Holographic intersection sensing method based on multi-source sensor

A source sensor and holographic technology, applied in the field of Internet of Vehicles, which can solve the problems of video sensor target occlusion, ability limitation, and insufficient perception ability.

Pending Publication Date: 2021-11-23
山东沂蒙交通发展集团有限公司
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Problems solved by technology

[0004] The present invention provides a holographic intersection perception method based on multi-source sensors, which solves the problem of insufficient perception ability of a single video sensor due to target occlusion, capacity limitation, etc.

Method used

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Embodiment

[0048] The present invention proposes a holographic intersection perception method based on multi-source sensors, the process is as follows figure 1 As shown, the steps are as follows:

[0049] Step 1. Obtain the target data Target detected by radar and video respectively at the same time r with Target v , the specific information is shown in the following table:

[0050]

[0051] Step 2, the coordinate transformation of the radar target and the position information in the video target, specifically:

[0052] For the position information of the radar target, calculate the position in the radar Cartesian coordinate system (x r ,y r ),Such as figure 2 shown.

[0053] x r =r×cos(θ)

[0054] the y r =r×sin(θ)

[0055] For the position information of the video target, the position (u, v) of the pixel center of the target in the pixel coordinate system is transferred to the image coordinate system through the pixel coordinate system; the image coordinate system is tran...

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Abstract

The invention discloses a holographic intersection sensing method based on a multi-source sensor, and the method comprises the following steps: 1, obtaining target data detected by a radar and a video at the same time, wherein the target information detected by the radar comprises the target intensity, the position information and the speed information, the position information comprises the slant distance and the azimuth angle, the target information detected by the video comprises a target type, position information and the height and width of pixels occupied by the target, and the position information comprises the center position of the pixel where the target is located; 2, converting coordinates of position information in the radar target and the video target; and 3, generating and updating a target track by using the target position information which is subjected to coordinate conversion and detected by the radar and the video respectively. Compared with the prior art, the method has the advantages that the problem that a single video sensor is insufficient in sensing capacity due to target shielding, capacity limitation and the like is solved.

Description

technical field [0001] The invention relates to the technical field of Internet of Vehicles, in particular to a multi-source sensor-based holographic intersection perception method. Background technique [0002] In modern urban construction, with the popularization of automobiles, incidents such as traffic jams, illegal parking, and running red lights often occur, and intersections have become high-incidence areas. At present, the technology often used for intersection monitoring is camera detection. The camera has the characteristics of high resolution, flexible station layout, and intuitive target information acquisition. However, it cannot work normally at night and is easily affected by weather such as rain and fog. Radar equipment has the advantages of wide detection range, flexible target tracking, good weather adaptability, and high positioning accuracy. [0003] With the diversified development of detection technology, making full use of various existing detection m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/06G01S13/86G01S13/88G01S13/931
CPCG01S13/06G01S13/867G01S13/88G01S13/931
Inventor 童贤存彭洪啸郑军李洪珍孟德龙周云彪高天陈欣崔小慧冯壮壮
Owner 山东沂蒙交通发展集团有限公司
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