基于激光测距传感器的车辆轨迹全息感知方法

doi:10.13229/j.cnki.jdxbgxb.20230345

摘要/Abstract

摘要：

为实现高速公路全路段车辆轨迹的实时全息感知，提出一种成本效益高、易于部署的车辆轨迹全息感知方法。首先，基于路侧分布式布设的由激光测距传感器构成的感知设备，实时采集车辆的离散轨迹断面信息；之后，通过条件匹配，将相邻检测断面信息进行匹配关联，得到每一辆车的轨迹点序列；最终，利用三次样条插值方法重构车辆的完整轨迹。经验证，该方法得到的车辆重构轨迹与其真实轨迹基本吻合，可见该方法在理论上是可行的。

关键词: 车辆轨迹全息感知, 激光测距传感器, 轨迹重构, 路侧感知设备

Abstract:

To achieve real-time holographic perception of vehicle trajectories on all sections of highways， this paper aims to explore a cost-effective and easily deployable method for holographic perception of vehicle trajectories. Initially， perception devices composed of laser range sensors， distributed along the roadside， are used to collect discrete trajectory profile information of vehicles in real time. Subsequently， by conditional matching， the information from adjacent detection profiles is matched and associated to obtain the sequence of trajectory points for each vehicle. Finally， cubic spline interpolation is used to reconstruct the complete trajectory of the vehicles. Verification shows that the reconstructed vehicle trajectories are fundamentally consistent with their actual trajectories， demonstrating the feasibility of this method in theory.

Key words: vehicle trajectory holographic perception, laser range sensor, trajectory reconstruction, roadside perception devices

中图分类号:

U417.9

张辉,温鑫,陈海宇,黄世淳. 基于激光测距传感器的车辆轨迹全息感知方法[J]. 吉林大学学报(工学版), 2024, 54(8): 2378-2384.

Hui ZHANG,Xin WEN,Hai-yu CHEN,Shi-chun HUANG. Vehicle trajectory holographic perception method based on laser range sensors[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(8): 2378-2384.

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车辆运行工况	优先等级
正常行驶（无换道）	一级
正常行驶（有换道）	二级
紧急制动（无换道）	三级
紧急制动（有换道）	四级

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