Design And Implementation Of Intersection Situational Cognition System Oriented To Vehicle-road Collaborative Decision-making

Due to the limited perception and computing power of the vehicle,it is difficult to solve the situational awareness problems such as occlusion and blind spots that affect traffic safety.With the development of Internet of Vehicles technology,vehicles can communicate with surrounding vehicles and roadside facilities through V2X,thereby expanding the range of perception and improving the accuracy of road condition information perception.Especially in complex traffic scenarios such as intersections,if the overall traffic situation at the intersection can be obtained,the occurrence of problems such as congestion and accidents can be greatly reduced.This paper conducts research on the situational awareness system for vehicle-road collaborative decision-making under the intersection scene,and proposes a method for constructing a situational value map based on a rasterized map.Aiming at the problem that the target detection results are difficult to be trusted and utilized by intelligent driving vehicles,this method introduces a destination point prediction algorithm and builds a vehicle multi-trajectory behavior prediction model,and then completes the panoramic situational awareness of intersections through situational calculation and situational fusion algorithms.Finally,the intersection situation value map is established and broadcast through the roadside RSU,thereby changing the collaborative content from the target detection result to the road situation,and assisting the intelligent driving vehicle to make the next driving decision.This paper designs and implements a vehicle-road coordination-oriented intersection situational awareness system.The system has constructed a data processing module,a situation calculation module,a destination point prediction module,an index calculation module,a system management Calculation and situational fusion algorithms complete the whole process from roadside data collection and preprocessing,intersection situational fusion calculation to situational distribution.The paper first introduces the background knowledge and theoretical technology related to situational awareness,then conducts a detailed demand analysis of the overall system,and splits the system functional requirements according to different system users,and then elaborates the value of the intersection situation in detail The overall design of the graph construction method.Then according to the requirements analysis,the overall design of the system and the design of each functional module are elaborated,and finally the system is fully tested to verify the correctness and feasibility of the system.