The invention discloses a vehicle-road collaborative perception system and method and a computer readable storage medium, and relates to the technical field of vehicle automatic driving collaborative perception. The system comprises a vehicle end, roadside end equipment and edge cloud computing equipment, wherein the vehicle end comprises a high-order sensing node, a low-order sensing node and a non-sensing node. The roadside end device comprises a depth roadside node and an edge roadside node. And the low-order sensing node obtains the position data of the vehicle sent by the non-sensing node and the second obstacle target list data sent by the depth road end node so as to perform target data fusion on the first obstacle target list data, the position data of the vehicle and the second obstacle target list data. The edge road end node sends sensor data to the edge cloud computing device, and the edge cloud computing device computes the sensor data to generate perception feature data. And the high-order sensing node obtains the sensing feature data sent by the edge cloud computing device so as to perform feature data fusion.

    一种车路协同感知的系统、方法和计算机可读存储介质,涉及车辆自动驾驶协同感知技术领域。系统包括车辆端、路侧端设备和边缘云端计算设备,车辆端包括高阶感知节点、低阶感知节点和无感知节点。路侧端设备包括深度路端节点和边缘路端节点。低阶感知节点获取无感知节点发送的车辆自身的位置数据和深度路端节点发送的第二障碍物目标列表数据,以对第一障碍物目标列表数据、车辆自身的位置数据和第二障碍物目标列表数据进行目标数据融合。边缘路端节点向边缘云端计算设备发送传感器数据,边缘云端计算设备对传感器数据进行计算以生成感知特征数据。高阶感知节点获取边缘云端计算设备发送的感知特征数据,以进行特征数据融合。


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    Title :

    Vehicle infrastructure collaborative awareness system and method and computer readable storage medium


    Additional title:

    一种车路协同感知的系统、方法和计算机可读存储介质


    Contributors:
    LIU QIANFEI (author) / WANG BO (author) / GAO NANNAN (author) / HUANG WENYI (author) / SONG SHIJIA (author) / SUN CHAO (author) / WANG WENWEI (author)

    Publication date :

    2024-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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