CN111369796A

CN111369796A - Roadside sensing system

Info

Publication number: CN111369796A
Application number: CN202010167696.2A
Authority: CN
Inventors: 时一峰
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd
Priority date: 2020-03-11
Filing date: 2020-03-11
Publication date: 2020-07-03

Abstract

The application discloses trackside perception system, concretely relates to car networking technology can be used to intelligent transportation, includes: at least one set of perceptual cameras, each set of perceptual cameras comprising a first perceptual camera, a second perceptual camera, and a third perceptual camera. Each group of perception cameras are arranged above a stop line of a road intersection in the same traffic flow direction, wherein a first perception camera and a second perception camera are respectively used for shooting the front and the rear of the road, and a third perception camera is used for shooting the shooting blind areas of the first perception camera and the second perception camera in the road. The system provides an arrangement scheme of the on-road sensing equipment under the vehicle-road cooperation scene, and can acquire data of vehicles passing through a road junction and other objects under the vehicle-road cooperation scene.

Description

Roadside sensing system

Technical Field

The embodiment of the application relates to the technical field of car networking, especially relates to a trackside perception system, can be used to intelligent transportation.

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, under the scene of vehicle-road cooperation, no suitable scheme exists at present for acquiring required data by what equipment is adopted at the intersection.

Disclosure of Invention

The embodiment of the application provides a roadside sensing system, and provides a layout scheme of sensing equipment under a vehicle-road cooperation scene.

According to a first aspect, the present application provides a drive test sensing system comprising:

at least one set of perceptual cameras, each set of perceptual cameras comprising a first perceptual camera, a second perceptual camera, and a third perceptual camera;

each group of perception cameras are arranged above a stop line of a road intersection in the same traffic flow direction, wherein a first perception camera and a second perception camera are respectively used for shooting the front and the rear of the road, and a third perception camera is used for shooting the shooting blind areas of the first perception camera and the second perception camera in the road.

In one embodiment, the roadside sensing system further includes: a millimeter wave radar;

the millimeter wave radar is arranged above a road in the traffic flow direction, the millimeter wave radar and a group of perception cameras arranged on the road in the traffic flow direction are respectively positioned at two sides of a crossing, and the millimeter wave radar is used for sensing data of high-speed moving objects on the road.

In another specific embodiment, the roadside sensing system further includes: a laser radar;

the laser radar is arranged at a first position, wherein the first position is a position which is located at the roadside and close to two crossed roads, and the laser radar is used for sensing data on the two roads.

In one embodiment, the number of at least one of the first, second or third perceptual cameras in each set of perceptual cameras is greater than one.

Optionally, every group perception camera setting is on same control lamp pole.

Optionally, the third perception camera is a fisheye camera or a wide-angle camera.

Optionally, the third perceptual camera of each group of perceptual cameras is arranged downwards.

In one embodiment, the number of millimeter wave radars is greater than one.

In another specific embodiment, the millimeter wave radar is arranged on a traffic light pole or a vertical pole specially used for installing the sensing equipment.

In one embodiment, the number of lidar is greater than or equal to two.

In one embodiment, the lidar is disposed on a lamp post of a road intersection or on a pole dedicated to mounting sensing equipment.

In one embodiment, the system further comprises: a data processing device;

the data processing device is respectively connected with each group of perception cameras, the millimeter wave radar and the laser radar in a wired or wireless mode and is used for acquiring data perceived by each device.

The roadside sensing system provided by the embodiment of the application comprises at least one group of sensing cameras, a first sensing camera and a second sensing camera which are used for shooting the front and the back of a traffic flow direction on a road, and a third sensing camera which is used for shooting the dead zone of the first sensing camera and the dead zone of the second sensing camera.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

fig. 1 is a schematic diagram of a roadside sensing system according to a first embodiment of the present application;

FIG. 2 is a schematic diagram of a roadside sensing system according to a second embodiment of the present application;

fig. 3 is a schematic diagram of a third embodiment of a roadside sensing system provided by the present application;

FIG. 4 is a schematic diagram of a roadside sensing system according to a fourth embodiment of the present application;

fig. 5 is a schematic diagram of a fifth embodiment of a roadside sensing system provided by the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In a car road coordination scene in car networking or automatic driving, sensing equipment such as a camera and the like needs to be built at an intersection to detect the intersection. What arrangement scheme can realize full coverage to the intersection area and acquire high-precision data does not have a proper arrangement scheme at present.

In order to solve the problems, the scheme is to arrange a sensing device (also called a sensor) at the intersection so as to acquire high-precision data in the area of the intersection.

The vehicle-road cooperation is a necessary means for automatic driving and landing, the vehicle-road cooperation literally means that a vehicle and a road are combined, and the main realization mode is a road side sensing technology. The perception information obtained by the roadside sensor can be transmitted to the automatic driving Vehicle through the communication between the automobile and basic equipment (V2I), and the automatic driving Vehicle can realize the automatic driving function according to the perception information obtained through the communication of V2I; meanwhile, for the automatic driving vehicle, the sensing capability of the vehicle can be improved by the cooperation of the vehicle and the road, and the effect of safe backup is achieved. The roadside sensing technology needs to depend on a sensor, such as a millimeter wave radar, a laser radar, a camera, a microwave radar and the like, which are also called sensing equipment, and the selection and the deployment scheme of different sensing equipment greatly determine the sensing effect and the project cost, so that the deployment scheme of the sensing equipment is extremely important. 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 roadside sensing system according to a first embodiment of the present application, and as shown in fig. 1, the roadside sensing system according to the present embodiment at least includes:

at least one group of perception cameras, wherein each group of perception cameras at least comprises a first perception camera A, a second perception camera B and a third perception camera C.

Each group of perception cameras are arranged above a stop line of a road intersection in the same traffic flow direction, the stop line refers to the stop line drawn by the road intersection, the stop line is arranged above the stop line and comprises a position right above the stop line and a position above the stop line within a distance from the front to the rear, after the group of perception cameras are arranged, the front and the rear of the stop line of the intersection can be fully covered by the intersection, and the scheme does not limit the specific position of the group of perception cameras arranged above the intersection. And the three cameras in the same group of perceptual cameras are all positioned before or after entering the road intersection.

The third perception camera is used for shooting the shooting blind areas of the first perception camera and the second perception camera in the road.

For example, in fig. 1, on a road flowing from south to north, a group of perception cameras is arranged, the perception cameras in the group include three perception cameras a, B, and C, in a specific implementation of the scheme, the number of the first perception cameras a may be one or more, and the first perception cameras a are used for shooting a section of area ahead of the vehicle driving direction, namely, the area a on the road shown in fig. 1, and the area a is a shooting area of the first perception cameras a. The number of the second perception cameras B may be one or more, and the second perception cameras B may capture an area where the vehicle travels, that is, an area B on the road shown in fig. 1, where the area B is a capture area of the second perception cameras B. Generally, the first perception camera and the second perception camera may be ordinary cameras, and the larger the focal length is, the better the camera is, and may also be high-precision cameras, which is not limited to this scheme.

The third perception camera C is used for shooting an area between the area a and the area B, that is, for shooting a blind area which cannot be shot by the first perception camera and the second perception camera, and the number of the third perception cameras may be one or more. As shown in fig. 1, in the area C, after the sensing cameras are arranged, the area in one traffic flow direction on the road can be completely photographed, and corresponding image data can be acquired from the whole process before the vehicle enters the intersection to the process of driving on the road through the intersection.

In the above scheme, a plurality of first perception cameras, a plurality of second perception cameras or a plurality of third perception cameras are arranged, so that the same area can be shot simultaneously to obtain a plurality of image data for subsequent analysis and processing, and the processing precision is improved. Moreover, the multiple first perception cameras or the multiple second perception cameras can select cameras with different focal lengths to shoot areas with different distances, and the coverage range of the road intersection is further enlarged.

Optionally, in a specific implementation of this embodiment, in order to capture an image of the area C, the third perception camera C may be a fisheye camera or a wide-angle camera, and when the third perception camera is set, the third perception camera may be set downward, so as to implement a shooting requirement for an area right below the camera. That is to say, in the implementation of the specific scheme, the third perception camera in each group of perception cameras in each traffic direction needs to be arranged downwards, and may be a fisheye camera or a wide-angle camera.

Optionally, in a specific implementation, the focal lengths of the first perception camera and the second perception camera are at least 12mm, and a third perception camera needs to shoot an area right below, and the third perception camera can select a camera with a field angle of 160 degrees or more than 160 degrees.

To sum up, the first perception camera and the second perception camera in each group of perception cameras are arranged above the road in the same traffic direction, are positioned at one side of the intersection, have opposite shooting directions and are respectively used for shooting the front and the back of the vehicle passing through the road. That is to say, the perception camera that sets up is in order to be able to shoot the whole process of the vehicle of passing through the road, therefore, the perception camera need set up the position in the middle top of road, can set up through the pole setting of special perception equipment, or monitor the lamp pole, or traffic light pole is last.

The scheme shown in fig. 1 is only an illustration of the roadside sensing system, and the number of the specific sensing cameras is not limited, that is, one or more groups of sensing cameras may be arranged in the same vehicle flow direction, that is, at least one group of sensing cameras is arranged for one vehicle flow direction. Only one traffic direction is shown in fig. 1, and for the other three traffic directions, at least one group of perception cameras can be arranged to shoot the road and acquire the image data of the whole process when the vehicle passes through the intersection in the same way as shown in fig. 1.

In the concrete realization of the system, the perception camera in each traffic flow direction can be used for multiplexing traffic light poles, namely, the perception camera is arranged on the existing traffic light poles or the monitoring poles, and the vertical poles specially used for installing the perception camera can be arranged at intersections, so that the scheme is not limited.

The roadside sensing system provided by the embodiment, at least one group of sensing cameras in the system comprise a first sensing camera and a second sensing camera which are used for shooting the front and the back of a traffic flow direction on a road, and further comprise a third sensing camera which is used for shooting blind areas of the first sensing camera and the second sensing camera.

Besides, the roadside device (roadside sensor) has expandability, and besides the video camera, the camera and the like, the roadside device also comprises a laser radar and a millimeter wave radar, and objects which cannot be detected by some cameras can be accurately detected.

Fig. 2 is a schematic diagram of a second embodiment of the roadside sensing system provided in this application, and as shown in fig. 2, the roadside sensing system provided in this embodiment further includes: a millimeter wave radar 1;

the millimeter wave radar 1 is arranged above a road in the traffic direction, and is respectively positioned at two sides of the intersection with a group of perception cameras (perception cameras A, B and C shown in figure 2) arranged on the road in the traffic direction, and the millimeter wave radar is used for sensing data of high-speed moving objects on the road.

In the scheme, in the automatic driving process, vehicles or other objects which move at high speed and are positioned in front of the stop line at the intersection are concerned more, so that millimeter wave radars for detecting the intersection and the area in front of the stop line can be arranged at the intersection, and the objects which move at high speed and are positioned in the intersection can be well detected.

Fig. 2 shows only the millimeter wave radar 1 arranged in one traffic flow direction, and in other traffic flow directions, similar arrangement is also adopted, the millimeter wave radar is arranged on one side of the intersection in the vehicle driving direction, and the sensing camera is arranged on both sides of the intersection, so that the intersection is covered without dead angles, and data of all objects passing through the intersection is acquired.

For the roads in the same traffic flow direction, the number of the millimeter wave radars which can be set is at least one, and the specific number is determined according to actual needs. In general, millimeter wave radar may be located on a traffic light pole or on a pole dedicated to mounting sensing equipment.

Fig. 3 is a schematic diagram of a third embodiment of the roadside sensing system provided in this application, and as shown in fig. 3, the roadside sensing system provided in this embodiment further includes: a laser radar;

the laser radar is arranged at a first position, wherein the first position is a position which is located at the roadside and close to two crossed roads, and the laser radar is used for sensing data on the two close roads.

In a specific implementation, the lidar may be configured to set a roadside position of a road intersection of the intersection for sensing data on roads in two traffic directions closest to the lidar.

As shown in fig. 3, the laser radar 2 and the laser radar 3 are arranged at the intersection, and the two radars are respectively arranged at the diagonal positions of the intersection, so that objects and vehicles passing on the road in two adjacent directions can be sensed, and data can be acquired.

Optionally, in order to more completely acquire data in each traffic flow direction of the intersection, two laser radars may be respectively arranged at another diagonal position of the intersection, and the scheme is not limited.

Fig. 4 is a schematic diagram of a fourth embodiment of the roadside sensing system provided by the present application, and as shown in fig. 4, on the basis of the above embodiment, the present scheme shows a scheme for performing roadside device layout in each traffic direction at an intersection.

The specific way of arranging the roadside devices at the intersection is as shown in fig. 4, where the whole deployment scheme includes 12 cameras and 4 mm-wave radars, and a standard intersection includes four roads in flow directions (from top to bottom, from bottom to top, from left to right, and from right to left, or from north to south, from south to north, from east to west, and from west to east). In each road flowing to, three cameras, namely the perception cameras in the above embodiments, are respectively placed on the monitoring lamp pole, and the number of the cameras can be A, B, C (as shown in fig. 1), wherein the A, B camera is a long-focus camera and is responsible for perceiving the forward and backward regions of the monitoring lamp pole, and the camera C is a fisheye or wide-angle camera and is responsible for supplementing a blind area below the A, B camera in the forward and backward directions, so that the blind area can not be covered on one road. In addition, a millimeter wave radar 1 is arranged on the opposite side of the intersection of the road, can be arranged on a traffic light pole and faces a monitoring light pole, and is responsible for sensing a high-speed moving object before reaching the stop line. In addition,

laser radars

2 and 3 can be arranged on diagonal lines of the intersection in advance, are arranged on lamp pole vertical rods at two diagonal angles of the intersection and are responsible for sensing lanes in two adjacent directions, and the lanes in 4 directions can be completely covered by the diagonal arrangement.

The layout of the roadside sensing system provided by the embodiment of the application at least has the following advantages:

camera angle: firstly, only 4 lamp poles need to be considered for layout and wiring in construction, and certain construction cost is saved compared with 8 lamp poles in the original scheme; secondly, the detection distance is increased from the detection area compared with the detection distance of the original scheme, and because the previous deployment scheme adopts a mode of looking at opposite directions across the intersection, when the intersection is too large, the extending direction of the lane cannot be well sensed, the current scheme adopts downward and backward cameras on the monitoring lamp pole to sense before the stop line, and the sensing distance is greatly increased compared with that of the cameras on the traffic lamp pole; finally, from the detection effect, no matter be automatic driving or other traffic applications, the thing that takes place before the stop line is more concerned about, and the effect in the place ahead of stop line can be guaranteed more outstanding to the camera cooperation of three angle on the control lamp pole at this moment, through this kind of scheme of arranging the scheme, has reduced the redundancy that the same region brought is observed simultaneously to non-orthogonal camera.

Laser radar angle: the coverage of the intersection in the extremely extending direction can be realized only by using two radars which are arranged diagonally, and the cost is greatly saved.

Millimeter wave radar angle: because the automatic driving pays more attention to the high-speed moving object in front of the stop line, the millimeter wave radar is arranged on the traffic light pole to ensure that the area in front of the stop line and in the intersection can be covered, and the high-speed moving object can be well detected.

Fig. 5 is a schematic diagram of a fifth embodiment of the roadside sensing system provided by the present application, and as shown in fig. 5, on the basis of any of the above embodiments, a sensing camera, a laser radar, and a millimeter wave radar are arranged at an intersection of a road, and perform high-precision data acquisition on objects such as vehicles, pedestrians and the like passing through the intersection in each flow direction, mainly for analyzing and processing vehicle information in a vehicle-road cooperation scene, data acquired by various roadside devices need to be transmitted to processed devices. Therefore, the roadside sensing system further includes: a data processing device 10.

The data processing device 10 is connected with the at least one group of sensing camera millimeter wave radar and the laser radar in a wired or wireless manner, and is used for acquiring data such as images, point clouds and the like acquired by each road side device.

In a specific implementation of the solution, the sensing camera, the millimeter wave radar or the laser radar arranged 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 acquired data to the data processing device 10 in real time, or periodically transmit the acquired data to the data processing device 10 according to a certain period, or the data processing device 10 may actively acquire related data from the roadside devices, which is not limited in this scheme.

On the basis of any of the above embodiments, the roadside sensing system can be applied to various types of intersections, such as an L-shaped intersection, a t-shaped intersection, or an intersection, and the like, and is not limited to this scheme, and when there are roads on both sides of the intersection, the modes of the sensing camera, the laser radar, and the millimeter wave radar can refer to the modes of the foregoing embodiments, and for the case where there is no road on the other side of the intersection in the L-shaped intersection or the t-shaped intersection, the setting can be performed only according to the traffic flow direction, and data acquisition in the traffic flow direction is performed.

The utility model provides a roadside sensing system's arrangement scheme can arrange camera, multiple types of perception equipment such as millimeter wave radar and laser radar simultaneously to the crossing on one, and the multisensor fuses in the crossing promptly also simultaneously, can realize the intraoral no dead angle of road and cover, has improved the detection precision to the crossing when the vehicle and road is in coordination, and the perception precision can satisfy the autopilot closed loop requirement in the crossing simultaneously.

In a specific implementation of the data processing apparatus of the system, the data processing apparatus may be implemented as a server or an electronic device, and performs analysis processing on the acquired image or radar data. It should be understood that the data Processing device may include a Processor, which may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. 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. It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the sensing devices in the examples described in this application may be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this application can be achieved, and the present disclosure is not limited herein.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A roadside sensing system, comprising:

2. The system of claim 1, wherein the roadside awareness system further comprises: a millimeter wave radar;

3. The system of claim 1 or 2, wherein the roadside awareness system further comprises: a laser radar;

4. The system of claim 1 or 2, wherein the number of at least one of the first, second or third perceptual cameras in each set of perceptual cameras is greater than one.

5. The system of claim 4, wherein each set of perception cameras is disposed on the same monitoring pole.

6. The system of claim 4, wherein a third perceptual camera in each set of perceptual cameras is positioned downward.

7. The system of claim 2, wherein the millimeter wave radar is located on a traffic light pole or on a pole dedicated to mounting sensing equipment.

8. The system of claim 2 or 7, wherein the number of millimeter wave radars is greater than one.

9. The system according to claim 3, characterized in that said lidar is arranged on a lamp post of a road crossing or on a mast dedicated to the installation of sensing equipment.

10. The system according to claim 3 or 9, characterized in that the number of lidar is greater than or equal to two.

11. The system of claim 1 or 2, wherein the third perceptual camera is a fisheye camera or a wide-angle camera.

12. The system of claim 3, further comprising: a data processing device;