged above the road in the same traffic flow direction, are positioned at two sides of the intersection and are respectively used for shooting the front and the back of the vehicle passing through the road;
the shooting directions of a first perception camera and a second perception camera in each pair of perception cameras are opposite, and the high-precision shooting areas of the first perception camera and the second perception camera are overlapped.
In a specific implementation, the overlapping distance of the high-precision shooting areas of the first and second perception cameras in each pair of perception cameras is greater than or equal to 10 meters.
In a specific implementation manner, the high-precision shooting area of the first perception camera and the second perception camera in each pair of perception cameras covers an area in the middle of an intersection, wherein the area in the middle of the intersection is a part or all of the area of the intersection in the traffic flow direction set by the first perception camera and the second perception camera.
In one particular implementation, at least one pair of perception cameras is provided for one direction of traffic.
In a specific implementation manner, for the same traffic direction, the distance between the first perception camera and the second perception camera in the pair of perception cameras is greater than or equal to 70 meters.
In one specific implementation, the height at which the perception camera of the at least one pair of perception cameras is disposed ranges from 8 meters to 12 meters.
In a specific implementation manner, if the intersection of the road is an intersection, the system includes: and the four pairs of perception cameras are respectively arranged at the four traffic flow directions of the crossroad.
In a specific implementation, the system further includes: a data processing device;
the data processing device is respectively connected with the at least one pair of perception cameras in a wired or wireless mode and is used for acquiring the images of the vehicles shot by each perception camera.
In one particular implementation, the first and/or second perception cameras of each pair of perception cameras are disposed on traffic light poles of the intersection.
In one particular implementation, the first and/or second perception cameras of each pair of perception cameras are disposed on an intersection camera upright.
The high-precision V2X perception camera system provided by the embodiment of the application comprises at least one pair of perception cameras, wherein each pair of perception cameras comprise a first perception camera and a second perception camera, the first perception camera and the second perception camera in each pair of perception cameras are arranged above the road in the same traffic direction, are positioned at two sides of an intersection and are respectively used for shooting the front and the back of a vehicle passing through the road; the shooting directions of a first perception camera and a second perception camera in each pair of perception cameras are opposite, and the high-precision shooting areas of the first perception camera and the second perception camera are overlapped. The system provides a camera arrangement scheme under a vehicle-road cooperation scene, and can be used for carrying out high-precision image acquisition on the front and the back of a vehicle passing through a road junction under the vehicle-road cooperation scene.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a first embodiment of a high-precision V2X perception camera system provided by the present application;
FIG. 2 is a schematic diagram of a second embodiment of a high-precision V2X perception camera system provided by the present application;
FIG. 3 is a schematic diagram of a third embodiment of a high-precision V2X perception camera system provided by the present application;
FIG. 4 is a schematic diagram of a fourth embodiment of a high-precision V2X perception camera system provided by the present application;
fig. 5 is a schematic diagram of an example of a high precision V2X perception camera system provided by the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the V2X vehicle-road cooperation scene, a camera sensor is built at an intersection to detect the inside of the intersection. The number of cameras can be reduced by adopting a camera arrangement scheme, and the intersection area can be fully covered, so that no suitable camera arrangement scheme exists at present.
Aiming at the existing problems, the scheme sets a high-precision perception camera at the intersection to shoot the area of the intersection with high precision. The present solution is described in detail below with several specific implementations.
In the embodiment of the present disclosure, it should be understood that the sensing camera, the detecting camera, the camera head, the camera sensor, the image sensor, and the like all represent devices that can acquire an image within a coverage range, and the meanings are similar and may be interchanged, and the present disclosure is not limited thereto.
Fig. 1 is a schematic diagram of a first embodiment of a high-precision V2X perception camera system provided in the present application, and as shown in fig. 1, the high-precision V2X perception camera system provided in the present embodiment at least includes:
the at least one pair of perceptual cameras may comprise one or two or more pairs of perceptual cameras. For example, in FIG. 1, two pairs of perceptual cameras A1-A2, B1-B2 are included. Each pair of perceptual cameras includes a first perceptual camera and a second perceptual camera. For example, a pair of perception cameras in the east-to-west flow direction in the figure includes a first perception camera a1, and a second perception camera a 2.
The first perception camera and the second perception camera in each pair of perception cameras are arranged above the road in the same traffic flow direction, are positioned on two sides of the intersection and are respectively used for shooting the front and the back of the vehicle passing through the road. That is, a pair of perception cameras is provided to capture an image of the front and rear of a passing vehicle, and therefore, the perception cameras need to be provided at positions above the middle of the road.
In addition, the shooting directions of the first perception camera and the second perception camera in each pair of perception cameras are opposite, and the high-precision shooting areas of the first perception camera and the second perception camera are overlapped. The meaning of this is that the shooting area of each perception camera is relatively large, but the area that can be shot with high precision is fixed for the same camera, for example, the high precision range that a common perception camera can shoot is a distance between 30 and 100 meters, therefore, in order to guarantee the precision of the shot images, the high precision shooting areas of two cameras in the same pair of perception cameras need to be overlapped. In order to capture images of the front and the rear of the vehicle during driving, the two sensing cameras in the pair of sensing cameras need to be arranged oppositely in shooting directions, one is used for shooting the front of the vehicle, and the other is used for shooting the rear of the vehicle.
In a specific implementation of the scheme, a high-precision shooting area of a first perception camera and a second perception camera in each pair of perception cameras covers an area in the middle of an intersection, wherein the area in the middle of the intersection is a part or all of the area of the intersection in the traffic flow direction set by the first perception camera and the second perception camera.
Taking the embodiment shown in fig. 1 as an example, the first perception camera a1 is disposed on the east side of the intersection where the roads flow from east to west, the second perception camera a2 is disposed on the west side of the intersection where the roads flow from east to west, and the shooting directions of the first perception camera a1 and the second perception camera a2 are disposed opposite to each other. Likewise, in the north-to-south direction of the road, the first perception camera B1 is disposed at the north side of the intersection for north-to-south traffic, the second perception camera B2 is disposed at the south side of the intersection for north-to-south traffic, the shooting directions are opposite, and the high-precision shooting areas overlap in the middle of the intersection.
The scheme is only an illustration of the system, and the number of specific perception cameras is not limited, that is, one or more pairs of perception cameras can be arranged in the same vehicle flow direction, that is, at least one pair of perception cameras is arranged in one vehicle flow direction.
In the concrete realization of this system, perception camera both can multiplex traffic lights pole, also can set up the pole setting of being exclusively used in installation perception camera at the crossing on the pole of the traffic lights that has at present, does not do the restriction to this scheme.
On the basis of the above embodiments, in the high-precision V2X perception camera system, in the west-east direction and the south-north direction in fig. 1, at least one pair of perception cameras may be disposed in the same manner as described above, and this scheme is not limited in this respect. Fig. 2 is a schematic diagram of a second embodiment of the high-precision V2X perception camera system provided by the present application, as shown in fig. 2, in the west-east traffic of an intersection, a pair of perception cameras C1-C2 are disposed, a first perception camera C1 is disposed at the west side of the intersection where the traffic flows from the west to the east, a second perception camera C2 is disposed at the east side of the intersection where the traffic flows from the west to the east, and the shooting directions of the first perception camera C1 and the second perception camera C2 are disposed opposite to each other. Similarly, in the south-to-north flow direction of the road, a pair of perception cameras D1-D2 are arranged, a first perception camera D1 is arranged at the south side of the intersection of the south-to-north flow, a second perception camera D2 is arranged at the north side of the intersection of the south-to-north flow direction, the shooting directions are opposite, and high-precision shooting areas are overlapped in the middle of the intersection.
The high-precision V2X perception camera system provided by the embodiment provides a camera arrangement scheme under a vehicle-road coordination scene, and can be used for carrying out high-precision image acquisition on the front and the rear of a vehicle passing through a road junction under the vehicle-road coordination scene.
Fig. 3 is a schematic diagram of a third embodiment of the high-precision V2X perception camera system provided by the present application, and as shown in fig. 3, on the basis of any of the above embodiments, a high-precision perception camera is arranged at an intersection of a road, and high-precision image acquisition is performed on vehicles passing through the intersection in each flow direction, mainly for analyzing and processing vehicle information in a vehicle-road coordination scene, and images acquired by the perception camera need to be transmitted to a processing device. Therefore, the high-precision V2X perception camera system further includes: a data processing device 10.
The data processing device 10 is connected with the at least one pair of perception cameras respectively in a wired or wireless manner, and is used for acquiring the images of the vehicles shot by each perception camera.
In a specific implementation of the solution, the sensing camera disposed at the intersection may be connected to the data processing device 10 in a wireless communication manner or in a manner of setting a line in a vertical rod of the camera, and transmit the captured image to the data processing device 10 in real time after the image is captured, or periodically transmit the captured image to the data processing device 10 according to a certain period, or the data processing device 10 may actively acquire the image from the sensing camera, which is not limited in this solution.
On the basis of any of the above embodiments, the high-precision V2X perception camera system can be applied to various types of intersections, such as L-shaped intersections, t-shaped intersections, or crossroads, and the like, without limitation to this scheme, the method of setting the perception cameras can refer to the method of the foregoing embodiment when there are roads on both sides of the intersection, and the method of setting the perception cameras can be set as the scheme shown in fig. 4 when there is no road on the other side of the intersection in the L-shaped intersection or the t-shaped intersection.
FIG. 4 is a schematic diagram of a fourth embodiment of the high-precision V2X perception camera system provided by the present application, as shown in FIG. 4, including four pairs of perception cameras A1-A2, B1-B2, C1-C2, and D1-D2. The sensing cameras A2 and the sensing cameras C1 can be installed by arranging upright rods special for installing the sensing cameras at the other end of the road in different flow directions, namely, the east-west flow direction and the west-east flow direction of the road with no traffic.
Similar to the above-described scheme, the first perception camera a1 is disposed on the east side of the intersection of the road flowing from east to west, the second perception camera a2 is disposed on the west side of the intersection flowing from east to west, and the shooting directions of the first perception camera a1 and the second perception camera a2 are disposed opposite to each other. Likewise, in the north-to-south direction of the road, the first perception camera B1 is disposed at the north side of the intersection for north-to-south traffic, the second perception camera B2 is disposed at the south side of the intersection for north-to-south traffic, the photographing directions are opposite, and high-precision photographing regions overlap in the middle of the intersection, the first perception camera C1 is disposed at the west side of the intersection for west-to-east traffic, the second perception camera C2 is disposed at the east side of the intersection for west-to-east traffic, and the photographing directions of the first perception camera C1 and the second perception camera C2 are opposite. In the north-south direction of the road, the first perception camera D1 is disposed at the south side of the intersection of the north-south traffic, the second perception camera D2 is disposed at the north side of the intersection of the north-south direction, the shooting directions are opposite, and the high-precision shooting areas overlap in the middle of the intersection.
In an optional implementation manner of the scheme, due to the particularity of the t-junction, the perception camera a1 and the perception camera C2 may not be provided, and the scheme is not limited.
When the scheme is applied to the L-shaped intersection, the scheme can be referred to.
On the basis of any of the above embodiments, the high-precision shooting areas of the conventional perception cameras are approximately 30 meters to 100 meters, and the widths of roads are different, so that in different implementations, the high-precision shooting areas of two opposite cameras can overlap by at least 10 meters, that is, the overlapping distance of the high-precision shooting areas of the first perception camera and the second perception camera in each pair of perception cameras is greater than or equal to 10 meters. The sensing camera can be used for shooting the images by the sensing cameras in front of and behind the vehicle at the same time in the running process of the vehicle, and full-high-precision covering is achieved.
By combining the technical solutions of the above embodiments, the following takes an intersection as an example, and a specific implementation of the high-precision V2X perception camera system provided by the present application is illustrated.
Fig. 5 is a schematic diagram of an example of a high-precision V2X perception camera system provided by the present application, as shown in fig. 5, in the intersection, four pairs of perception cameras, that is, eight perception cameras, are respectively disposed in four traffic directions of the intersection. The first perception camera and/or the second perception camera in each pair of perception cameras are/is arranged on a traffic light pole of the intersection or on an intersection camera upright pole.
Wherein, the circles of 1, 2, 3, 4, 5, 6, 7, 8 represent the perception cameras and the arrangement positions. Wherein 2, 3, 5, 8 perception cameras are arranged on the traffic light pole at the crossroad, can reduce the arrangement cost through this mode, consequently can multiplex the traffic light pole. A new pole can also be erected (in a preferred scheme, the distance between the position of the new pole and the stop line of the intersection at the side is not more than 5m), the perception cameras are arranged at the middle position in the forward road direction, the specific height is not limited in the scheme, the higher the height is, the better the scheme is, the height can be set between 8 m and 12m in the scheme, and the heights comprise 8 m and 12m (the height range set by the perception cameras in at least one pair of perception cameras is determined to be 8 m to 12m preferentially according to experiments). The perception cameras 1, 4, 6 and 7 are arranged on the monitoring lamp poles at the intersections (the arrangement cost is reduced, the intersection monitoring poles are multiplexed), and new poles can be erected. Optionally, the position of the vertical rod is not more than 5m away from the intersection stop line.
In the arrangement scheme of the perception cameras of the system, for example, No. 2 and No. 4 perception cameras are used, and each two same-side cameras form a pair to cover a certain flow direction of an intersection. For example, a2, 4-perception camera covers vehicle detection in the north-south direction. The detection ROI area of the red sensing camera No. 2 is a dark gray dashed line frame range, and the detection area covered by the purple sensing camera No. 4 is a light gray dashed line frame range. The range of the dark gray dashed line frame of No. 2 is from the north-south central line of the intersection to the north side by about 5m, from the left to the east-west central line, from the right to the outer side of the sidewalk, and down to the position 100m away from the intersection. The detection range of the No. 4 light gray dashed frame is from the south-north central line of the intersection to the south side by about 5m, from the left to the east-west central line, from the right to the outer side of the pedestrian path, and up to the position 100m away from the intersection.
In one specific implementation, in order to ensure that the high-precision shooting areas of the two perception cameras overlap more, the distance between the two perception cameras in the pair of perception cameras is greater than or equal to 70 meters.
The advantage of this arrangement is that the vehicles in the detection range of the No. 2 perception camera are all facing the camera, the orientation of the vehicles in the camera is more positive, and the position precision obtained by detection is very high. Moreover, the region where the camera detection accuracy is highest is the range between 30m and 100m from the camera. The overlapping distance of the high-precision shooting areas of the first perception camera and the second perception camera in each pair of perception cameras is greater than or equal to 10 meters. In the scheme, the number 2 perception camera and the number 4 perception camera have 10m overlapped areas to be fused, so that the high-precision detection area of the cameras can be utilized to the maximum extent, and the intersection can be completely covered by only 8 cameras.
The high-precision V2X perception camera system provided by the application can utilize existing equipment of the intersection such as traffic light poles to the maximum extent in the arrangement stage, monitors the light poles, and reduces the arrangement cost. Meanwhile, the interested detection area of each camera in the scheme is an area with high camera identification precision, and the arrangement brings the advantage that the final identification result precision is higher. Moreover, the intersection can be completely covered by only fewer cameras, and each camera only observes the vehicle which is just opposite to or back to the camera, so that the precision of vehicle detection is improved.
In a Specific implementation of the data Processing device of the above system, it should be understood that the system may include a Processor, which may be a Central Processing Unit (CPU), other general-purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A high precision V2X perception camera system, comprising:
at least one pair of perceptual cameras, each pair of perceptual cameras comprising a first perceptual camera and a second perceptual camera;
the first perception camera and the second perception camera in each pair of perception cameras are arranged above the road in the same traffic flow direction, are positioned at two sides of the intersection and are respectively used for shooting the front and the back of the vehicle passing through the road;
the shooting directions of a first perception camera and a second perception camera in each pair of perception cameras are opposite, and the high-precision shooting areas of the first perception camera and the second perception camera are overlapped.
2. The system of claim 1, wherein the overlapping distance of the high precision capture areas of the first and second perceptual cameras in each pair of perceptual cameras is greater than or equal to 10 meters.
3. The system according to claim 2, wherein the high-precision shooting area of the first and second perception cameras in each pair of perception cameras covers an area in the middle of an intersection, wherein the area in the middle of the intersection is a part or all of the area of the intersection in the traffic direction set by the first and second perception cameras.
4. The system of claim 1, wherein at least one pair of perception cameras is provided for using one traffic direction.
5. The system of claim 1, wherein a distance between a first perception camera and a second perception camera of a pair of perception cameras disposed for a same direction of traffic is greater than or equal to 70 meters.
6. The system of claim 1, wherein a perception camera of the at least one pair of perception cameras is disposed at a height ranging from 8 meters to 12 meters.
7. The system according to any one of claims 1 to 6, wherein if the intersection of the road is an intersection, the system comprises: and the four pairs of perception cameras are respectively arranged at the four traffic flow directions of the crossroad.
8. The system of any one of claims 1 to 6, further comprising: a data processing device;
the data processing device is respectively connected with the at least one pair of perception cameras in a wired or wireless mode and is used for acquiring the images of the vehicles shot by each perception camera.
9. The system of any one of claims 1 to 6, wherein the first perception camera and/or the second perception camera of each pair of perception cameras is disposed on a traffic light pole of the intersection.
10. The system of any one of claims 1 to 6, wherein the first and/or second perception cameras of each pair of perception cameras are disposed on an intersection camera upright.
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| CN114973647A (en) * | 2022-04-11 | 2022-08-30 | 中智行(苏州)科技有限公司 | Roadside sensing system |
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| CN109637144A (en) * | 2019-02-01 | 2019-04-16 | 上海秀派电子科技股份有限公司 | A kind of evidence-obtaining system and method for non-motor vehicle candid photograph violating the regulations |
| CN110246345A (en) * | 2019-05-31 | 2019-09-17 | 闽南师范大学 | A kind of signal lamp intelligent control method and system based on HydraCNN |
| CN110349424A (en) * | 2019-06-28 | 2019-10-18 | 京东数字科技控股有限公司 | A kind of road side system based on bus or train route collaboration |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111369796A (en) * | 2020-03-11 | 2020-07-03 | 北京百度网讯科技有限公司 | Roadside sensing system |
| CN114973647A (en) * | 2022-04-11 | 2022-08-30 | 中智行(苏州)科技有限公司 | Roadside sensing system |
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