CN113806380B - Intersection dynamic image resource updating and sharing system and method - Google Patents

Abstract

The invention provides an intersection dynamic image resource update and sharing system and method, which receives detection information output from a detection device on the vehicle. The detection information includes the absolute positioning coordinates of the vehicle, the vehicle's own heading, the vehicle's own speed, objects and The relative speed of the vehicle and the original relative coordinates of the object and the vehicle; match the absolute positioning coordinates of the vehicle and the original relative coordinates of the object and the vehicle plus the estimated coordinate displacement; match the vehicle's heading and the reference orientation of the geodetic coordinate system. The matched relative coordinates are rotated and transformed to form matching transformation coordinates; the absolute positioning coordinates of the vehicle and the matching transformation coordinates of the object are merged into intersection area image resources to become intersection dynamic image resources; the intersection dynamic image resources are shared externally to achieve intersection dynamics The purpose of image resource update sharing.

Description

Intersection dynamic image resource update and sharing system and method

Technical field

The invention relates to an image resource updating and sharing system and method, in particular to an intersection dynamic image resource updating and sharing system and method.

Background technique

With the development of Intelligent Transport System (ITS), self-driving vehicles (self-driving cars) will become one of the mainstream modes of transportation in the future. Self-driving cars can drive on the road mainly based on computer implementation of navigation decisions; among them, self-driving cars Driving cars can be equipped with detection units such as cameras, optical radar (LiDAR), global navigation satellite systems (GNSS), and inertial navigation systems (INS)... to locate the position of the self-driving car and detect objects around the self-driving car, such as Other vehicles or pedestrians, self-driving cars can make navigation decisions based on the detection data of the detection unit.

Different from the controlled road environment like a laboratory or test site, the actual road has various vehicles and pedestrians, and even vehicles and pedestrians violating regulations, such as speeding, running red lights, etc., especially at intersections (such as forks or intersections) , vehicles and pedestrians cross the intersection from different directions. It can be seen that for self-driving cars, successfully passing intersections is an important issue.

However, the detection range of existing self-driving cars is limited. The detection range is limited to the area surrounding the self-driving cars. Vehicles and pedestrians at intersections come from all directions, so some road conditions at intersections (especially those far away from self-driving cars) are difficult to detect by self-driving cars. Otherwise, existing self-driving cars cannot effectively and comprehensively grasp the intersection information when passing through intersections, and thus cannot make more comprehensive navigation decisions.

Contents of the invention

In view of this, the main purpose of the present invention is to provide a system and method for updating and sharing dynamic image resources at intersections, in order to overcome the shortcomings of the limited detection range of self-driving cars in the background art.

The intersection dynamic image resource update and sharing system of the present invention includes:

An on-board detection device is provided on a vehicle for detecting objects around the vehicle and periodically outputting detection information. The detection information includes an absolute positioning coordinate of the vehicle, a vehicle heading, a vehicle speed, and at least one vehicle speed. a relative velocity of the object and the vehicle and an original relative coordinate of the at least one object and the vehicle; and

A computing device that stores an intersection area image resource. The intersection area image resource is established in a geodetic coordinate system, and the geodetic coordinate system includes a reference orientation;

Wherein, when the computing device receives the detection information from the on-board detection device, the computing device adds the absolute positioning coordinates of the vehicle to an estimated coordinate displacement of the vehicle to obtain a matching absolute coordinate, and adds the at least one The original relative coordinates of the object and the vehicle are added to an estimated coordinate displacement of the object to obtain a matching relative coordinate, wherein the estimated coordinate displacement of the vehicle is calculated based on the speed of the vehicle and a time difference. The object The estimated coordinate displacement is calculated based on the relative speed and the time difference; the computing device performs coordinate rotation and transformation on the matching relative coordinates based on the vehicle heading and the reference orientation to form a matching transformation coordinate, and then the matching absolute The coordinates and the matching conversion coordinates are merged into the intersection area image resource to become an intersection dynamic image resource, and the intersection dynamic image resource is shared externally.

The intersection dynamic image resource update and sharing method of the present invention is executed on a computing device. The method includes:

Receive detection information output from at least one on-board detection device. The detection information includes an absolute positioning coordinate of a vehicle, a vehicle heading of the vehicle, a vehicle speed, a relative speed of at least one object and the vehicle, and the vehicle speed. An original relative coordinate of at least one object and the vehicle;

A matching absolute coordinate is obtained by adding the absolute positioning coordinates of the vehicle to an estimated coordinate displacement of the vehicle, and adding an estimated coordinate displacement of the object to the original relative coordinates of the at least one object and the vehicle. A matching relative coordinate, wherein the estimated coordinate displacement of the own vehicle is calculated based on the speed of the own vehicle and a time difference, and the estimated coordinate displacement of the object is calculated based on the relative speed and the time difference;

Coordinate rotation transformation is performed on the matching relative coordinates according to the own vehicle heading of the vehicle and a reference orientation of the earth coordinate system to form a matching transformation coordinate;

Merge the matching absolute coordinates and the matching transformation coordinates into an intersection area image resource to become an intersection dynamic image resource; and

Share the dynamic image resources of this intersection with the outside world.

To sum up, the intersection dynamic image resources shared by the present invention can present the positions of objects passing through the intersection. For example, when ten self-driving cars equipped with the on-board detection device of the present invention pass through the intersection from all directions, these ten self-driving cars will The own detection information is provided to the computing device for the computing device to generate and share the dynamic image resources of the intersection. In this way, a self-driving car passing through an intersection can receive dynamic image resources of the intersection, and can obtain road condition information beyond the detection range of its on-board detection device (that is, detection information generated by other self-driving cars) from the dynamic image resources of the intersection, especially The object position of the intersection dynamic image resource is estimated. It is closer to the actual road conditions broadcast by the intersection dynamic image resource rather than the earlier road conditions. Self-driving cars can make comprehensive navigation decisions based on the intersection dynamic image resource to ensure Driving safety, thus overcoming the problems mentioned in the background art.

Description of the drawings

Figure 1: Block diagram of the intersection dynamic image resource update and sharing system of the present invention.

Figure 2: Schematic diagram of the usage scenario of the intersection dynamic image resource update and sharing system of the present invention.

Figure 3: A schematic diagram of the computing device of the present invention generating intersection dynamic image resources based on detection information.

Figure 4: Block diagram of detection information of the present invention.

Figure 5: Time diagram of broadcasting intersection dynamic image resources according to the present invention.

Figure 6: In an embodiment of the present invention, a schematic diagram of multiple on-board detection devices generating detection information respectively.

Figure 7: Schematic diagram of coordinate rotation conversion according to the present invention.

Figure 8: Schematic diagram of intersection dynamic image resources of the present invention.

Figure 9: Flowchart of the method for updating and sharing dynamic image resources at intersections according to the present invention.

Detailed ways

Please refer to FIG. 1 . An embodiment of the intersection dynamic image resource update and sharing system of the present invention includes at least one on-board detection device 10 and at least one computing device 11 , or further includes at least one object detection device 12 . The on-board detection device 10 provides Installed on a vehicle, the object detection device 12 is installed at an intersection. Overall, the present invention uses the on-board detection device 10 or is further combined with the object detection device 12 to detect the position of the object around the vehicle or at the intersection, and periodically transmits the detection results to the calculation Device 11, wherein the object is a detected object, such as various vehicles, pedestrians or other objects (such as scattered objects). The computing device 11 matches and merges the received detection results into intersection area image resources to form an intersection dynamic image resource; the computing device 11 can periodically broadcast the intersection area image resources for sharing The dynamic image resources of the intersection are sent to a receiving device 13, such as a self-driving car, an on-board audio and video navigation device, or a user electronic device (such as a smartphone), etc., for the receiving device 13 to receive the dynamic image of the intersection and use it. . Further technical details of the present invention are described below.

In an embodiment of the present invention, please refer to Figures 2 and 3. Each on-board detection device 10 can be installed on a vehicle 20 running on the road. The vehicle 20 can be, for example, an autonomous vehicle (self-driving vehicle) or a non-autonomous vehicle. Driving a car, the on-board detection device 10 may include, for example, a camera, an optical radar (LiDAR), a global navigation satellite system (GNSS), an inertial navigation system (INS), and a wireless communication module for transmitting data. Its positioning function and sensing function and data transmission functions are common knowledge in the technical field and will not be described in detail here. Therefore, the on-board detection device 10 can periodically output a detection information 30, for example, the detection information 30 can be broadcast through (but not limited to) dedicated short-range communication technology (DSRC), or through mobile communication technology (such as the fifth generation (5G) or higher-end mobile communication technology) outputs the detection information 30. Please refer to Figure 4. The detection information 30 includes an absolute positioning coordinate 31 of each vehicle 20 generated by the on-board detection device 10 through the positioning function, and It includes generating at least one relative speed 32 of at least one object and the vehicle 20, a vehicle heading 33, at least one relative coordinate 34 of the at least one object and the vehicle 20, and a vehicle speed 35 through the sensing function, wherein the object The vehicle heading 33 refers to the heading of the vehicle 20 . In the embodiment of the present invention, the following description only takes the vehicle 20 detecting an object as an example, and the relative coordinate 34 in the detection information 30 is defined as an original relative coordinate.

Please refer to FIG. 4 , the absolute positioning coordinates 31 reflect the absolute position of the vehicle 20 in the intersection area image resource, and the relative coordinates 34 reflect the relative position between the object and the vehicle 20 . For convenience of explanation, the absolute positioning coordinates 31 and the relative coordinates 34 are coordinate values of the X-Y plane coordinate system, which can be converted to the longitude and latitude of the geodetic coordinates system.

An embodiment of the computing device 11 may be an edge computing device installed at an intersection, which includes a wireless communication module and a processor for receiving broadcast information, processing information, and broadcasting information to the outside. For example, The computing device 11 can broadcast information and receive information through dedicated short-range communication technology (DSRC), but is not limited thereto; therefore, when the vehicle 20 passes through an intersection, the on-board detection device 10 of the vehicle 20 can broadcast its detection information. 30, the computing device 11 can receive the detection information 30. In addition, another embodiment of the computing device 11 can be a cloud server. The on-board detection device 10 can establish a connection with the computing device 11 through mobile communication technology, so that the on-board detection device 10 and the computing device 11 can communicate with each other. The detection information 30 is transmitted through mobile communication technology.

Please refer to Figure 3. The computing device 11 stores the intersection area image resource 110. The intersection area image resource 110 can be a high-precision intersection plan, which can include lane sign information of the intersection (such as lane lines or zebra crossings... etc.), where, The intersection area image resource 110 can be established on a geodetic coordinate system, and the geodetic coordinate system includes a reference orientation. For example, the range of the intersection area image resource 110 may be specified by longitude and latitude values of the geodetic coordinate system, and the reference orientation may include east, west, south, and north.

The following uses an example to illustrate the intersection dynamic image resource updating and sharing method of the present invention. The intersection dynamic image resource updating and sharing method of the present invention is executed by the computing device 11 . Please refer to Figure 2, Figure 3 and Figure 9. The computing device 11 takes an edge computing device as an example. When the vehicle 20 passes through the intersection, as mentioned above, the on-board detection device 10 of the vehicle 20 periodically broadcasts the detection The information 30 is received by the computing device 11 (step S01). Whenever the computing device 11 receives the detection information 30, the computing device 11 adds a vehicle estimated coordinate displacement (to be described later) to the absolute positioning coordinate 31 in the detection information 30 to obtain a matching absolute coordinate. , and adding an estimated coordinate displacement of the object (to be described later) to the original relative coordinate (ie, the relative coordinate 34) to obtain a matching relative coordinate (step S02). Because the matching relative coordinates only present a relative position relationship between the object and the vehicle 20 , the computing device 11 further performs coordinate rotation conversion on the matching relative coordinates according to the vehicle heading 33 and the reference orientation, so as to The relative position between the object and the vehicle 20 is correspondingly positioned in the X-Y plane coordinate system, and then the matching absolute coordinates of the position of the vehicle 20 and the matching relative coordinates after rotation conversion of the position of the object are converted into longitude. and latitude are then merged into the intersection area image resource 110 to become an intersection dynamic image resource (step S03), and the intersection dynamic image resource is shared externally (step S04). The sharing method may be, for example, through dedicated short-range communication technology (DSRC). ) broadcast method.

In step S02, regarding the generation of the estimated coordinate displacement of the vehicle and the estimated coordinate displacement of the object, please refer to Figure 5 together with Figures 2 to 4. When the vehicle 20 is located at a first position, the Overall, the on-board detection device 10 of the vehicle takes _ΔTP time to perform information calculation and ΔT _T time to transmit information. The on-board detection device 10 broadcasts the detection information 30 at a first time point t1. The information 30 is the detection result when the on-board detection device 10 corresponds to the first position; the broadcast period of the on-board detection device 10 can be _TR , and the broadcast period of the computing device 11 can be _TB ; in the above, ΔT _P , ΔTT, _TR and _TB are known information and can be preset in the _computing device 11. For example, _ΔTP and _ΔTT can be 5 milliseconds (ms) respectively, and _TR can be 125 (ms). , T _B can be 200 (ms).

It can be seen that the computing device 11 can broadcast at a second time point t2 that there is a time difference ΔT between the time point when the vehicle 20 is located at the first position and the second time point t2 for information calculation and transmission, as described above. Time data, ΔT is 85 (ms). The relative position of the vehicle 20 itself and the object and the vehicle 20 may change over time. The estimated coordinate displacement of the vehicle and the estimated coordinate displacement of the object are the detection information 30 during the time difference ΔT. Multiple estimated changes. In this way, the dynamic image resource of the intersection broadcast by the computing device 11 at the second time point t2 will be more in line with the actual road conditions at the second time point t2 rather than the earlier traffic conditions.

The estimated coordinate displacement of the object can be expressed as follows:

In the above formula, X and Y can respectively represent the coordinate axes of the XY plane coordinate system; Estimated coordinate displacement for the object,/> is the relative speed 32 of the object and the vehicle 20, and ΔT is the time difference. Therefore, the matching relative coordinates can be expressed as follows:

In the above formula, Indicates the relative coordinates of the match,/> represents the original relative coordinates (ie: the relative coordinates 34 of the object and the vehicle 20).

On the other hand, the estimated coordinate displacement of the vehicle can be expressed as follows:

In the above formula, X and Y can respectively represent the coordinate axes of the XY plane coordinate system, Estimated coordinate displacement for this vehicle,/> is the own vehicle speed 35 of the vehicle 20, and ΔT is the time difference. Therefore, the matching absolute coordinates can be expressed as follows:

In the above formula, Indicates the matching absolute coordinates of the vehicle 20,/> represents the absolute positioning coordinates 31 of the vehicle 20 .

The usage scenarios of the present invention are further explained below with reference to the drawings. Please refer to the intersection shown in Figure 6 together with Figures 2 to 4. There are four self-driving cars and one motorcycle 50 on the east-west lane. The four self-driving cars are the first, second, fourth and fourth self-driving cars respectively. Five self-driving cars 41, 42, 44, 45; the north-south lane includes the third and sixth self-driving cars 43, 46 and one non-self-driving car 51. Each self-driving car 41-46 is equipped with the on-board detection device of the present invention. 10.

The objects detected by the on-board detection device 10 of the first self-driving car 41 include the second self-driving car 42. Therefore, in the first detection information 410 generated by the first self-driving car 41, the first self-driving car 41 The original relative coordinates with the second self-driving car 42 can show that the second self-driving car 42 is located in front and left of the first self-driving car 41, and a first vehicle heading 331 of the first self-driving car 41 is east. Similarly, the second to sixth detection information 420 to 460 of the on-board detection device 10 of the second to sixth self-driving cars 42 to 46 can be deduced in the same manner.

The detection information 410 - 460 of each self-driving car 41 - 46 is sent to the computing device 11 , and the computing device 11 performs coordinate matching and merging as described above, wherein the first detection information of the first self-driving car 41 Taking the information 410 as an example, the first vehicle heading 331 of the first self-driving car 41 is east, and the matching relative coordinates only show that the second self-driving car 42 is located in front and left of the first self-driving car 41. In order to combine the relative position relationship The "front" of is converted into the "east" of the geodetic coordinate system. The "front" of the relative position is 90 degrees different from the "east". Therefore, the matching relative coordinates of the first self-driving car 41 can be carried out through a rotation matrix. The coordinates are rotated and transformed so that the "front" of the relative position relationship is transformed into the "east" of the geodetic coordinate system.

Please refer to Figure 7. X ^A and Y ^A respectively represent the coordinate axes of the XY plane coordinate system. The arrow of the Y ^A axis points to the north corresponding to the geodetic coordinate system, and the arrow of the X ^A axis points to the east corresponding to the geodetic coordinate system. , X ^R and Y ^R are coordinate axes representing the relative positional relationship between the object and the vehicle 20 . Generally speaking, the aforementioned coordinate rotation transformation can be expressed as follows:

in, The matching relative coordinates after coordinate rotation and transformation are later called a matching transformation coordinate to reflect the position of the object;/> is the rotation matrix, θ° is the rotation angle of the rotation matrix; the above formula are the relative coordinates for this match.

Taking the first detection information 410 in Figure 6 as an example, taking the matching absolute coordinates of the first self-driving car 41 as the origin and rotating 90 degrees clockwise, that is, θ° is 90 degrees, the second to sixth detection information 420 The coordinate transformation of ~460 can be deduced in the same way, but it is necessary to pay attention to the correspondence between the "front" of its relative position and the reference orientation of the geodetic coordinate system to confirm the rotation angle of the rotation matrix.

Please refer to the merged dynamic image resource 60 of the intersection shown in Figure 8, and refer to Figure 6. Taking the first detection information 410 and the second detection information 420 as an example, a first step of the first self-driving car 41 The position of the matching absolute coordinates 411 corresponds to a first matching converted coordinate 421 calculated from the second detection information 420. Similarly, the position of a second matching absolute coordinate 422 of the second self-driving car 42 corresponds to the position of a second matching absolute coordinate 422 calculated from the second detection information 420. A second matching transformation coordinate 412 calculated from the detection information 410 .

The situations of the third to sixth self-driving cars 43 to 46 can be deduced in the same way. In short, the position of a fourth matching absolute coordinate 441 of the fourth self-driving car 44 corresponds to the position calculated from the fifth detection information 450 a fourth matching transformation coordinate 451, a fifth matching absolute coordinate 452 position of the fifth self-driving car 45 corresponding to a fifth matching transformation coordinate 442 calculated from the fourth detection information 440, and a position of the motorcycle 50 Corresponding to a third matching transformation coordinate 443 calculated from the fourth detection information 440, the position of the non-self-driving car 51 corresponds to a sixth matching transformation coordinate 453 calculated from the fifth detection information 450 and from the third matching transformation coordinate 453. A seventh matching conversion coordinate 461 calculated by the six detection information 460, a third matching absolute coordinate 431 of the third self-driving car 43 and a sixth matching absolute coordinate 462 of the sixth self-driving car 46 are displayed independently.

To sum up, the intersection dynamic image resource 60 can present the positions of objects passing through the intersection, as shown in Figure 6 and with reference to Figures 2 to 4, taking the first self-driving car 41 as an example. Although the first self-driving car The detection range of the on-board detection device 10 of 41 does not cover the third to sixth self-driving cars 43 to 46, the motorcycle 50 and the non-self-driving car 51, but after coordinate conversion and matching, as shown in Figure 8 The intersection dynamic image resource 60 can also obtain the real-time dynamics of the third to sixth self-driving cars 43-46, the motorcycle 50 and the non-self-driving car 51, and when the computing device 11 periodically broadcasts the intersection dynamic image resource At 60 o'clock, the position of the object is updated periodically, and the intersection dynamic image resource 60 enables the object to be dynamically presented.

Therefore, when the self-driving car passes through the intersection, it can receive the dynamic image resource 60 of the intersection broadcasted by the computing device 11, and the self-driving car can make comprehensive navigation decisions based on the dynamic image resource 60 of the intersection; on the other hand, A vehicle or user electronic device (such as a smartphone) with the function of receiving broadcast messages can also receive the intersection dynamic image resource 60 broadcast by the computing device 11 to display the intersection dynamic image resource 60 to the driver or Passenger view allows drivers to grasp the road conditions at intersections in real time, improving driving safety at intersections.

On the other hand, other embodiments of the present invention can further include the object detection device 12. Compared with the on-board detection device 10, the object detection device 12 can be fixedly installed on the roadside to detect objects at intersections, and the object detection device 12 can be fixed on the roadside to detect objects at intersections. The objects detected by the device 12 and the on-board detection device 10 may be the same or different objects. It should be noted that the at least one object detected by the on-board detection device 10 is defined as at least one first object. The object detects At least one object detected by the device 12 is defined as at least a second object. Please refer to Figures 2 and 3. The object detection device 12 can also transmit an auxiliary detection information 120 to the computing device 11 through broadcast or mobile communication technology. The auxiliary detection information 120 is consistent with the on-board detection device 10 generated. The detection information 30 is the same, that is, the object detection device 12 can also detect the at least one second object such as vehicles, pedestrians or other objects (such as scattered objects) at the intersection, and transmit the auxiliary detection information 120 to the computing device 11 . The difference is that since the position of the object detection device 12 is fixed, the auxiliary detection information 120 does not include the vehicle heading 33 and the vehicle speed 35 like the detection information 30. The auxiliary detection information 120 includes the object detection information. An absolute positioning coordinate of the device 12 itself and a relative speed and a relative coordinate between the at least one second object and the object detection device 12 .

Since the position of the object detection device 12 is fixed, the computing device 11 can preset the absolute positioning coordinates of the object detection device 12, and by analogy with the aforementioned step S02, the computing device 11 determines the relationship between the at least one second object and the second object. The relative speed between the object detection devices 12 and a time difference in information calculation and transmission generate an auxiliary coordinate displacement (the calculation of the auxiliary coordinate displacement is equivalent to the estimated coordinate displacement of the object), and the at least one first The relative coordinates between the two objects and the object detection device 12 are added to the auxiliary coordinate displacement to obtain an auxiliary matching coordinate; the computing device 11 can directly add the absolute positioning coordinates of the object detection device 12 to the auxiliary matching coordinates. The coordinate position of the at least one second object can be located, converted into longitude and latitude, and then merged into the intersection dynamic image resource 60. The auxiliary matching coordinates do not need to undergo coordinate rotation conversion.

The foregoing description describes an embodiment in which the computing device 11 is an edge computing device. In other embodiments, when the computing device 11 is a cloud server, the received detection information 30 and auxiliary detection information 120 can be used to implement multiple service functions. For example, the computing device 11 can store each piece of the auxiliary detection information 120 transmitted from the object detection device 12, and each piece of the auxiliary detection information 120 can include the coordinates of a plurality of second objects, so the computing device 11. It can be determined whether the object moves based on whether the two coordinates of the second object among the plurality of second objects change, and a stationary time Ts of each second object can be accumulated. The computing device 11 may be provided with a plurality of different time thresholds. The time thresholds may include, for example, a first time threshold Ta, a second time threshold Tb, a third time threshold Tc and a fourth time threshold. The value Td, where Ta>Tb>Tc>Td, for example, Td can be 1 second, Tc can be 1 minute, Tb can be 1 hour, and Ta can be 1 month.

When Ts < Td, the computing device 11 can determine that the second object corresponds to a dynamic object information, such as a vehicle or a pedestrian; when Td < Ts < Tc, the computing device 11 can determine that the second object corresponds to half of the dynamic information, such as an accident. , road construction or traffic jam; and so on, when Tc<Ts<Tb, the computing device 11 can determine that the second object is half static information; when Tb<Ts<Ta, the computing device 11 can determine that the second object is A static message. By judging the aforementioned object stationary time Ts and each time threshold value Ta, Tb, Tc, and Td, the service function of classifying object information can be achieved and used as a reference for evaluating road conditions at intersections.

Claims (10)

1. An intersection dynamic image resource update and sharing system, which is characterized by including: An on-board detection device is provided on a vehicle for detecting objects around the vehicle and periodically outputting detection information. The detection information includes an absolute positioning coordinate of the vehicle, a vehicle heading, and a vehicle speed. , a relative speed of at least one object and the vehicle and an original relative coordinate of the at least one object and the vehicle; and A computing device that stores an intersection area image resource. The intersection area image resource is established in a geodetic coordinate system, and the geodetic coordinate system includes a reference orientation; Wherein, when the computing device receives the detection information from the on-board detection device, the computing device adds an estimated vehicle coordinate displacement to the absolute positioning coordinates of the vehicle to obtain a matching absolute coordinate. , and adding an estimated coordinate displacement of the object to the original relative coordinates of the at least one object and the vehicle to obtain a matching relative coordinate, wherein the estimated coordinate displacement of the vehicle is based on the The vehicle speed and a time difference are calculated. The estimated coordinate displacement of the object is calculated based on the relative speed and the time difference. The estimated coordinate displacement of the vehicle and the estimated coordinate displacement of the object are A plurality of estimated changes in the detection information during the time difference period; the computing device performs coordinate rotation conversion on the matching relative coordinates according to the vehicle heading and the reference orientation to form a matching conversion coordinate, and then The matching absolute coordinates and the matching transformation coordinates are merged into the intersection area image resource to become an intersection dynamic image resource, and the intersection dynamic image resource is shared externally. 2. The intersection dynamic image resource update and sharing system according to claim 1, characterized in that the estimated coordinate displacement of the object is expressed as follows: In the above formula, X and Y respectively represent the coordinate axes of the XY plane coordinate system, Estimated coordinate displacement for the object,/> is the relative speed of the at least one object and the vehicle, ΔT is the time difference; The matching relative coordinates are expressed as follows: In the above formula, Indicates the matching relative coordinates,/> Represents the original relative coordinates; The matching transformation coordinates are expressed as follows: in, Transform coordinates for said match;/> is a rotation matrix, θ° is the rotation angle of the rotation matrix; The estimated coordinate displacement of the vehicle is expressed as follows: In the above formula, X and Y respectively represent the coordinate axes of the XY plane coordinate system, Estimated coordinate displacement for the vehicle,/> is the vehicle speed of the vehicle, ΔT is the time difference; The matching absolute coordinates are expressed as follows: In the above formula, Represents the matching absolute coordinates of the vehicle, /> Represents the absolute positioning coordinates of the vehicle. 3. The intersection dynamic image resource update and sharing system according to claim 1, further comprising an object detection device, and the at least one object detected by the on-board detection device is defined as at least a first object. , at least one object detected by the object detection device is defined as at least a second object; The object detection device is fixedly installed on the roadside, and the object detection device transmits an auxiliary detection information to the computing device. The auxiliary detection information includes an absolute positioning coordinate of the object detection device and the at least one a relative speed and a relative coordinate between a second object and the object detection device; The computing device generates an auxiliary coordinate displacement based on the relative speed and a time difference between the at least one second object and the object detection device, and compares the at least one second object and the object detection device The relative coordinates between the two plus the auxiliary coordinate displacement are added to obtain an auxiliary matching coordinate; the computing device directly adds the auxiliary matching coordinates to the absolute positioning coordinates of the object detection device to merge them into the Described intersection dynamic image resources. 4. The intersection dynamic image resource update and sharing system according to any one of claims 1 to 3, characterized in that the computing device is an edge computing device. 5. The intersection dynamic image resource update and sharing system according to any one of claims 1 to 3, characterized in that the computing device is a cloud server, and the cloud server uses the received detection information to implement services. Function. 6. A method for updating and sharing dynamic image resources at intersections, characterized in that it is executed on a computing device, and the method includes: Receive detection information output from at least one on-board detection device. The detection information includes an absolute positioning coordinate of a vehicle, a vehicle heading of the vehicle, a vehicle speed, and a relative position between at least one object and the vehicle. Speed and an original relative coordinate of the at least one object and the vehicle; Add an estimated coordinate displacement of the vehicle to the absolute positioning coordinates of the vehicle to obtain a matching absolute coordinate, and add an estimated object coordinate to the original relative coordinates of the at least one object and the vehicle. The coordinate displacement amount is used to obtain a matching relative coordinate, wherein the estimated coordinate displacement amount of the own vehicle is calculated based on the speed of the own vehicle and a time difference, and the estimated coordinate displacement amount of the object is calculated based on the relative speed and a time difference. The time difference is calculated; the estimated coordinate displacement of the vehicle and the estimated coordinate displacement of the object are multiple estimated changes of the detection information during the time difference; Coordinate rotation transformation is performed on the matching relative coordinates according to the own vehicle heading of the vehicle and a reference orientation of the earth coordinate system to form a matching transformation coordinate; Merge the matching absolute coordinates and the matching transformation coordinates into an intersection area image resource to become an intersection dynamic image resource; and Share the intersection dynamic image resources externally. 7. The intersection dynamic image resource update and sharing method as claimed in claim 6, characterized in that the estimated coordinate displacement of the object is expressed as follows: In the above formula, X and Y respectively represent the coordinate axes of the XY plane coordinate system, Estimated coordinate displacement for the object,/> is the relative speed of the at least one object and the vehicle, ΔT is the time difference; The matching relative coordinates are expressed as follows: In the above formula, Indicates the matching relative coordinates,/> Represents the original relative coordinates. 8. The intersection dynamic image resource update and sharing method as claimed in claim 7, characterized in that the estimated coordinate displacement of the vehicle is expressed as follows: In the above formula, X and Y respectively represent the coordinate axes of the XY plane coordinate system, Estimated coordinate displacement for the vehicle,/> is the vehicle speed of the vehicle, ΔT is the time difference; The matching absolute coordinates are expressed as follows: In the above formula, Represents the matching absolute coordinates of the vehicle, /> Represents the absolute positioning coordinates of the vehicle. 9. The intersection dynamic image resource update and sharing method as claimed in claim 8, characterized in that the matching transformation coordinates are expressed as follows: in, Transform coordinates for said match;/> is a rotation matrix, and θ° is the rotation angle of the rotation matrix. 10. The intersection dynamic image resource update and sharing method as claimed in claim 6, characterized in that the at least one object is defined as at least a first object, and the method further includes: Receive an auxiliary detection information from at least one object detection device. The auxiliary detection information includes an absolute positioning coordinate of the object detection device and a relative speed and a relative coordinate between at least a second object and the object detection device. ; Generate an auxiliary coordinate displacement based on the relative speed and a time difference between the at least one second object and the object detection device; Add the relative coordinates between the at least one second object and the object detection device to the auxiliary coordinate displacement to obtain an auxiliary matching coordinate; The absolute positioning coordinates of the object detection device are directly added to the auxiliary matching coordinates to merge with the intersection dynamic image resources.