《智能传感器装调与测试（双语）》课件-29.车路协同传感器融合

车路协同传感器融合Vehicle-infrastructureCollaborationSensorFusion车路协同设备Vehicle-infrastructurecollaborationequipment车路协同系统搭载C-V2X通讯技术和多源感知融合技术，采用模块化设计，将交通信控、路侧感知、V2X通讯等智能网联技术相互结合。

Thevehicle-infrastructurecollaborationsystemisequippedwithC-V2Xcommunicationtechnologyandmulti-sourcesensingfusiontechnology.Itadoptsamodulardesignandcombinesintelligentnetworktechnologiessuchastrafficcontrol,roadsidesensing,andV2Xcommunication.Informationinteractionofvehicle-infrastructurecollaborationPART01车路协同的信息交互路广车细却各唱各调Theroadiswideandthevehiclesarefine,buteveryvehiclehasitsowntune路侧与车载传感器的差异Differencesbetweenroadsideandon-boardsensors路侧传感器覆盖范围广，能够监测到远距离障碍物，但数据更新速度相对较慢；车载传感器反应迅速，能精准测量近距离车辆细节，但视野有限。Roadsidesensorshaveawidecoveragerangeandcandetectlong-distanceobstacles,butthedataupdatespeedisrelativelyslow;on-boardsensorsrespondquicklyandcanaccuratelymeasuredetailsofclose-rangevehicles,buttheirfieldofvisionislimited.对齐的必要性Necessityforalignment要将两类传感器的数据融合成完整的交通信息，必须先对齐它们的时间和空间基准，否则协同决策会出现错误，导致目标识别混乱。Tofusethedatafrombothtypesofsensorsintocompletetrafficinformation,theirtemporalandspatialreferencesmustbealignedfirst,otherwisecollaborativedecision-makingwillgowrong,leadingtoconfusionintargetidentification.路测传感器Roadtestsensor两差之祸关联乱定位偏Thedisasterofthetwodifferencesisrelatedtodisorderedpositioning▶时间差的危害HazardsoftimedifferenceTheroadsideandon-boardsensorscollectdataatdifferenttimes.Atimedifferenceof0.5secondsmaycausethesameobstacletoberepeatedlymarkedinthefusiondata,interferingwithcollaborativedecision-making.路侧与车载传感器采集数据时刻不同，0.5秒的时间差可能导致同一障碍物在融合数据中被重复标记，干扰协同决策。▶空间差的危害HazardsofspacedifferenceTheroadsidesensorusesthegeodeticcoordinatesystem,andtheon-boardsensorusesthevehiclebodycoordinatesystem.Thetwocoordinatesystemsareinconsistent,resultingintheinabilitytoaccuratelymatchthepositioninformation.路侧传感器使用大地坐标系，车载传感器使用车身坐标系，两者坐标系统不一致，导致无法准确匹配位置信息。▶对齐精度要求AlignmentaccuracyrequirementsToensuretheaccuracyofdatafusion,thetimeerrormustbecontrolledwithin1millisecondandthespatialerrormustbecontrolledwithin0.5meters.Thisisakeyindicatorforvehicle-infrastructurecollaboration.为确保数据融合的准确性，时间误差需控制在1毫秒以内，空间误差需控制在0.5米以内，这是车路协同的关键指标。Timecalibrationofvehicle-infrastructurecollaborationPART02车路协同的时间校准5G加PTP把时钟拉成一条线5G+PTPpullstheclockintoaline▶5G+PTP架构5G+PTParchitectureTheGPS/Beidoudual-modeclockisconnectedtotheroadsideequipmentasthemaindeviceofthePTPprotocol.Synchronousmessagesaretransmittedthrough5Gdedicatedslicestoensurethatthetimeerroriscontrolledwithin1millisecond,providingahigh-precisiontimereferenceforvehicle-infrastructurecollaboration.在路侧设备中接入GPS/北斗双模时钟，作为PTP协议的主设备，通过5G专用切片传输同步报文，确保时间误差控制在1毫秒以内，为车路协同提供高精度的时间基准。三步闭环车载时钟秒级校准Three-stepclosed-looponboardclocksecond-levelcalibration▶搭建统一时间基准BuildaunifiedtimebenchmarkTheroadsideequipmentisconnectedtotheGPS/BeidouclockasaPTPmasterdevice,andthevehicle-mountedequipmentisconnectedtothe5GnetworkasaPTPslavedevice,layingthefoundationfortimesynchronization.路侧设备作为PTP主设备接入GPS/北斗时钟，车载设备作为PTP从设备接入5G网络，为时间同步奠定基础。▶5G切片传输同步报文5GslicetransmissionsynchronizationmessageThemasterdevicesendsaSyncmessageandaFollow_Upmessageevery100milliseconds.TheSyncmessagecarriesthecurrenttime,andtheFollow_Upmessagemarksthetransmissiondelaytoensureaccuratetransmissionoftimeinformation.主设备每100毫秒发送一次Sync报文和Follow_Up报文，Sync报文携带当前时间，Follow_Up报文标注传输延迟，确保时间信息准确传递。▶车载设备校准时钟On-boardequipmentcalibrationclockAfterreceivingtheSyncandFollow_Upmessages,theon-boardequipmentcalculatesthemaster-slavetimedifferenceandadjuststhelocalclockaccordingtothedifferencetoachievetimealignment.车载设备接收Sync和Follow_Up报文后，计算主从时间差，并根据该差值调整本地时钟，实现时间对齐。PART03车身坐标系Vehiclebodycoordinatesystem坐标系转换公式Coordinatesystemconversionformula将车载传感器采集的目标相对坐标转换为大地坐标系，通过车身坐标、车辆大地坐标与姿态角等参数，利用旋转平移公式实现坐标转换，消除空间差异。Therelativecoordinatesofthetargetcollectedbytheon-boardsensorareconvertedintoageodeticcoordinatesystem.Throughparameterssuchasvehiclebodycoordinates,vehiclegeodeticcoordinatesandattitudeangle,therotationandtranslationformulaisusedtorealizecoordinateconversionandeliminatespatialdifferences.标定场一次修正半米内误差One-timecorrectionoferrorwithinhalfameterinthecalibrationfield在已知大地坐标的测试场进行传感器标定，通过观测固定标记点，对比测量值与真实值，生成修正参数。Thesensoriscalibratedatatestsitewithknowngeodeticcoordinates.Byobservingfixedmarkingpoints,themeasuredvaluesarecomparedwiththetruevaluestogeneratecorrectionparameters.标定场景Calibrationscenario画面场景标定Imagescenariocalibration标定场一次修正半米内误差One-timecorrectionoferrorwithinhalfameterinthecalibrationfield利用角度补偿和位置偏移量对传感器进行修正，确保传感器测量数据的准确性，减少安装偏差对空间对齐的影响。Thesensoriscorrectedbyanglecompensationandpositionoffsettoensuretheaccuracyofsensormeasurementdataandreducetheimpactofinstallationdeviationonspatialalignment.标定逻辑Calibrationlogic系统参数修正补偿

Systemparametercorrectioncompensation大地坐标X=X_car+(X_sensor+X0)×cosθ-(Y_sensor+Y0)×sinθ​

GeodeticcoordinatesX=X_car+(X_sensor+X0)×cosθ-(Y_sensor+Y0)×sinθ大地坐标Y=Y_car+(X_sensor+X0)×sinθ+(Y_sensor+Y0)×cosθ​

GeodeticcoordinatesY=Y_car+(X_sensor+X0)×sinθ+(Y_sensor+Y0)×cosθ标定场一次修正半米内误差One-timecorrectionoferrorwithinhalfameterinthecalibrationfield经过标定后，空间对齐误差控制在0.5米以内，实现路侧与车载传感器数据在空间上的精准对齐。Aftercalibration,thespatialalignmenterroriscontrolledwithin0.5meterstoachieveaccuratespatialalignmentofroadsideandon-boardsensordata.标定效果Calibrationeffect查看标定效果Checkthecalibrationeffect验证场景Verificationscenario在测试场放置固定目标，让路侧与车载传感器同时观测，通过对比两路数据的时间戳和位置坐标，验证时空对齐效果。Afixedtargetisplacedatthetestsitetoallowsimultaneousobservationbyroadsideandon-boardsensors.Thetime-spacealignmenteffectisverifiedbycomparingthetimestampandpositioncoordinatesofthetwodatachannels.同目标双传感器现场对表On-sitecomparisonofdualsensorswiththesametarget验证工具Verificationtools使用时间戳对比软件和坐标偏差分析仪表，精确测量时间误差和空间偏差，确保时空对齐满足精度要求。Usetimestampcomparisonsoftwareandcoordinatedeviationanalyzerstoaccuratelymeasuretimeerrorsandspatialdeviationstoensurethattime-spacealignmentmeetsaccuracyrequirements.指标合格即签字不合格即回炉Iftheindicatorsarequalified,itwillbesignedforacceptance,otherwiseitwillbereturnedtothefurnace.时间误差需控制在1毫秒以内，空间误差需控制在0.5米以内，只有双指标同时合格，才能通过时空对齐的验收。Thetimeerrormustbecontrolledwithin1millisecond,andthespaceerrormustbecontrolledwithin0.5meters.Onlywhenbothindicatorsarequalifiedatthesametimecantheypasstheacceptanceoftime-spacealignment.验收标准Acceptancecriteria查看标定效果Checkthecalibrationeffect四句话带走时空对齐要义Foursentencestosummarizetheessenceoftimeandspacealignment▶时间对齐TimealignmentUsing5GandPTPprotocols,thetimeerroriscontrolledwithin1millisecond,providingahigh-precisiontimereferenceforvehicle-infrastructurecollaboration.利用5G和PTP协议，将时间误差控制在1毫秒以内，为车路协同提供高精度的时间基准。▶空间对齐SpacealignmentThroughcoordinatesystemconversionandsensorcalibration,thespatialerroriscontrolledwithin0.5meterstoachievespatialunificationofroadsideandon-boardsensordata.通过坐标系转换和传感器标定，将空间误差控制在0.5米以内，实现路侧与车载传感器数据的空间统一。▶效果验证EffectverificationObservethesametargetatthetestsitetoverifythedeviationoftimestampandpositioncoordinates,andensurethatthetime-spacealignmentmeetstheaccuracyrequirements.在测试场进行同目标观测，验证时间戳和位置坐标的偏差，确保时空对齐满足精度要求。▶落地指南ImplementationguideAdjust5Gslicingparametersaccordingtothescenariotoensureconsistentprotocolversionsandaccurateinstallationoffsets,ensuringtheimplementationeffectoftime-spacealignment.根据场景调整5G切片参数，确保协议版本一致，安装偏移量准确，保障时空对齐的实施效果。从对齐到协同下一站全域感知Next-stopglobalperceptionfromalignmenttocollaboration未来展望Futureoutlook时空对齐是车路协同的基础，未来将实现全域感知，通过动态地图拼接和全局路径优化，推动车路云一体化发展，提升交通效率与安全性。Spaceandtimealignmentisthefoundationofvehicle-infrastructurecollaboration.Inthefuture,globalperception