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Continuous vehicle speed detection method based on laser radar

A vehicle speed and detection method technology, which is applied in traffic flow detection, road vehicle traffic control systems, instruments, etc., can solve the problems of inability to classify vehicles and non-vehicle objects, and the high cost of 3D laser radar, so as to overcome the influence of measurement , low cost, rich effect of 3D point cloud information

Active Publication Date: 2018-02-16
SUZHOU UNIV
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Problems solved by technology

[0008] The present invention solves the problem that vehicles and non-vehicle objects cannot be classified by using 2D laser radar in the existing technology of using laser radar to detect vehicle speed, and the cost of using 3D laser radar with 64 lines is too high The problem

Method used

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  • Continuous vehicle speed detection method based on laser radar
  • Continuous vehicle speed detection method based on laser radar
  • Continuous vehicle speed detection method based on laser radar

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Experimental program
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Embodiment approach 1

[0048] Embodiment 1: The lidar-based continuous vehicle speed detection method described in this embodiment uses 16-line lidar to continuously collect road surface scene data of the driving lane, and then obtains the average speed of the vehicle in the current frame data according to the collected K frame data, The specific process is:

[0049] 1) Calculate and obtain the distance matrix between all vehicles in adjacent frames of data according to two adjacent frames of data:

[0050]

[0051] Among them, there are m in the kth frame data k car, s ij Indicates the distance between the class center of the i-th vehicle in the k-th frame of data and the class center of the j-th car in the k-1th frame of data, i∈(0,m k ], j∈(0,m k-1 ],

[0052]

[0053] in, Indicates the abscissa of the class center of the i-th car in the k-th frame of data, Indicates the abscissa of the class center of the jth car in the k-1th frame data, Indicates the ordinate of the class center...

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Abstract

The invention discloses a continuous vehicle speed detection method based on laser radar, relates to the fields of a laser radar speed detection technology and a vehicle speed detection technology andsolves the problems that vehicle and non-vehicle objects cannot be classified through 2D laser radar detection and the cost of high-cost 64-wire 3D laser radar is too high in existing technologies for performing vehicle speed detection through laser radar. A 16-wire laser radar is adopted for continuously acquiring road scene data of traffic lanes, then, vehicles are associated with a method forassociating vehicles in multi-frame data, the vehicle speeds are detected, the problem that measurement is affected due to frame loss of the laser radar is completely solved, and the problem that measurement is affected due to mutual shielding of vehicles is also solved. The method realizes measurement of continuous speed change curves of vehicles and has great significance in further analyzing vehicle behaviors. The method can be applied to various vehicle speed measurement places in the traffic engineering.

Description

technical field [0001] The invention relates to laser radar speed measurement technology and the technical field of vehicle speed detection. Background technique [0002] According to the statistics of the World Health Organization (WHO) in 2010, the number of deaths due to road traffic accidents in the world is about 1.25 million and 20 to 50 million people are injured every year. The problem of road traffic safety is becoming more and more serious, and accurate extraction of road information has a significant effect on improving road traffic safety. [0003] Vehicles are an important part of road information, and accurate extraction of vehicle features is a prerequisite for solving road traffic safety problems. In recent years, with the development of lidar technology, it provides a new means for vehicle detection. Through the 3D point cloud data of lidar, the 3D scene of road traffic can be obtained, and the traffic participating objects can be accurately detected and c...

Claims

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Application Information

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IPC IPC(8): G08G1/01G08G1/052G08G1/04
CPCG08G1/0116G08G1/0125G08G1/04G08G1/052
Inventor 郑建颖徐斌王翔徐浩范学良陶砚蕴陈蓉
Owner SUZHOU UNIV
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