基于V2I/V2N的感知融合系统技术及应用研究

随着智能驾驶技术的研究与发展,单车智能感知的局限性逐渐显现出来,基于V2X的感知技术解决了单车感知在遮挡等场景下的局限性。介绍一种基于V2I/V2N的感知融合系统技术方案,阐述其在智能驾驶系统中发挥的作用。重点讨论路侧感知与车载感知融合技术的算法架构及功能,研究利用V2I/V2N技术搭建智能网联汽车感知系统的可行性,研究基于V2I/V2N的感知融合系统在前车跟车行驶场景、车辆穿越交叉路口场景、高速路匝道车辆汇入场景三种典型场景下的应用。可以为车路协同感知技术应用研究提供参考。

Perception Fusion System Based on V2I/V2N

With the research and development of intelligent driving technology,the perception limitation of intelligent driving vehicles with stand-alone sensors has gradually emerged.The sensing solution based on V2X technology may overcome some limitations stand-alone intelligent vehicles will have to perceive the objects in the obstructed environment.This paper introduces a perception fusion system scheme based on a V2I/V2N technology and its role in developing intelligent driving system.This paper focuses mainly on the principle and functionality of the perception fusion technology between vehicle stand-alone sensors and roadside sensors,the study on the feasibility of using V2I/V2N technology to build intelligent networked vehicle perception system and the applications of V2I/V2N based perception fusion system in three typical scenarios,namely,driving by following a car in front,crossing an intersection,and merging at a freeway ramp.This paper provides a reference for the research on applications of vehicle-road collaborative sensing scheme.