Research On Traffic Adaptability Of Roadside Sensors In Vehicle-road Cooperation Environment

Intelligent Vehicle Infrastructure Cooperative Systems(IVICS)relies on sensors to accurately perceive and obtain environmental information.With the continuous development of IVICS,people put forward higher requirements for the quantity and quality of information provided by it.This paper will analyze the traffic adaptability of roadside sensors under the influence of different factors in the complex road environment,so as to provide reference for the more common practical application of roadside sensors and the further development of vehicle road cooperation.Firstly,this paper summarizes the research status at home and abroad from three aspects of vehicle road cooperative system,sensor application and adaptability research,and determines to take lidar,camera and millimeter wave radar as the research objects,and gives the main research content and technical route of this paper.Secondly,the principles and methods of sensors in practical use and the related principles of sensor simulation in 51Sim-one simulation software used in this paper are compared and introduced.On this basis,the traffic adaptability model of roadside sensors is proposed,and three characterization indexes of positioning accuracy,speed measurement error and TTC difference are designed,The fuzzy comprehensive evaluation method is used to construct the adaptability evaluation system.Then,33 groups of simulation scenarios were designed based on different influencing factors.The 51 Sim one simulation platform was used to carry out the roadside sensor simulation experiment.The traffic adaptability characterization index was extracted from the simulation data,which was used as the data basis for the subsequent traffic adaptability research.Finally,through the statistical test method and adaptability index evaluation,the traffic adaptability differences of the three roadside sensors under different factors are analyzed.The results show that: from the perspective of characterization indicators,Radar has higher traffic adaptability among the three sensors,and its average positioning accuracy is 9% and 6% lower than that of Camera and Li DAR,respectively;Compared with Li DAR and Camera,the velocity measure error is reduced by 7% and18% respectively.However,under the influence of different factors,there are some differences in the traffic adaptability of the three roadside sensors.As for the speed effect,as a whole,the traffic adaptability of millimeter wave radar sensor decreases with the increase of speed,while the traffic adaptability of lidar and camera sensor is not affected by the speed.At the speed of 10 km / h,millimeter wave radar has good traffic adaptability,but in the medium and high-speed driving environment,lidar has higher adaptability to road traffic.For weather factors,as a whole,with the increase of rainfall/ snowfall level,the traffic adaptability of lidar and camera has a decreasing trend.Millimeter wave radar has better traffic adaptability in sunny and snowy days,but its adaptability is slightly worse than lidar in rainy days due to the multiple scattering effect after rainfall.