阅读说明：本技术 一种基于图像级激光雷达全息感知系统 (Holographic sensing system based on image-level laser radar ) 是由 鲍君威 邓常敏 花娇娇 于 2019-10-14 设计创作，主要内容包括：本发明提出一种基于图像级激光雷达全息感知系统,其包含：道路信息采集设备、路测终端系统、交通管控中心,道路信息采集分别电性连接至路测终端系统及交通管控中心,路测终端系统包括相机、图像级激光雷达。实现单个激光雷达的长距离和高精度探测,从而降低每公里安装成本。同时解决了当前道路全息感知系统中分辨率低的问题,该系统配合照相机使用,使得在城镇交汇路口实现高分辨率,低成本的应急预警。(The invention provides an image-level laser radar-based holographic sensing system, which comprises: road information acquisition equipment, drive test terminal system, traffic management and control center, road information acquisition is electric connection to drive test terminal system and traffic management and control center respectively, and drive test terminal system includes camera, image level laser radar. The long-distance and high-precision detection of a single laser radar is realized, so that the installation cost per kilometer is reduced. Meanwhile, the problem of low resolution in the current road holographic sensing system is solved, and the system is matched with a camera for use, so that high-resolution and low-cost emergency early warning is realized at an intersection of cities and towns.)

1. An image-level lidar based holographic sensing system, comprising:

road information acquisition equipment, a road test terminal system and a traffic control center, wherein the road information acquisition equipment is respectively and electrically connected to the road test terminal system and the traffic control center,

the drive test terminal system comprises a camera and an image-level laser radar.

2. The image-based lidar holographic sensing system of claim 1, wherein the image-based lidar is operable to emit a wavelength of 1550 nm.

3. The image-based lidar holographic sensing system of claim 1, wherein the system is operable to emit a plurality of light pulses during a predetermined time, each light pulse being emitted in a plurality of different directions with a field of view of 40x100 °, and wherein a reflected signal of each light pulse is utilized to construct a three-dimensional scene surrounding the system.

4. The holographic sensing system of claim 1, wherein information based on camera, image level lidar detection is transmitted to a switch and through the switch to a traffic light or edge calculation module, and the switch feeds back the information of the detection module to a control center, which transmits the received information to participating vehicles and/or connected smart devices through the RSU.

5. The holographic sensing system of claim 4, wherein the participating vehicles transmit their detected ambient environment information to the control center through their onboard vehicle-mounted devices, the control center receives and accordingly feeds back the information and transmits the information in response to the switch, the switch transmits the received response signal to the traffic light device, and the traffic light device receives and displays the traffic signal. On the other hand, the edge calculation will take part in the control center calculation. The edge calculation may also transmit the results of its calculations to the participating vehicles and/or connected smart devices.

Technical Field

The invention relates to the field of sensors, in particular to a holographic sensing system based on an image-level laser radar.

Background

The rapid development of economy and the increasing traffic pressure provide new requirements for urban road traffic, how to fully utilize the existing technical means to improve urban traffic capacity and establish a perfect road holographic sensing system, particularly the emergency early warning of intersection, which is the key development direction of intelligent traffic. At the present stage, the road holographic sensing system adopts a detection mode of integrating video detection and radar detection to jointly complete information acquisition. A holographic sensing system (video + millimeter wave radar detection type) for emergency early warning at an intersection is shown in fig. 1.

The road holographic sensing system comprises a road information acquisition device, a road test terminal system and a traffic control center, wherein the road information acquisition device comprises a camera and a millimeter wave radar.

Video detection is the mainstream road detection method at present, has the characteristics of abundant information content, flexible information processing mode and the like, can obtain comprehensive vehicle information, but is greatly influenced by illumination and weather, and cannot work normally during night.

The millimeter wave radar is a radar with a working frequency range in a millimeter wave frequency range, and the distance measurement principle is to send out radio waves (radar waves), then receive echoes and measure the position data of a target according to the time difference between the sending and receiving. The millimeter wave radar works by utilizing the radar waves emitted by the millimeter wave radar, is not influenced by illumination, and can well make up the defect that a camera cannot normally collect road information during night. But its detection range is short; the detection resolution is low, and small objects on a detection road are easy to omit; the full coverage effect of the intersection is expected to be achieved under the influence of the detection distance and the detection precision, and the installation cost per kilometer is high.

The video + millimeter wave radar detection type holographic sensing system combines data obtained from a plurality of sources, and can obtain more and more comprehensive information than a single sensor. From data collected by the video and millimeter wave radar, the length, width, speed and other information of the vehicle can be obtained, so that the characteristic identification of the target vehicle is carried out; the traffic flow of the current intersection can be obtained by calculating the number of detected vehicles per minute, the road condition is identified and guided, and the traffic pressure is relieved; and (4) continuing the vehicles at the intersection, recording the lane change, line pressing, overspeed, abnormal parking and the like of the vehicles, and providing data for a traffic sequencing system. The detection technologies of the video and the millimeter wave radar are fused, so that the advantages can be complemented, more comprehensive information of the vehicle road can be obtained, the recognition rate of the vehicle and the judgment of the road condition can be improved, the detection rate of whether the vehicle runs normally can be improved, and a comprehensive information source is provided for the intersection emergency early warning system. The system cost is high.

Maintenance, a new perception system is needed.

Disclosure of Invention

In view of the above existing problems, the present invention provides a new sensing system, which is based on an image-level laser radar, and implements long-distance and high-precision detection of a single radar, thereby reducing the installation cost per kilometer.

In order to achieve the purpose, the invention adopts the following technical scheme:

an image-level lidar based holographic sensing system, comprising: the road information acquisition system comprises road information acquisition equipment, a road test terminal system and a traffic control center, wherein the road information acquisition equipment is electrically connected to the road test terminal system and the traffic control center respectively, and the road test terminal system comprises a camera and an image-level laser radar.

Preferably, the image-level lidar is operable to emit a wavelength of 1550 nm.

Preferably, the system is operated to emit a plurality of light pulses within a predetermined time, each light pulse being emitted in a plurality of different directions with a field of view of 40 × 100 °, and a reflected signal of each light pulse is used to construct a three-dimensional scene around the system.

Preferably, the information detected by the camera and the image-level lidar is transmitted to a switch and transmitted to a traffic light or an edge calculation module through the switch, the switch feeds back the information of the detection module to a control center, and the control center transmits the received information to the participating vehicles and/or connected intelligent equipment through the RSU.

Preferably, the participating vehicle transmits the detected ambient environment information to the control center through the onboard vehicle-mounted device, the control center receives and correspondingly feeds back the information and transmits the response information to the switch, the switch transmits the received response signal to the traffic light device, and the traffic light device receives and displays the traffic signal. On the other hand, the edge calculation will take part in the control center calculation. The edge calculation may also transmit the results of its calculations to the participating vehicles and/or connected smart devices. The detection module comprises a laser radar, a camera and other sensors (and weather and illumination sensors), and transmits the information detected by the detection module to the switch.

Compared with the scheme in the prior art, the invention has the advantages that:

the method is based on the image-level laser radar, realizes long-distance and high-precision detection of a single radar, and accordingly reduces the installation cost per kilometer. Meanwhile, the problem of low resolution in the current road holographic sensing system is solved, and the system is matched with a camera for use, so that high-resolution and low-cost emergency early warning is realized at an intersection of cities and towns.

Drawings

The invention is further described with reference to the following figures and examples:

fig. 1 is a schematic diagram of a holographic sensing system for emergency early warning at an intersection in the prior art.

Fig. 2 is a schematic diagram illustrating an architecture of a roadside holographic sensing system device according to an embodiment of the application.

Fig. 3 is a flow chart of the vehicle-road cooperative data transmission according to the embodiment of the present application.

Detailed Description

The above-described scheme is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present invention. The conditions employed in the examples may be further adjusted as determined by the particular manufacturer, and the conditions not specified are typically those used in routine experimentation.

The embodiment adopts the holographic sensing system of the image-level laser radar under the existing framework. The image-level laser radar works to emit 1550nm wavelength, so that the image-level laser radar is safe to human eyes. Lidar operates on the time-of-flight principle. The system emits a large number of light pulses within 0.1 second, each light pulse is emitted to a plurality of different directions with a field of view of 40x100 degrees, and the reflected signals of each light pulse are utilized to construct a three-dimensional scene around the system.

The holographic sensing system of the image-level lidar according to the embodiment of the present application will be described in detail with reference to fig. 2 and 3.

Fig. 3 is a flow chart of the vehicle-road cooperative data transmission according to the embodiment of the present application, information detected by the detection module is transmitted to the switch through an optical fiber, the switch transmits the information to the traffic light device (based on the received information display signal) or the auxiliary processing module (edge calculation), the switch processes the information of the detection module and feeds the processed information back to the (traffic) control center (remote server) through the optical fiber, and the control center transmits the processed information to the participating vehicle and/or the connected intelligent device (such as the mobile phone APP) through the RSU. The participatory vehicle transmits the surrounding environment information (such as 5G transmission) detected by the participatory vehicle through the onboard vehicle equipment (such as laser radar, camera, millimeter wave and other equipment) to the control center, the control center transmits the received information to the switch after processing, and the switch is novel interactive with the traffic light device, so as to adjust traffic signals. On the other hand, the auxiliary processing module (edge calculation). The auxiliary processing module (edge calculation) can also transmit the results of its calculations to the participating vehicles and/or connected smart devices. The detection module comprises a laser radar, a camera and other sensors (and weather and illumination sensors), and transmits the information detected by the detection module to the switch.

Fig. 2 is a schematic diagram of a roadside holographic sensing system device architecture according to an embodiment of the present application, which obtains road and vehicle information at a junction by using a mutual fusion effect of a radar and a camera, and has the advantages of higher precision and long detection distance. The resolution precision of the image-level laser radar is far higher than that of the millimeter-wave radar, so that small-volume objects missed to be detected by the millimeter-wave radar can be identified, and richer and more precise road information is provided for a holographic sensing system. The image-level laser radar utilizes the collected high-density target point cloud patterns, the target attributes are accurately identified through deep learning by a neural network algorithm, and information such as types, directions, distances, speeds, moving directions and flow rates of motor vehicles, non-motor vehicles, pedestrians and the like can be output through training. The output rate and accuracy of target identification can be greatly improved. Road surface information can be transmitted to a roadside terminal system through optical fibers or a gigabit network after being identified and by matching with other multi-sensors, and then is broadcasted to surrounding or more distant vehicles through a traffic control center server, intersection traffic information and traffic safety information prompts are provided for surrounding current vehicles, meanwhile, effective information supplement is provided for vehicle vision blind areas, and driving safety is improved. The traffic information collection and playing can greatly improve and promote the emergency early warning information of the intersection and improve the emergency early warning capability. Meanwhile, vehicles with radar monitoring can transmit traffic information of surrounding areas to a traffic control center through a network, so that road holographic sensing system information is enriched, and a feasible implementation mode is provided for intelligent vehicle-road cooperation.

In the above embodiment, the image-level laser radar has the detection capability of 300m, the detection capability is far greater than that of the millimeter-wave radar, the target object can be tracked for a longer distance, and meanwhile, the number of the radars to be installed is far smaller than that of the millimeter-wave radar on the traffic road with the same distance, so that the installation and maintenance cost is reduced.

In the above embodiments, the traffic control center is also referred to as a traffic control center.

In one embodiment, the traffic scheduling method based on the holographic sensing system of the image-level laser radar is applied to intersection emergency early warning, compared with the method introduced in the background, the traffic scheduling method adopts a single laser, and is matched with a camera (video camera) for use through long-distance and high-precision detection, so that the traffic condition of an intersection is constructed at high resolution, the detected information is interacted with the information of a control center, and the traffic flow of the intersection is scheduled reasonably and orderly. Such embodiment has improved the emergent early warning ability of intersection.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and the same or similar parts in each embodiment may be referred to each other, and each embodiment focuses on differences from other embodiments. Especially, as for the device embodiment, the user terminal embodiment and the management platform embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the partial description of the method embodiment.

The systems, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions.

From the above description of the embodiments, it is clear to those skilled in the art that the present specification can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present specification may be essentially or partially implemented in the form of software products, which may be stored in a storage medium, such as ROM/RAM, optical disc, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments of the present specification.

The description is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, multiprocessor systems, programmable consumer electronics, minicomputers, distributed computing environments that include any of the above systems or devices, and the like.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include programs, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.