US 12,066,299 B2
Method, device and system for perceiving multi-site roadbed network and terminal
Jiajun Mou, Shenzhen (CN)
Assigned to SUTENG INNOVATION TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SUTENG INNOVATION TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Mar. 21, 2023, as Appl. No. 18/124,046.
Application 18/124,046 is a continuation of application No. PCT/CN2021/105118, filed on Jul. 8, 2021.
Claims priority of application No. 202011011719.7 (CN), filed on Sep. 23, 2020.
Prior Publication US 2023/0228593 A1, Jul. 20, 2023
Int. Cl. G01C 21/00 (2006.01); G01C 21/32 (2006.01)
CPC G01C 21/3841 (2020.08) [G01C 21/32 (2013.01); G01C 21/3848 (2020.08)] 7 Claims
OG exemplary drawing
 
1. A method for perceiving a multi-site roadbed network comprising a system for perceiving at least two roadbed base stations and a terminal, the method comprising:
constructing, by the terminal, a global grid map of the multi-site roadbed network, wherein the global grid map is marked with positions of subsystems of the system for perceiving the at least two roadbed base stations and a perceived range of each subsystem of the system;
receiving, by the terminal, a detected target list transmitted by each subsystem of the system for perceiving a corresponding roadbed base station of the at least two roadbed base stations, wherein the detected target list comprises a set of preset detected targets;
indexing, by the terminal, into the global grid map the detected target list transmitted by each subsystem for perceiving the corresponding roadbed base station according to the position of each subsystem to generate a global tracking list; and
tracking, by the terminal, the preset detected target in the detected target list transmitted by each subsystem according to the global tracking list,
wherein tracking the preset detected target in the detected target list transmitted by each subsystem according to the global tracking list comprises:
acquiring position information of the subsystem for perceiving the corresponding roadbed base station in the global grid map;
after the detected target list is received by the terminal, according to the position information, indexing a tracked target within a preset range around the subsystem from the global tracking list to form a tracking sub-list corresponding to the subsystem, wherein:
the preset range around the subsystem exceeds the perceived range of the subsystem; and
the tracking sub-list comprises the tracked target as indexed, from the global tracking list, within the preset range of the subsystem; and
tracking the preset detected target in the detected target list according to the tracking sub-list,
wherein tracking the preset detected target in the detected target list according to the tracking sub-list comprises:
associating the preset detected target in the detected target list with the tracked target in the tracking sub-list, comprising predicting second information of each tracked target, corresponding to a timestamp of the detected target list, according to first information of each tracked target in the tracking sub-list, and determining whether the preset detected target matches each tracked target according to the second information;
updating the first information of the tracked target associated with the preset detected target in the tracking sub-list according to information of the preset detected target to form an updated tracking sub-list; and
updating the global tracking list according to the updated tracking sub-list;
wherein tracking the preset detected target in the detected target list according to the tracking sub-list further comprises:
associating the preset detected target in the detected target list with the tracked target in the tracking sub-list;
if the preset detected target is associated with the tracked target in the tracking sub-list, acquiring the timestamp of the preset detected target; if the timestamp of the preset detected target is earlier than a timestamp of the tracked target associated with the preset detected target, discarding to save the information of the preset detected target, and continuing to reserve tracked target information associated with the tracking sub-list in the tracking sub-list; and if the timestamp of the preset detected target is later than the timestamp of the tracked target associated with the preset detected target, updating the first information of the tracked target associated with the preset detected target in the tracking sub-list according to the information of the preset detected target; and
updating the global tracking list according to the updated tracking sub-list,
wherein associating the preset detected target in the detected target list with the tracked target in the tracking sub-list further comprises:
acquiring the first information of the tracked target in the tracking sub-list, wherein the first information of the tracked target comprises the position information, orientation information, and speed information;
acquiring the timestamp of the detected target list, and predicting the second information of each tracked target corresponding to the timestamp of the detected target list according to the first information of each tracked target in the tracking sub-list, wherein the second information comprises one or a combination at least one of the position information, the orientation information, or the speed information of each tracked target;
determining the preset detected target matching each tracked target according to the second information of each tracked target; and
associating the tracked target with the preset detected target matching the tracked target.