Fusion sensing positioning system based on vehicle infrastructure cooperation

The invention relates to a fusion sensing positioning system based on vehicle-road cooperation, and belongs to the technical field of vehicle-road cooperation. The system comprises an intelligent vehicle-mounted sensing and positioning subsystem, a roadside sensing and positioning subsystem, a V2X communication subsystem and a roadside edge collaborative sensing subsystem. The roadside edge collaborative sensing subsystem performs fusion calculation on the positioning information of the vehicles in the surrounding environment acquired by the vehicle-mounted sensing and positioning subsystem and the positioning information of the vehicles in the road environment acquired by the roadside sensing and positioning subsystem through space coordinate conversion by using a particle filtering algorithm; and position compensation is carried out on the fusion set target according to the designed collaborative sensing position and time offset compensation method. According to the invention, based on the advanced V2X comm