Scheme Design And Test Verification Of Vehicle Road Coordination System With Roadside Light Sense

In recent years,automated driving vehicle industry has gradually entered into industrialization,and many manufacturers have begun to introduce vehicle products with certain automated driving ability or even full autonomous driving ability.However,with the increase of test vehicles and running vehicles,the safety accidents of automated driving vehicles occur frequently,which endangers the life safety of passengers,and has a very bad impact on the whole automated driving industry.According to the analysis of a number of typical automated driving accidents,the main reason is that under the influence of abnormal light,the automated driving decision-making system misjudges,resulting in serious casualties.Therefore,the security based on visual perception system has become a technical obstacle that the automated driving industry must face.At present through the vehicle-road system technology can effectively improve the quality of information and information of autonomous vehicle,make up the information blind area,improve the safety of the decision,but in contrast to the vehicle’s own perception of the system,almost all of the vehicle-road collaborative perception system is based on the vehicle surrounding the perception of the vertical direction,and the lack of direction vehicles awareness and forecast,this paper,taking self-driving vehicles common visual perception system in the face of intense light changes and produce error of judgment the situation as a starting point,studies using the vehicle-road synergy technology as the foundation,build a road lighting system,It provides a reference for the vehicle control decision to perceive the light quality of the vehicle direction,and eliminates the influence of abnormal light on the vehicle visual perception system,so as to help the decision system to make correct decisions.In this paper,in addition to analyzing the model of vehicle road cooperative perception system in the case of great changes in light,the test scheme in this environment is also studied.The perception system of autonomous vehicles under various light conditions is tested,and the parameters are analyzed.The linkage test between visual environment,vehicle decision-making system and vehicle road collaborative system is established,and the matching control strategy and performance among the three are summarized The parameter boundary provides a solution for the future application of vehicle road coordination scheme with light perception.The main contents of this dissertation are as follows:(1)Current situation and trend of research on vehicle perception technology and vehicle road collaboration technology of autonomous driving at home and abroad.(2)The technical scheme design of vehicle road cooperative system based on roadside light sensing includes the overall framework of the system,the visual perception system at the vehicle end,the roadside light sensing data acquisition system,the automated driving decision calculation system,the basic composition and hardware selection design of the vehicle road cooperative communication system.(3)Research on system test scheme.Based on the analysis of the relevant light mutation scene,the tunnel scene model is established to provide the design basis for the matching of vehicle road collaborative system and vehicle decision control system.By testing the scene of a self driving vehicle driving into a tunnel,it is designed to verify whether the automated driving vehicle can identify and respond to the information sent by the system,and evaluate whether the vehicle can switch the vehicle control strategy and ensure the safe driving of vehicles in the case of severe changes of light.(4)Research on system test and verification.It includes the verification of vehicle vision system’s response to abnormal light,the verification of roadside light sensing acquisition system,the verification of vehicle road cooperative communication system,the verification of communication system’s response efficiency,and the matching verification of vehicle road cooperative system and vehicle control strategy.Through the test and verification,it is proved that the scheme of vehicle road cooperative system with roadside light sensing can provide information in advance for automated driving vehicles in the case of strong light interference,help vehicles switch control strategies in time,and ensure the safe driving of vehicles...