Methods and apparatuses for generating and using sensing capability information
View Patent ↗A method includes obtaining a roadside sensing result that indicates a first group of location points that are of a traffic participant sensed by a first roadside device in a preset time period, and a multi-source fusion sensing result that indicates a second group of location points obtained by fusing a plurality of groups of location points that are of the traffic participant and that are obtained by a plurality of sensing devices in the preset time period; matching the roadside sensing result with the multi-source fusion sensing result; and generating first sensing capability information of the first roadside device based on the matching result.
1 . A first roadside device comprising:
a memory configured to store programming instructions; and
at least one processor coupled to the memory and configured to execute the programming instructions to cause the apparatus to:
obtain a roadside sensing result indicating a first group of location points of a traffic participant in a preset time period;
obtain a multi-source fusion sensing result indicating a second group of location points that is a fusion of third groups of location points that are of the traffic participant and that are from sensing devices in the preset time period;
match the roadside sensing result with the multi-source fusion sensing result to obtain matching results of target location points, wherein the matching results comprise a true positive (TP) indicator, a false negative (FN) indicator, or a false positive (FP) indicator for the target location points, wherein the TP indicator indicates a target location point of the target location points is in the second group with a first matching location point in the first group, wherein the FN indicator indicates the target location point is in the second group without a second matching location point in the first group, and wherein the FP indicator indicates the target location point is in the first group without a third matching location point in the second group; and
generate first sensing capability information of the first roadside device based on the matching results, wherein the first sensing capability information indicates a first region and a first sensing capability of the first roadside device in the first region.
2 . The apparatus of claim 1 , wherein the first sensing capability information further indicates a first scenario, the first region, and the first sensing capability of the first roadside device in the first scenario in the first region.
3 . The apparatus of claim 1 , wherein the roadside sensing result and the multi-source fusion sensing result are based on a same scenario.
4 . The apparatus of claim 1 , wherein the roadside sensing result comprises at least one of first time information, first location information, a first motion parameter, or first attribute information of each location point in the first group, and wherein the multi-source fusion sensing result comprises at least one of second time information, second location information, a second motion parameter, or second attribute information of each location point in the second group.
5 . The apparatus of claim 1 , wherein the at least one processor is further configured to execute the programming instructions to cause the apparatus to:
generate second sensing capability information for second roadside devices, wherein the second sensing capability information indicates second sensing capabilities of the second roadside devices, wherein the second roadside devices comprise the first roadside device, and wherein the second sensing capability information comprises the first sensing capability information; and
generate sensing coverage hole information based on the second sensing capability information, wherein the sensing coverage hole information indicates a region out of coverage of one or more of the second roadside devices.
6 . The apparatus of claim 5 , wherein the region out of coverage comprises an absolute coverage hole or a relative coverage hole, wherein all of the second sensing capabilities do not meet a sensing capability criterion in the absolute coverage hole, and wherein some of the second sensing capabilities do not meet the sensing capability criterion in the relative coverage hole.
7 . The apparatus of claim 1 , wherein the at least one processor is further configured to execute the programming instructions to cause the apparatus to update the first sensing capability information when a preset condition is met, and wherein the preset condition comprises:
a current value of a sensing capability indicator indicated by the first sensing capability information is abnormal relative to a statistical value of the sensing capability indicator;
a fault maintenance is performed on the first roadside device;
a sensor of the first roadside device is replaced; or
the first roadside device is upgraded.
8 . The apparatus of claim 7 , wherein that the current value is abnormal relative to the statistical value comprises a difference between a first sensing region and a second sensing region that correspond to a target sensing capability level is greater than a first difference threshold corresponding to the target sensing capability level, wherein the target sensing capability level is a sensing capability level for the first roadside device, wherein the first sensing region corresponds to the target sensing capability level indicated by the current value, and wherein the second sensing region corresponds to the target sensing capability level indicated by the statistical value.
9 . The apparatus of claim 1 , wherein the at least one processor is further configured to execute the programming instructions to cause the apparatus to generate warning prompt information based on the first sensing capability information, wherein the warning prompt information prompts a driver to take over a vehicle in a region, perform fault detection on the first roadside device, update software of the first roadside device, adjust deployment of the first roadside device, reduce confidence of information that is about the region and that is sensed by the first roadside device, or bypass the region during route planning, and wherein the first sensing capability information indicates that a second sensing capability of the first roadside device in the region is lower than a sensing threshold.
10 . An apparatus comprising:
a memory configured to store programming instructions; and
at least one processor coupled to the memory and configured to execute the programming instructions to cause the apparatus to:
obtain sensing capability information indicating a region and a first sensing capability of a roadside device in the region, wherein the sensing capability information is based on matching results comprising a true positive (TP) indicator, a false negative (FN) indicator, or a false positive (FP) indicator for target location points, wherein the TP indicator indicates a target location point of the target location points is in a second group of location points with a first matching location point in a first group of location points, wherein the FN indicator indicates the target location point is in the second group without a second matching location point in the first group, and wherein the FP indicator indicates the target location point is in the first group without a third matching location point in the second group; and
based on the sensing capability information:
generate warning prompt information;
adjust a confidence of information that is about the region and that is from the roadside device; or
plan a driving route bypassing the region.
11 . The apparatus of claim 10 , wherein the sensing capability information further indicates a scenario and the first sensing capability in the scenario in the region.
12 . The apparatus of claim 11 , wherein the apparatus is disposed in an in-vehicle device, and wherein the at least one processor is further configured to execute the programming instructions to cause the apparatus to:
determine that the first sensing capability is lower than a sensing threshold; and
prompt a driver to take over a vehicle in the region.
13 . The apparatus of claim 11 , wherein the apparatus is disposed in an in-vehicle device, and wherein the at least one processor is further configured to execute the programming instructions to cause the apparatus to:
determine that the second sensing capability is lower than a sensing threshold; and
plan the driving route.
14 . The apparatus of claim 11 , wherein the apparatus is disposed in a mobile terminal, and wherein the at least one processor is further configured to execute the programming instructions to cause the apparatus to:
determine that the second sensing capability is lower than a sensing threshold; and
prompt a user of the mobile terminal to avoid a vehicle in the region.
15 . The apparatus of claim 11 , wherein the apparatus is disposed in a management device of the roadside device, and wherein the at least one processor is further configured to execute the programming instructions to cause the apparatus to:
determine that the second sensing capability is lower than a sensing threshold; and
prompt an administrator to perform a fault detection on the roadside device, update software of the roadside device, or adjust deployment of the roadside device.
16 . The apparatus of claim 11 , wherein the region comprises a relative coverage hole in which second sensing capabilities of some of second roadside devices do not meet a sensing capability criterion.
17 . The apparatus of claim 10 , wherein the region comprises an absolute coverage hole in which second sensing capabilities of all second roadside devices do not meet a sensing capability criterion.
18 . The apparatus of claim 10 , wherein the warning prompt information prompts a driver to take over a vehicle in the region, avoid the vehicle in the region, perform fault detection on the roadside device, reduce the confidence of information, or bypass the region during route planning, and wherein the sensing capability information indicates that the first sensing capability is lower than a sensing threshold.
19 . A method comprising:
obtaining a roadside sensing result indicating a first group of location points of a traffic participant in a preset time period;
obtaining a multi-source fusion sensing result indicating a second group of location points that is a fusion of third groups of location points that are of the traffic participant and that are from sensing devices in the preset time period;
matching the roadside sensing result with the multi-source fusion sensing result to obtain matching results of target location points, wherein the matching results comprise a true positive (TP) indicator, a false negative (FN) indicator, or a false positive (FP) indicator for the target location points, wherein the TP indicator indicates a target location point of the target location points is in the second group with a first matching location point in the first group, wherein the FN indicator indicates the target location point is in the second group without a second matching location point in the first group, and wherein the FP indicator indicates the target location point is in the first group without a third matching location point in the second group; and
generating first sensing capability information of the first roadside device based on the matching results, wherein the first sensing capability information indicates a first region and a first sensing capability of the first roadside device of the first roadside device in the first region.
20 . The method of claim 19 , wherein the first sensing capability information further indicates a first scenario, the first region, and the first sensing capability of the first roadside device in the first scenario in the first region.