无线电通信技术2024，Vol.50Issue(4)：688-695,8.DOI:10.3969/j.issn.1003-3114.2024.04.010
基于多视角的轻量化车路协同感知模型
Lightweight Vehicle Road Collaborative Perception Model Based on Multiple Perspectives
摘要
Abstract
A multiple perspective lightweight vehicle road collaborative perception model is proposed to address the issues of insuf-ficient perception accuracy of traffic elements and traffic events,large and difficult deployment of target detection models for autonomous vehicles in urban open road scenarios.Firstly,during driving process of the vehicle,image data of roadside and vehicle sensors are col-lected separately.Through vehicle attitude information and relative position,the vehicle information is transferred to roadside coordinate system to achieve unity of the coordinate system.Then,ImVoxelNet algorithm is used for object detection,and Post Training Quantifica-tion(PTQ)quantization method is used to compress the object detection model.Finally,perception results are fused using Hungarian al-gorithm,to achieve high-precision and low-cost vehicle road collaborative target perception in urban open road scenarios.Finally,experi-ments were conducted using a vehicle road collaborative dataset,and the results showed that the model achieved the detection ability of vehicle road collaborative perception in urban open road scenes,while verifying the feasibility and effectiveness of the algorithm proposed in this paper.关键词
自动驾驶/多视角/轻量化/车路协同Key words
automatic driving/multi-view/lightweight/vehicle-road collaboration分类
信息技术与安全科学引用本文复制引用
王飞,何军,黄雄炬,徐恺睿,杨华岳,李海强..基于多视角的轻量化车路协同感知模型[J].无线电通信技术,2024,50(4):688-695,8.基金项目
国家自然科学基金(U22A2054,61971148)National Natural Science Foundation of China(U22A2054,61971148) （U22A2054,61971148）
