Gate opening detection method, device, equipment, medium and vehicle

Abstract

The present disclosure relates to a method, device, equipment, medium and vehicle for detecting the opening degree of a turnstile. The method includes: obtaining the three-dimensional radar point cloud and the turnstile type at the turnstile; determining at least one projection direction based on the turnstile type; performing dimensionality reduction processing on the three-dimensional radar point cloud based on the at least one projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud; and determining the opening degree of the turnstile based on the one-dimensional grid graph. Thus, the dimensionality reduction processing is performed on the three-dimensional radar point cloud by using the projection method to obtain the corresponding one-dimensional grid graph, without the need for straight line or plane fitting, with a relatively fast running speed and good scene robustness; this method is effective for any turnstile that controls passage based on the obstruction method and can better meet the requirements of autonomous driving vehicles; at the same time, this method does not require additional equipment and does not require pre-labeling training, further reducing costs.

Description

Technical Field

[0001] The present disclosure relates to the technical fields of computer vision and 3D object detection, and particularly relates to a method, device, equipment, medium and vehicle for detecting the opening degree of a turnstile. Background Art

[0002] Turnstiles have almost become a standard configuration in current public transportation areas such as communities, highways, and parking lots. For autonomous driving vehicles, in order to smoothly enter and exit these areas, fast, stable, and high-precision turnstile detection is very necessary. In related technologies, there are mainly the following three categories of turnstile detection methods in the field of autonomous driving:

[0003] The first category is to transmit the turnstile opening degree information to the autonomous driving vehicle through a communication module. This type of method requires a turnstile encoder or other position sensors to be installed inside the turnstile. Although this type of method is relatively accurate, it has a high cost and relies on the communication system. If the turnstile does not install the corresponding communication system or there are communication system delay faults, etc., accurate turnstile opening degree detection cannot be carried out, greatly limiting the usage scenarios of autonomous driving vehicles.

[0004] The second category is a turnstile opening degree detection method based on a camera. This type of method can be further divided into turnstile detection using traditional algorithms and deep learning methods; traditional algorithms extract the turnstile features in the image manually and give the position information of the turnstile. However, the camera image is greatly affected by light, and the manually designed features are not robust enough and have poor stability, making it difficult to meet the requirements of autonomous driving vehicles; deep learning methods are based on multi-frame image input and have high detection accuracy, but they require sufficient data for training and are sensitive to the scene. After changing the scene, re-training is often required to give relatively accurate opening degree detection information; in addition, deep learning methods require manual annotation in advance, have a high cost, and also require high computing power.

[0005] The third category is a turnstile opening degree detection method based on lidar point cloud. This type of method extracts the feature information of the lifting rod from the frame of lidar point cloud to detect the existence probability and angle of the lifting rod, so as to judge the lifting rod state and whether passage is allowed; however, this method needs to perform linear fitting of the points in the lidar point cloud on a two-dimensional plane. If the environment in the turnstile area is relatively complex, linear fitting is prone to errors, such as fitting multiple lines, and the linear fitting algorithm often needs to perform operations such as voting and solving for points, which is time-consuming; in addition, this method is only applicable to the lifting rod that rotates and lifts in a plane, and is not applicable to turnstiles such as planar, special-shaped, internal and external rotating, or push-pull type turnstiles and rolling shutter type turnstiles, making it difficult to achieve accurate detection of passage. Summary of the Invention

[0006] In order to solve the above technical problems, the present disclosure provides a method, device, equipment, medium and vehicle for detecting the opening degree of a turnstile.

[0007] In a first aspect, the present disclosure provides a method for detecting the opening degree of a turnstile, including:

[0008] Obtaining the three-dimensional radar point cloud at the turnstile and the turnstile type;

[0009] Based on the turnstile type, determining at least one projection direction;

[0010] Based on the at least one projection direction, performing dimensionality reduction processing on the three-dimensional radar point cloud to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud;

[0011] Based on the one-dimensional grid graph, determining the opening degree of the turnstile.

[0012] Optionally, the determining at least one projection direction based on the turnstile type includes: determining a first projection direction and a second projection direction based on the turnstile type;

[0013] The performing dimensionality reduction processing on the three-dimensional radar point cloud based on the at least one projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud includes:

[0014] Based on the first projection direction, performing projection dimensionality reduction processing on the three-dimensional radar point cloud to obtain a two-dimensional grid graph corresponding to the three-dimensional radar point cloud;

[0015] Based on the second projection direction, performing another projection dimensionality reduction processing on the two-dimensional grid graph to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud.

[0016] Optionally, the determining at least one projection direction based on the turnstile type includes:

[0017] Determining a fourth projection direction based on the turnstile type;

[0018] The performing dimensionality reduction processing on the three-dimensional radar point cloud based on the at least one projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud includes:

[0019] Based on a preset third direction, performing projection dimensionality reduction processing on the three-dimensional radar point cloud to obtain a two-dimensional grid graph corresponding to the three-dimensional radar point cloud;

[0020] Based on the fourth projection direction, performing another projection dimensionality reduction processing on the two-dimensional grid graph to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud.

[0021] Optionally, a three-dimensional coordinate system is established with the center point of the projection of the turnstile on the horizontal plane as the origin, the width direction of the projection of the turnstile on the horizontal plane as the X-axis, the forward direction of the vehicle passing through the turnstile as the Y-axis, and the vertical height direction as the Z-axis; the turnstile types include the front-and-back rotating opening and closing type and the up-and-down rotating opening and closing type;

[0022] The preset third direction is one of the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0023] Optionally, the turnstile type is the front-and-back rotating opening and closing type. When the preset third direction is the X-axis, the fourth projection direction is the Z-axis; when the preset third direction is the Y-axis, the fourth projection direction is the Z-axis; when the preset third direction is the Z-axis, the fourth projection direction is the X-axis or the Y-axis.

[0024] Optionally, the turnstile type is the up-and-down rotating opening and closing type. When the preset third direction is the X-axis, the fourth projection direction is the Y-axis; when the preset third direction is the Y-axis, the fourth projection direction is the X-axis or the Z-axis; when the preset third direction is the Z-axis, the fourth projection direction is the Y-axis.

[0025] Optionally, a three-dimensional coordinate system is established with the center point of the projection of the turnstile on the horizontal plane as the origin, the width direction of the projection of the turnstile on the horizontal plane as the X-axis, the forward direction of the vehicle passing through the turnstile as the Y-axis, and the vertical height direction as the Z-axis; the turnstile types include the front-and-back rotating opening and closing type, the up-and-down rotating opening and closing type, and the straight up-and-down opening and closing type;

[0026] The preset third direction is the X-axis direction or the Y-axis direction.

[0027] Optionally, the turnstile type is the straight up-and-down opening and closing type. When the preset third direction is the X-axis, the fourth projection direction is the Y-axis; when the third direction is the Y-axis, the fourth projection direction is the X-axis.

[0028] Optionally, a three-dimensional coordinate system is established with the center point of the projection of the turnstile on the horizontal plane as the origin, the width direction of the projection of the turnstile on the horizontal plane as the X-axis, the forward direction of the vehicle passing through the turnstile as the Y-axis, and the vertical height direction as the Z-axis. The turnstile types include the front-and-back rotating opening and closing type, the up-and-down rotating opening and closing type, the straight up-and-down opening and closing type, and the straight left-and-right opening and closing type;

[0029] The preset third direction is the Y-axis direction.

[0030] Optionally, the turnstile type is the straight left-and-right opening and closing type. When the preset third direction is the Y-axis, the fourth projection direction is the Z-axis.

[0031] Optionally, the one-dimensional grid pattern includes at least two grids, and the states of the grids include the idle state and the occupied state. Determining the opening degree of the turnstile based on the one-dimensional grid pattern includes:

[0032] o = f ÷ b × 100%;

[0033] Wherein, o represents the gate opening, b represents the preset number of grids, and f represents the number of grids in the occupied state or the number of grids in the idle state in the one-dimensional grid graph;

[0034] Among them, for the gate type that is a linear up and down opening and closing type or a linear left and right opening and closing type, f is the number of grids in the idle state in the one-dimensional grid pattern; for the gate type that is a rotating front and back opening and closing type or a rotating up and down opening and closing type, when the gate is parallel to the direction of the one-dimensional grid pattern, if the gate is in a fully open state, f is the number of grids in the occupied state in the one-dimensional grid pattern; if the gate is in a fully closed state, f is the number of grids in the idle state in the one-dimensional grid pattern.

[0035] Optionally, before performing dimensionality reduction processing on the three-dimensional radar point cloud, the method further includes:

[0036] Dividing the three-dimensional radar point cloud into grids in a first plane formed by an X-axis and a Y-axis;

[0037] Based on the elevation value of the three-dimensional radar point cloud in the Z-axis direction and the filtering condition in each grid, retaining the three-dimensional radar points that meet the filtering condition;

[0038] Meeting the filtering conditions includes:

[0039] The elevation value of the three-dimensional radar point cloud in the Z-axis direction is greater than or equal to the first filtering threshold of the grid where it is located; and / or,

[0040] A difference between an elevation value of the three-dimensional radar point cloud in the Z-axis direction and a minimum elevation value of the three-dimensional radar point cloud in the grid where the three-dimensional radar point cloud is located in the Z-axis direction is greater than or equal to a second filtering threshold of the corresponding grid.

[0041] In a second aspect, the present disclosure further provides a gate opening detection device, comprising:

[0042] The first acquisition module is used to obtain the three-dimensional radar point cloud and gate type at the gate;

[0043] A first determination module, configured to determine at least one projection direction based on the gate type;

[0044] A dimensionality reduction module, configured to perform dimensionality reduction processing on the three-dimensional radar point cloud based on the at least one projection direction to obtain a one-dimensional grid graphic corresponding to the three-dimensional radar point cloud;

[0045] The second determination module is used to determine the opening of the gate based on the one-dimensional grid graph.

[0046] In a third aspect, the present disclosure also provides a vehicle-mounted device, including:

[0047] One or more processors;

[0048] A memory for storing executable instructions executable by the processor;

[0049] The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the steps of any of the above gate opening detection methods.

[0050] In a fourth aspect, the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and the computer program is configured to execute the steps of any of the above gate opening detection methods.

[0051] In a fifth aspect, the present disclosure also provides a vehicle, including the above vehicle-mounted device.

[0052] The technical solution provided by the present disclosure has the following advantages compared with the prior art:

[0053] A gate opening detection method, device, equipment, medium and vehicle provided by the present disclosure, the method includes: obtaining a three-dimensional radar point cloud and a gate type at the gate; determining at least one projection direction based on the gate type; performing dimensionality reduction processing on the three-dimensional radar point cloud based on the at least one projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud; determining the gate opening based on the one-dimensional grid graph. Thus, the dimensionality reduction processing is performed on the three-dimensional radar point cloud by using a projection method to obtain the corresponding one-dimensional grid graph, without the need for straight line or plane fitting, with a relatively fast running speed and good scene robustness; this method is effective for any gate that controls passage based on an obstruction method and can better meet the requirements of autonomous driving vehicles; at the same time, this method does not require additional equipment and does not require prior annotation training, further reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present disclosure and, together with the specification, are used to explain the principles of the present disclosure.

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0056] Figure 1 It is a schematic flowchart of a gate opening detection method provided by an embodiment of the present disclosure;

[0057] Figure 2 Schematic diagram of the structure of a rotating front-back opening and closing turnstile provided by an embodiment of the present disclosure;

[0058] Figure 3 Schematic diagram of the structure of a rotating up-down opening and closing turnstile provided by an embodiment of the present disclosure;

[0059] Figure 4 Schematic diagram of the structure of a linear up-down opening and closing turnstile provided by an embodiment of the present disclosure;

[0060] Figure 5 Schematic diagram of the structure of a linear left-right opening and closing turnstile provided by an embodiment of the present disclosure;

[0061] Figure 6 Schematic diagram of the position of the turnstile marked in the high-precision map;

[0062] Figure 7 Schematic diagram of the working principle of dimensionality reduction processing of 3D radar point cloud provided by an embodiment of the present disclosure;

[0063] Figure 8 For Figure 1 In the turnstile opening detection method shown, a refined flowchart of S120 and S130;

[0064] Figure 9 For Figure 1 In the turnstile opening detection method shown, another refined flowchart of S120 and S130;

[0065] Figure 10 Schematic diagram of the process of filtering processing of 3D radar point cloud provided by an embodiment of the present disclosure;

[0066] Figure 11 Schematic diagram of the working principle of filtering processing of 3D radar point cloud provided by an embodiment of the present disclosure;

[0067] Figure 12 Schematic diagram of the process of a turnstile passage control method provided by an embodiment of the present disclosure;

[0068] Figure 13 Schematic diagram of the structure of a turnstile opening detection device provided by an embodiment of the present disclosure;

[0069] Figure 14 Schematic diagram of the structure of a vehicle-mounted device provided by an embodiment of the present disclosure. Detailed implementation manners

[0070] In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0071] In the following description, many specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all the embodiments.

[0072] Combined with the background art section, the three types of turnstile detection methods mainly have the following problems: (1) High equipment cost, relying on the communication system, and limited application scenarios; (2) Poor robustness and stability of traditional algorithms; deep learning methods require manual annotation in advance, with high costs and high computing power requirements; (3) When the environment in the turnstile area is relatively complex, line fitting is prone to errors; and line fitting has high computing power requirements and takes a long time; it is only applicable to the lifting turnstiles that rotate and lift in a plane, not applicable to other types of turnstiles, and it is difficult to achieve accurate detection of passage.

[0073] To solve the above technical problems, the embodiments of the present disclosure provide a turnstile opening detection method, device, equipment, medium, and vehicle. The method includes: obtaining the three-dimensional radar point cloud and turnstile type at the turnstile; determining at least one projection direction based on the turnstile type; performing dimensionality reduction processing on the three-dimensional radar point cloud based on at least one projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud; and determining the turnstile opening based on the one-dimensional grid graph. Thus, the dimensionality reduction processing of the three-dimensional radar point cloud is performed by using the projection method to obtain the corresponding one-dimensional grid graph, without the need for line or plane fitting, with a relatively fast running speed and good scene robustness; this method is applicable to any turnstile that controls passage based on the obstruction method and can better meet the requirements of autonomous driving vehicles; at the same time, this method does not require additional equipment and does not require pre-annotation training, further reducing costs.

[0074] The following combines Figures 1 - 14 to exemplarily illustrate the turnstile opening detection method, device, equipment, medium, and vehicle provided by the embodiments of the present disclosure.

[0075] Figure 1 is a schematic flowchart of a turnstile opening detection method provided by an embodiment of the present disclosure. Referring to Figure 1 , the method includes:

[0076] S110. Obtain the three-dimensional radar point cloud and turnstile type at the turnstile.

[0077] In this embodiment, a high-precision map is installed on the autonomous driving vehicle, and the location and turnstile type of the turnstile can be obtained through the high-precision map; in the high-precision map, the location of the turnstile is represented by a rectangle, and the center point of the rectangle is the turnstile center; the turnstile type includes at least one of the types of rotating front-back opening and closing, rotating up-down opening and closing, linear up-down opening and closing, and linear left-right opening and closing.

[0078] It should be noted that for the turnstiles in an unfamiliar environment, since their relevant information is not saved in the high-precision map, the photos of the turnstiles can also be obtained through the camera, and then the types of turnstiles and other data information can be obtained, such as the maximum allowable passing width or the maximum allowable passing height of the turnstiles.

[0079] Exemplarily, as Figure 2 shown, it is a schematic structural diagram of a rotating front-back opening and closing turnstile provided by an embodiment of the present disclosure; wherein, the width direction of the turnstile is the X-axis, the height direction of the turnstile is the Z-axis, and the forward direction of the vehicle passing through the turnstile is the Y-axis, and the X-axis, Y-axis, and Z-axis are perpendicular to each other in pairs. Referring to Figure 2 , the movement direction of the rotating front-back opening and closing turnstile is: with the turnstile fixing device as the axis (Z-axis), making a front-back rotation movement on the installation plane (XOY plane) of the turnstile, and its movement trajectory is fan-shaped, and the edge contour is an arc; it is equivalent to moving forward or backward on the plane formed by the fixing devices on both sides of the turnstile (i.e., the paper plane, XOZ plane). When the rotating front-back opening and closing turnstile is located in the XOZ plane, that is, the turnstile is parallel to the X-axis, the rotating front-back opening and closing turnstile is in a fully closed state; when the rotating front-back opening and closing turnstile is located in the YOZ plane, that is, the turnstile is parallel to the Y-axis, the rotating front-back opening and closing turnstile is in a fully open state. The rotating front-back opening and closing turnstile includes but is not limited to swing gates and inside-outside push-pull turnstiles.

[0080] Exemplarily, as Figure 3 shown, it is a schematic structural diagram of a rotating up-down opening and closing turnstile provided by an embodiment of the present disclosure; wherein, the directions represented by the X-axis, Y-axis, and Z-axis are the same as Figure 2 . Referring to Figure 3 , the movement direction of the rotating up-down opening and closing turnstile is: with the Y-axis as the axis, making an up-down rotation movement on the plane formed by the fixing devices on both sides of the turnstile (i.e., the paper plane, XOZ plane), and its movement trajectory is fan-shaped, and the edge contour is an arc; the turnstile makes a lifting movement relative to its installation plane (XOY plane). When the rotating up-down opening and closing turnstile is parallel to the X-axis, the rotating up-down opening and closing turnstile is in a fully closed state; when the rotating up-down opening and closing turnstile is parallel to the Z-axis, the rotating up-down opening and closing turnstile is in a fully open state. The rotating up-down opening and closing turnstile includes but is not limited to barrier gates and pole-lifting turnstiles.

[0081] Exemplarily, as Figure 4 shown, it is a schematic structural diagram of a linear up-down opening and closing turnstile provided by an embodiment of the present disclosure; wherein, the directions represented by the X-axis, Y-axis, and Z-axis are the same as Figure 2 . Referring to Figure 4, the moving direction of the straight up-and-down opening and closing turnstile is: on the plane formed by the fixing devices on both sides of the turnstile (i.e., the paper plane, XOZ plane), it makes a straight up-and-down movement along the height direction of the fixing devices (i.e., the Z-axis direction), its movement trajectory is rectangular, and the edge contour is a straight line; when the straight up-and-down opening and closing turnstile is at the highest position, the straight up-and-down opening and closing turnstile is in a fully open state; when the straight up-and-down opening and closing turnstile is at the lowest position, the straight up-and-down opening and closing turnstile is in a fully closed state. The straight up-and-down opening and closing turnstile includes but is not limited to a rolling shutter door and a sliding turnstile (moving in the vertical direction).

[0082] Exemplarily, as Figure 5 shown, it is a schematic structural diagram of a straight left-and-right opening and closing turnstile provided by an embodiment of the present disclosure; wherein, the directions represented by the X-axis, Y-axis and Z-axis are the same as Figure 2 . Referring to Figure 5 , the moving direction of the straight left-and-right opening and closing turnstile is: on the plane formed by the fixing devices on both sides of the turnstile (i.e., the paper plane, XOZ plane), it makes a straight translation movement along the connection direction between the two fixing devices (i.e., the X-axis direction), its movement trajectory is rectangular, and the edge contour is a straight line; when the straight left-and-right opening and closing turnstile is at the leftmost position, the straight left-and-right opening and closing turnstile is in a fully open state; when the straight left-and-right opening and closing turnstile is at the rightmost position, the straight left-and-right opening and closing turnstile is in a fully closed state. The straight left-and-right opening and closing turnstile includes but is not limited to a sliding turnstile (moving in the horizontal direction), a wing turnstile, a telescopic turnstile and a push-pull turnstile.

[0083] In this step, obtain the three-dimensional radar point cloud of the position of the turnstile marked in the high-precision map. As Figure 6 shown, the projection of the turnstile on the horizontal plane is a rectangle, and the center point of this rectangle is the center of the turnstile. Transform this part of the point cloud to a coordinate system with the center of the turnstile as the origin O, the width direction of the projection of the turnstile on the horizontal plane as the X-axis, and the forward direction of the vehicle passing through the turnstile as the Y-axis; wherein, the plane where the X-axis and Y-axis are located is the horizontal plane (i.e., the paper plane); the vertical height direction is the Z-axis, perpendicular to the XOY plane.

[0084] It should be noted that in this embodiment, the radar includes but is not limited to lidar and millimeter-wave radar, including other types of radars known to those skilled in the art, and is not limited herein.

[0085] S120. Determine at least one projection direction based on the type of turnstile.

[0086] Among them, the projection direction means projecting along this direction; taking Figure 6Taking the coordinate system established in [the context] as an example, if the X-axis is determined as the projection direction, it means projecting along the X-axis direction, and the projection is located within the YOZ plane; if the Y-axis is determined as the projection direction, it means projecting along the Y-axis direction, and the projection is located within the XOZ plane; if the Z-axis is determined as the projection direction, it means projecting along the Z-axis direction, and the projection is located within the XOY plane. The number of projection directions determined based on the turnstile type is one or two.

[0087] S130. Based on at least one projection direction, perform dimensionality reduction processing on the three-dimensional radar point cloud to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud.

[0088] Specifically, in this step, through two projections, the three-dimensional radar point cloud is transformed into a one-dimensional grid graph to achieve dimensionality reduction processing. The number of projection directions determined based on the turnstile type in S120 is one or two; when one projection direction is determined based on the turnstile type, the three-dimensional radar point cloud is first projected along a preset direction, and then projected along the determined one projection direction; when two projection directions are determined based on the turnstile type, the three-dimensional radar point cloud is projected along the two projection directions, and there is no order for the two projections. The three-dimensional radar point cloud is distributed in the eight quadrants of the XYZ coordinate system; after the first dimensionality reduction processing, the three-dimensional radar point cloud obtains a two-dimensional grid graph, which is a planar graph and is distributed on the XOY or XOZ or YOZ plane; after the second dimensionality reduction processing on the two-dimensional grid graph, a one-dimensional grid graph is obtained, and the one-dimensional grid graph is a linear graph and is distributed on the X-axis or Y-axis or Z-axis.

[0089] Exemplarily, as Figure 7 shown, it is a schematic diagram of the working principle of dimensionality reduction processing for the three-dimensional radar point cloud provided by an embodiment of the present disclosure; among them, the projection direction of the first dimensionality reduction is direction A (equivalent to the first projection direction or the preset third direction in the following text), the projection direction of the second dimensionality reduction is direction B (equivalent to the second projection direction or the fourth projection direction in the following text), and the obtained one-dimensional grid graph is linearly distributed along direction C, and directions A, B, and C are perpendicular to each other. Refer to Figure 7, perform the first projection dimensionality reduction on the three-dimensional radar point cloud along direction A, rasterize the three-dimensional radar point cloud on the plane where direction B and direction C are located, count the number of three-dimensional radar point clouds in each grid, mark the grids with the number of three-dimensional radar point clouds greater than the set threshold as occupied states, and mark the grids with the number of three-dimensional radar point clouds less than or equal to the set threshold as idle states, thereby obtaining a two-dimensional raster graph after dimensionality reduction, where the black squares represent the grids in the occupied state and the white squares represent the grids in the idle state; then perform the second projection dimensionality reduction on the two-dimensional raster graph along direction B. A column of grids distributed along direction B is reduced to one grid after projection dimensionality reduction. If the number of grids in the occupied state in a column of grids is greater than or equal to one, the reduced grid is set to the occupied state. If all the grids in a column of grids are in the idle state, the reduced grid is set to the idle state, thereby obtaining a one-dimensional raster graph after dimensionality reduction, and the one-dimensional raster graph is linearly distributed in direction C.

[0090] It can be understood that Figure 7 only exemplarily shows that the projection direction of the first dimensionality reduction is direction A, the projection direction of the second dimensionality reduction is direction B, and the finally obtained one-dimensional raster graph is linearly distributed in direction C, where direction A, B, and C are respectively one of the X-axis, Y-axis, and Z-axis in the rectangular coordinate system (and are not the same). It is necessary to determine the corresponding relationship between direction A, B, and C and the X-axis, Y-axis, and Z-axis according to the type of turnstile and the projection direction, which will be explained in detail below.

[0091] S140. Determine the opening degree of the turnstile based on the one-dimensional raster graph.

[0092] Among them, the opening degree of the turnstile is used to represent the opening degree of the turnstile, expressed as a percentage, and its value range is between 0% and 100%. When the opening degree of the turnstile is 0%, it means the turnstile is completely closed. When the opening degree of the turnstile is 100%, it means the turnstile is in a completely open state. The larger the opening degree of the turnstile, the greater the opening degree of the turnstile.

[0093] When the opening degree of the turnstile is less than the preset opening degree threshold, the passable space in the vehicle passing restriction direction is smaller than the vehicle size, and the vehicle cannot pass through the turnstile; when the opening degree of the turnstile is greater than or equal to the preset opening degree threshold, the passable space of the turnstile in the vehicle passing restriction direction is greater than or equal to the vehicle size, and the vehicle can pass through the turnstile. Thus, the opening degree of the turnstile is equal to the ratio of the passable space in the vehicle passing restriction direction to the space occupied by the turnstile. The vehicle passing restriction direction includes the height direction and width direction of the vehicle.

[0094] Among them, the one-dimensional raster graph includes at least two grids, and the states of the grids include the idle state and the occupied state; the grids in the occupied state represent the distribution length of the turnstile in the direction where the one-dimensional raster graph is located, and the grids in the idle state represent the idle length of the turnstile in the direction where the one-dimensional raster graph is located.

[0095] Due to different types of turnstiles and projection directions, the directions of the resulting one-dimensional grid graphics are also different, as follows:

[0096] For the straight up-and-down opening and closing turnstile, as Figure 4 shown Figure 4 The paper surface in it is parallel to the XOZ plane in the coordinate system. The turnstile moves up and down along the Z-axis direction, and the passage of vehicles is restricted by controlling the projection length of the turnstile on the Z-axis. That is, the vehicle passage restriction direction is the Z-axis direction, and the direction of the resulting one-dimensional grid graphic is also the Z-axis direction. The opening degree of the turnstile is inversely proportional to the distribution length of the turnstile in this direction. The larger the opening degree of the turnstile, the shorter the distribution length of the turnstile in this direction, and the longer the corresponding idle length; the smaller the opening degree of the turnstile, the longer the distribution length of the turnstile in this direction, and the shorter the corresponding idle length. In this case, the occupied grids in the one-dimensional grid graphic represent the distribution length of the turnstile in this direction, and the idle grids represent the idle length (i.e., the passable space) of the turnstile in this direction. Therefore, the opening degree of the turnstile is equal to the ratio of the number of idle grids in the one-dimensional grid graphic to the preset number of grids; where the preset number of grids is the number of grids corresponding to the space occupied by the turnstile.

[0097] For the straight left-and-right opening and closing turnstile, as Figure 5 shown Figure 5 The paper surface in it is parallel to the XOZ plane in the coordinate system. The turnstile moves left and right along the X-axis direction, and the passage of vehicles is restricted by controlling the projection length of the turnstile on the X-axis. That is, the vehicle passage restriction direction is the X-axis direction, and the direction of the resulting one-dimensional grid graphic is also the X-axis direction. The opening degree of the turnstile is inversely proportional to the distribution length of the turnstile in this direction. The larger the opening degree of the turnstile, the shorter the distribution length of the turnstile in this direction, and the longer the corresponding idle length; the smaller the opening degree of the turnstile, the longer the distribution length of the turnstile in this direction, and the shorter the corresponding idle length. In this case, the occupied grids in the one-dimensional grid graphic represent the distribution length of the turnstile in this direction, and the idle grids represent the idle length (i.e., the passable space) of the turnstile in this direction. Therefore, the opening degree of the turnstile is equal to the ratio of the number of idle grids in the one-dimensional grid graphic to the preset number of grids; where the preset number of grids is the number of grids corresponding to the space occupied by the turnstile.

[0098] For the rotary up-and-down opening and closing turnstile, as Figure 3 shown Figure 3The paper plane in it is parallel to the XOZ plane in the coordinate system. The turnstile takes the Y-axis as the fixed axis and makes an up-and-down rotation movement between the X-axis and the Z-axis on the XOZ plane. When the turnstile is parallel to the X-axis, the turnstile is in a fully closed state (the opening degree of the turnstile is 0%), its distribution length in the X-axis direction is the longest, and its distribution length in the Z-axis direction is the shortest; when the turnstile is parallel to the Z-axis, the turnstile is in a fully open state (the opening degree of the turnstile is 100%), its distribution length in the Z-axis direction is the longest, and its distribution length in the X-axis direction is the shortest; the direction of the finally obtained one-dimensional grid graph is the X-axis or Z-axis direction; if the direction of the one-dimensional grid graph is the X-axis direction (perpendicular to the height direction of the turnstile), this direction is the vehicle passage restriction direction, and the opening degree of the turnstile is inversely proportional to the distribution length of the turnstile in this direction. The larger the opening degree of the turnstile, the shorter the distribution length of the turnstile in this direction, and the longer the corresponding idle length; the smaller the opening degree of the turnstile, the longer the distribution length of the turnstile in this direction, and the shorter the corresponding idle length; in this case, the occupied grids in the one-dimensional grid graph represent the distribution length of the turnstile in this direction, and the idle grids represent the idle length of the turnstile in this direction (i.e., the passable space). Therefore, the opening degree of the turnstile is equal to the ratio of the number of idle grids in the one-dimensional grid graph to the preset number of grids. If the direction of the one-dimensional grid graph is the Z-axis direction (parallel to the height direction of the turnstile), this direction is not the vehicle passage restriction direction, and the opening degree of the turnstile is proportional to the distribution length of the turnstile in this direction. The larger the opening degree of the turnstile, the longer the distribution length of the turnstile in this direction, and the shorter the corresponding idle length; the smaller the opening degree of the turnstile, the shorter the distribution length of the turnstile in this direction, and the longer the corresponding idle length; in this case, the occupied grids in the one-dimensional grid graph represent the distribution length of the turnstile in this direction, which corresponds to the idle length of the turnstile in the vehicle passage restriction direction; the idle grids represent the idle length of the turnstile in this direction, which corresponds to the occupied length of the turnstile in the vehicle passage restriction direction; therefore, the opening degree of the turnstile is equal to the ratio of the number of occupied grids in the one-dimensional grid graph to the preset number of grids.

[0099] For the rotating open-and-close turnstile before and after rotation, as Figure 2 shown Figure 2The paper surface in it is parallel to the XOZ plane in the coordinate system. The turnstile takes the Z-axis as the fixed axis and makes a forward and backward rotational movement between the X-axis and the Y-axis in the XOY plane. When the turnstile is parallel to the X-axis, the turnstile is in a fully closed state (the opening degree of the turnstile is 0%), its distribution length in the X-axis direction is the longest, and its distribution length in the Y-axis direction is the shortest; when the turnstile is parallel to the Y-axis, the turnstile is in a fully open state (the opening degree of the turnstile is 100%), its distribution length in the Y-axis direction is the longest, and its distribution length in the X-axis direction is the shortest; the direction of the finally obtained one-dimensional grid graph is the X-axis or the Y-axis direction. If the direction of the one-dimensional grid graph is the X-axis direction, this direction is the vehicle passing restriction direction. The opening degree of the turnstile is inversely proportional to the distribution length of the turnstile in this direction. The larger the opening degree of the turnstile, the shorter the distribution length of the turnstile in this direction, and the longer the corresponding idle length; the smaller the opening degree of the turnstile, the longer the distribution length of the turnstile in this direction, and the shorter the corresponding idle length; in this case, the grids in the occupied state in the one-dimensional grid graph represent the distribution length of the turnstile in this direction, and the grids in the idle state represent the idle length of the turnstile in this direction (i.e., the passable space). Therefore, the opening degree of the turnstile is equal to the ratio of the number of grids in the idle state in the one-dimensional grid graph to the preset number of grids. If the direction of the one-dimensional grid graph is the Y-axis direction, this direction is not the vehicle passing restriction direction. The opening degree of the turnstile is proportional to the distribution length of the turnstile in this direction. The larger the opening degree of the turnstile, the longer the distribution length of the turnstile in this direction, and the shorter the corresponding idle length; the smaller the opening degree of the turnstile, the shorter the distribution length of the turnstile in this direction, and the longer the corresponding idle length; in this case, the grids in the occupied state in the one-dimensional grid graph represent the distribution length of the turnstile in this direction, which corresponds to the idle length of the turnstile in the vehicle passing restriction direction; the grids in the idle state represent the idle length of the turnstile in this direction, which corresponds to the occupied length of the turnstile in the vehicle passing restriction direction; therefore, the opening degree of the turnstile is equal to the ratio of the number of grids in the occupied state in the one-dimensional grid graph to the preset number of grids.

[0100] The embodiment of the present disclosure provides a method for detecting the opening degree of a turnstile. The method includes: obtaining the three-dimensional radar point cloud at the turnstile and the type of the turnstile; determining at least one projection direction based on the type of the turnstile; performing dimensionality reduction processing on the three-dimensional radar point cloud based on at least one projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud; and determining the opening degree of the turnstile based on the one-dimensional grid graph. Thus, the dimensionality reduction processing is performed on the three-dimensional radar point cloud by using the projection method to obtain the corresponding one-dimensional grid graph, without the need for straight line or plane fitting, with a relatively fast running speed and good scene robustness; this method is applicable to any turnstile that controls passage based on the blocking method and can better meet the requirements of autonomous driving vehicles; at the same time, this method does not require additional equipment and does not require pre-labeling training, further reducing costs.

[0101] In some embodiments, as Figure 8 shown, it is Figure 1In the shown turnstile opening detection method, a refined flowchart of S120 and S130. Refer to Figure 2 , in this method, S120 "Based on the turnstile type, determine at least one projection direction", includes:

[0102] S820 Based on the turnstile type, determine the first projection direction and the second projection direction.

[0103] S130 "Based on at least one projection direction, perform dimensionality reduction processing on the 3D radar point cloud to obtain a one-dimensional grid graph corresponding to the 3D radar point cloud", includes:

[0104] S831. Based on the first projection direction, perform projection dimensionality reduction processing on the 3D radar point cloud to obtain a two-dimensional grid graph corresponding to the 3D radar point cloud;

[0105] S832. Based on the second projection direction, perform another projection dimensionality reduction processing on the two-dimensional grid graph to obtain a one-dimensional grid graph corresponding to the 3D radar point cloud.

[0106] In this embodiment, two projection directions are determined based on the turnstile type, and then the 3D radar point cloud is successively projected and dimensionally reduced along the first projection direction and the second projection direction, converting the 3D radar point cloud into a one-dimensional grid graph. For different types of turnstiles, the first projection direction and the second projection direction are different, specifically as follows:

[0107] For the rotating front-and-back opening and closing turnstile, combining Figure 2 and Figure 7 , preferably, determine the first projection direction as the Z axis, and the second projection direction can be the X axis or the Y axis. That is, first project the 3D radar point cloud along the Z axis for the first time, and the obtained two-dimensional grid graph is located on the XOY plane; then project the two-dimensional grid graph along the X axis or the Y axis for the second time to obtain a one-dimensional grid graph. If the second projection direction is the X axis, the one-dimensional grid graph is linearly distributed in the Y axis direction, and if the second projection direction is the Y axis, the one-dimensional grid graph is linearly distributed in the X axis direction. In other embodiments, it is also possible to determine the first projection direction as the X axis and the second projection direction as the Z axis; or determine the first projection direction as the Y axis and the second projection direction as the Z axis.

[0108] For the rotating up-and-down opening and closing turnstile, combining Figure 3 and Figure 7, preferably, it is determined that the first projection direction is the Y-axis, and the second projection direction can be the X-axis or the Z-axis. That is, first, the three-dimensional radar point cloud is projected along the Y-axis for the first time, and the obtained two-dimensional grid graph is located on the XOZ plane; then, the two-dimensional grid graph is projected along the X-axis or the Z-axis for the second time to obtain a one-dimensional grid graph. If the second projection direction is the X-axis, the one-dimensional grid graph is linearly distributed in the Z-axis direction. If the second projection direction is the Z-axis, the one-dimensional grid graph is linearly distributed in the X-axis direction. In other embodiments, it can also be determined that the first projection direction is the X-axis and the second projection direction is the Y-axis; or it can be determined that the first projection direction is the Z-axis and the second projection direction is the Y-axis.

[0109] For the straight up-and-down opening and closing turnstile, in combination with Figure 4 and Figure 7 , preferably, it is determined that the first projection direction is the Y-axis and the second projection direction is the X-axis. That is, first, the three-dimensional radar point cloud is projected along the Y-axis for the first time, and the obtained two-dimensional grid graph is located on the XOZ plane; then, the two-dimensional grid graph is projected along the X-axis for the second time to obtain a one-dimensional grid graph, and the one-dimensional grid graph is linearly distributed in the Z-axis direction. In other embodiments, it can also be determined that the first projection direction is the X-axis and the second projection direction is the Y-axis.

[0110] For the straight left-and-right opening and closing turnstile, in combination with Figure 5 and Figure 7 , preferably, it is determined that the first projection direction is the Y-axis and the second projection direction is the Z-axis. That is, first, the three-dimensional radar point cloud is projected along the Y-axis for the first time, and the obtained two-dimensional grid graph is located on the XOZ plane; then, the two-dimensional grid graph is projected along the Z-axis for the second time to obtain a one-dimensional grid graph, and the one-dimensional grid graph is linearly distributed in the X-axis direction. In other embodiments, it can also be determined that the first projection direction is the X-axis and the second projection direction is the Y-axis.

[0111] In some embodiments, as Figure 9 shown, for the turnstile opening degree detection method shown in Figure 1 , another refined flowchart of S120 and S130. Referring to Figure 3 , S120 "Based on the turnstile type, determine at least one projection direction" includes:

[0112] S920. Based on the turnstile type, determine the fourth projection direction.

[0113] S130 "Based on at least one projection direction, perform dimensionality reduction processing on the three-dimensional radar point cloud to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud" includes:

[0114] S931. Based on a preset third direction, perform projection dimensionality reduction processing on the three-dimensional radar point cloud to obtain a two-dimensional grid graph corresponding to the three-dimensional radar point cloud.

[0115] S932. Based on the fourth projection direction, perform a second projection dimensionality reduction process on the two-dimensional grid graph to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud.

[0116] In this embodiment, a projection direction, that is, the fourth projection direction, is determined based on the type of turnstile. This direction is the projection direction for the second projection dimensionality reduction process, while the projection direction for the first projection dimensionality reduction process is a preset third direction; first, perform the first projection dimensionality reduction process on the three-dimensional radar point cloud along the preset third direction to obtain a two-dimensional grid graph; then perform the second projection dimensionality reduction process on the two-dimensional grid graph along the fourth projection direction to obtain a one-dimensional grid graph.

[0117] In this way, through the preset third direction, after obtaining the type of turnstile, only one projection direction needs to be determined, simplifying the steps of the turnstile opening detection method, reducing the amount of data calculation, and thus shortening the processing time; for different types of turnstiles, their first projection directions are the same, and the difference lies only in the determined fourth projection direction, and determining the fourth projection direction and performing the projection dimensionality reduction process based on the preset third direction can be carried out simultaneously, further shortening the data processing time. For turnstiles with the same type or the type of turnstile already determined within a specific area, a complete projection scheme can also be preset in advance, that is, preset the projection directions for the two-dimensionality reduction processes. After obtaining the three-dimensional radar point cloud at the turnstile, perform the projection according to the preset projection scheme, omitting the step of "determining at least one projection direction based on the type of turnstile", which is beneficial to shortening the processing time.

[0118] For different types of turnstiles, the selection range of the preset third direction will vary. For example, if the types of turnstiles include the front-back rotating and opening type and the up-down rotating and opening type, the preset third direction can be set to one of the X-axis direction, Y-axis direction, and Z-axis direction; if the types of turnstiles include the front-back rotating and opening type, the up-down rotating and opening type, and the up-down linear opening type, the preset third direction is set to the X-axis direction or the Y-axis direction; if the types of turnstiles include the front-back rotating and opening type, the up-down rotating and opening type, the up-down linear opening type, and the left-right linear opening type, the preset third direction is set to the Y-axis direction.

[0119] In some embodiments, a three-dimensional coordinate system is established with the center point of the turnstile's horizontal projection as the origin, the width direction of the turnstile's horizontal projection as the X-axis, the forward direction of the vehicle passing through the turnstile as the Y-axis, and the vertical height direction as the Z-axis; the types of turnstiles include the front-back rotating and opening type and the up-down rotating and opening type; the preset third direction is one of the X-axis direction, Y-axis direction, and Z-axis direction.

[0120] For turnstiles of the front-back rotating and opening type, in combination with Figure 2 and Figure 7, when the preset third direction is the X-axis, the fourth projection direction is determined to be the Z-axis, that is, the three-dimensional radar point cloud is first projected along the X-axis, and the obtained two-dimensional grid graph is located on the YOZ plane; then the two-dimensional grid graph is secondarily projected along the Z-axis, and the obtained one-dimensional grid graph is linearly distributed in the Y-axis direction. When the preset third direction is the Y-axis, the fourth projection direction is the Z-axis, that is, the three-dimensional radar point cloud is first projected along the Y-axis, and the obtained two-dimensional grid graph is located on the XOZ plane; then the two-dimensional grid graph is secondarily projected along the Z-axis, and the obtained one-dimensional grid graph is linearly distributed in the X-axis direction. When the preset third direction is the Z-axis, the fourth projection direction is the X-axis or the Y-axis, that is, the three-dimensional radar point cloud is first projected along the Z-axis, and the obtained two-dimensional grid graph is located on the XOY plane; then the two-dimensional grid graph is secondarily projected along the X-axis or the Y-axis. If the second projection direction is the X-axis, the one-dimensional grid graph is linearly distributed in the Y-axis direction, and if the second projection direction is the Y-axis, the one-dimensional grid graph is linearly distributed in the X-axis direction.

[0121] For a turnstile of the type that opens and closes up and down rotationally, in combination with Figure 3 and Figure 7 , when the preset third direction is the X-axis, the fourth projection direction is the Y-axis, that is, the three-dimensional radar point cloud is first projected along the X-axis, and the obtained two-dimensional grid graph is located on the YOZ plane; then the two-dimensional grid graph is secondarily projected along the Y-axis, and the obtained one-dimensional grid graph is linearly distributed in the Z-axis direction. When the preset third direction is the Y-axis, the fourth projection direction is the X-axis or the Z-axis, that is, the three-dimensional radar point cloud is first projected along the Y-axis, and the obtained two-dimensional grid graph is located on the XOZ plane. Then the two-dimensional grid graph is secondarily projected along the X-axis or the Z-axis. If the second projection direction is the X-axis, the one-dimensional grid graph is linearly distributed in the Z-axis direction, and if the second projection direction is the Z-axis, the one-dimensional grid graph is linearly distributed in the X-axis direction. When the preset third direction is the Z-axis, the fourth projection direction is the Y-axis, that is, the three-dimensional radar point cloud is first projected along the Z-axis, and the obtained two-dimensional grid graph is located on the XOY plane; then the two-dimensional grid graph is secondarily projected along the Y-axis, and the obtained one-dimensional grid graph is linearly distributed in the X-axis direction.

[0122] In some embodiments, a three-dimensional coordinate system is established with the center point of the turnstile's projection on the horizontal plane as the origin, the width direction of the turnstile's projection on the horizontal plane as the X-axis, the forward direction of the vehicle passing through the turnstile as the Y-axis, and the vertical height direction as the Z-axis; the turnstile types include rotationally opening and closing back and forth, rotationally opening and closing up and down, and linearly opening and closing up and down; the preset third direction is the X-axis direction or the Y-axis direction.

[0123] In this embodiment, in addition to the rotationally opening and closing back and forth and rotationally opening and closing up and down types, the turnstile type also includes the linearly opening and closing up and down type, such as Figure 4As shown, the straight up-and-down opening and closing turnstile moves linearly along the Z-axis in the XOZ plane, and the Z-axis is the vehicle passage restriction direction. If it is assumed that the third preset projection direction is set as the Z-axis, all the grids in the finally obtained one-dimensional grid graph are in the occupied state or all in the idle state, and the change in the turnstile opening does not affect the grid state. Therefore, in this embodiment, the third preset projection direction cannot be set as the Z-axis.

[0124] For turnstiles of the straight up-and-down opening and closing type, in combination with Figure 4 and Figure 7 , when the preset third direction is the X-axis, the fourth projection direction is the Y-axis, that is, the three-dimensional radar point cloud is first projected along the X-axis, and the obtained two-dimensional grid graph is located on the YOZ plane; then the two-dimensional grid graph is secondarily projected along the Y-axis, and the obtained one-dimensional grid graph is linearly distributed in the Z-axis direction. When the preset third direction is the Y-axis, the fourth projection direction is the X-axis, that is, the three-dimensional radar point cloud is first projected along the Y-axis, and the obtained two-dimensional grid graph is located on the XOZ plane, and then the two-dimensional grid graph is secondarily projected along the X-axis. If the second projection direction is the X-axis, the obtained one-dimensional grid graph is linearly distributed in the Z-axis direction.

[0125] For the rotating front-back opening and closing turnstile and the rotating up-and-down opening and closing turnstile, the settings of the preset third direction and the fourth projection direction can refer to the above embodiments and will not be elaborated here.

[0126] In some embodiments, a three-dimensional coordinate system is established with the center point of the turnstile's horizontal projection as the origin, the width direction of the turnstile's horizontal projection as the X-axis, the forward direction of the vehicle passing through the turnstile as the Y-axis, and the vertical height direction as the Z-axis. The turnstile types include rotating front-back opening and closing type, rotating up-and-down opening and closing type, straight up-and-down opening and closing type, and straight left-right opening and closing type; the preset third direction is the Y-axis direction.

[0127] In this embodiment, in addition to the rotating front-back opening and closing type, the rotating up-and-down opening and closing type, and the straight up-and-down opening and closing type, the turnstile types also include the straight left-right opening and closing type. As Figure 5 shown, the straight left-right opening and closing turnstile moves linearly along the X-axis in the XOZ plane, and the X-axis is the vehicle passage restriction direction. If it is assumed that the third preset projection direction is set as the X-axis, all the grids in the finally obtained one-dimensional grid graph are in the occupied state or all in the idle state, and the change in the turnstile opening does not affect the grid state. Therefore, in this embodiment, the third preset projection direction cannot be set as the X-axis.

[0128] For turnstiles of the straight left-right opening and closing type, in combination with Figure 5 and Figure 7, when the preset third direction is the Y-axis, the fourth projection direction is the Z-axis, that is, the three-dimensional radar point cloud is first projected along the X-axis, and the obtained two-dimensional grid graph is located on the XOZ plane; then the two-dimensional grid graph is projected along the Z-axis for the second time, and the obtained one-dimensional grid graph is linearly distributed in the X-axis direction.

[0129] In other embodiments, for the straight left-right opening and closing turnstile, when the preset third direction is set to the Z-axis, the fourth projection direction is the Y-axis, that is, the three-dimensional radar point cloud is first projected along the Z-axis, and the obtained two-dimensional grid graph is located on the XOY plane, and then the two-dimensional grid graph is projected along the Y-axis for the second time, and the obtained one-dimensional grid graph is linearly distributed in the X-axis direction.

[0130] For the rotating front-back opening and closing turnstile, the rotating up-down opening and closing turnstile, and the straight up-down opening and closing turnstile, the settings of the preset third direction and the fourth projection direction can be referred to the above embodiments and will not be elaborated here.

[0131] In some embodiments, as Figure 7 shown, the one-dimensional grid graph includes at least two grids, and the states of the grids include the idle state and the occupied state. S140 "determine the opening degree of the turnstile based on the one-dimensional grid graph" includes:

[0132] o = f ÷ b × 100%;

[0133] where, o represents the opening degree of the turnstile, b represents the preset number of grids; f represents the number of grids in the occupied state or the number of grids in the idle state in the one-dimensional grid graph, and whether f represents the number of grids in the occupied state or the number of grids in the idle state is related to the type of the turnstile and the direction of the one-dimensional grid graph, specifically as follows:

[0134] Combined with the previous embodiments, for the straight up-down opening and closing turnstile, the obtained one-dimensional grid graph is linearly distributed in the Z-axis direction, and the Z-axis direction is the vehicle passage restriction direction. f represents the number of grids in the idle state in the one-dimensional grid graph, corresponding to Figure 4 the available passage height of the turnstile in the Z-axis direction at this time; b corresponds to the maximum allowable passage height of the turnstile in the Z-axis direction, and the ratio of f to b is the opening degree of the turnstile.

[0135] Combined with the previous embodiments, for the straight left-right opening and closing turnstile, the obtained one-dimensional grid graph is linearly distributed in the X-axis direction, and the X-axis direction is the vehicle passage restriction direction. f represents the number of grids in the idle state in the one-dimensional grid graph, corresponding to Figure 5 the available passage width of the turnstile in the X-axis direction at this time; b corresponds to the maximum allowable passage width of the turnstile in the X-axis direction, and the ratio of f to b is the opening degree of the turnstile.

[0136] Combined with the previous embodiments, for the rotating front-and-back opening and closing turnstile, the obtained one-dimensional grid pattern is linearly distributed in the X-axis or Y-axis direction, and the X-axis direction is the vehicle passing restriction direction; combined with Figure 2 , when the turnstile is parallel to the X-axis, the turnstile is in a fully closed state, and when the turnstile is parallel to the Y-axis, the turnstile is in a fully open state. Therefore, if the obtained one-dimensional grid pattern is linearly distributed in the X-axis, f represents the number of grids in the free state in the one-dimensional grid pattern, corresponding to Figure 2 the passable width of the turnstile in the X-axis direction at this time, b corresponds to the maximum allowable passable width of the turnstile in the X-axis direction, and the ratio of f to b is the turnstile opening; if the obtained one-dimensional grid pattern is linearly distributed in the Y-axis, f represents the number of grids in the occupied state in the one-dimensional grid pattern, corresponding to the occupied depth of the turnstile in the Y-axis direction at this time, which is positively correlated with the passable width of the turnstile in the X-axis direction, and the specific length values of the two can be obtained by calculating with the Pythagorean theorem, b corresponds to the maximum occupied depth of the turnstile in the Y-axis direction, and the ratio of f to b is the turnstile opening. Since the rotating front-and-back opening and closing turnstile rotates and translates around the Z-axis, its maximum allowable passable width in the X-axis direction is equal to its maximum occupied depth in the Y-axis direction.

[0137] Combined with the previous embodiments, for the rotating up-and-down opening and closing turnstile, the obtained one-dimensional grid pattern is linearly distributed in the X-axis or Z-axis direction, and the X-axis direction is the vehicle passing restriction direction; combined with Figure 3 , when the turnstile is parallel to the X-axis, the turnstile is in a fully closed state, and when the turnstile is parallel to the Z-axis, the turnstile is in a fully open state. Therefore, if the obtained one-dimensional grid pattern is linearly distributed in the X-axis, f represents the number of grids in the free state in the one-dimensional grid pattern, corresponding to Figure 3 the passable width of the turnstile in the X-axis direction at this time, b corresponds to the maximum allowable passable width of the turnstile in the X-axis direction, and the ratio of f to b is the turnstile opening; if the obtained one-dimensional grid pattern is linearly distributed in the Z-axis, f represents the number of grids in the occupied state in the one-dimensional grid pattern, corresponding to the occupied height of the turnstile in the Z-axis direction at this time, which is positively correlated with the passable width of the turnstile in the X-axis direction, and the specific length values of the two can be obtained by calculating with the Pythagorean theorem, b corresponds to the maximum occupied height of the turnstile in the Z-axis direction, and the ratio of f to b is the turnstile opening. Since the rotating up-and-down opening and closing turnstile rotates and translates around the Y-axis, its maximum allowable passable width in the X-axis direction is equal to its maximum occupied height in the Z-axis direction.

[0138] In some embodiments, as Figure 10 and Figure 11 shown, Figure 10 is a schematic flow chart of filtering the three-dimensional radar point cloud provided by the embodiments of the present disclosure, Figure 11 is a schematic diagram of the working principle of filtering the three-dimensional radar point cloud provided by the embodiments of the present disclosure. Refer toFigure 10 Before performing dimensionality reduction processing on the three-dimensional radar point cloud, the method further includes:

[0139] S1010, dividing the three-dimensional radar point cloud into grids within a first plane formed by an X-axis and a Y-axis.

[0140] Among them, the first plane formed by the X-axis and the Y-axis is the XOY plane; Figure 11 As shown, by dividing the grid in the XOY plane, the three-dimensional radar point cloud is divided into a corresponding number of three-dimensional grids.

[0141] S1020. Based on the elevation value of the three-dimensional radar point cloud in the Z-axis direction and the filtering condition in each grid, retain the three-dimensional radar points that meet the filtering condition.

[0142] The 3D radar point cloud in the grid is scattered in the Z-axis direction, including the 3D radar points on the ground and below the ground and the 3D radar points above the ground. Only the 3D radar point cloud above the ground is needed to detect the gate opening. The 3D radar point cloud on the ground and below the ground is filtered out through filtering, which reduces the number of 3D radar point clouds for subsequent dimensionality reduction processing and further improves the calculation speed.

[0143] Among them, combined Figure 11 , the filtering conditions include: the elevation value of the 3D radar point cloud in the Z-axis direction is greater than or equal to the first filtering threshold value H1 of the grid in which it is located; and / or, the difference between the elevation value of the 3D radar point cloud in the Z-axis direction and the minimum elevation value H2 of the 3D radar point cloud in the grid in which it is located in the Z-axis direction is greater than or equal to the second filtering threshold value ΔH of the corresponding grid. The first filtering threshold value H1 corresponds to the ground elevation value of the location of the gate, which is the absolute height; the 3D radar points with elevation values greater than the first filtering threshold value H1 are identified as 3D radar points above the ground. The 3D radar points whose elevation value and the minimum elevation value H2 have a difference greater than or equal to the second filtering threshold value ΔH are identified as 3D radar points above the ground, and the second filtering threshold value ΔH is the relative height; the 3D radar points that meet any of the above filtering conditions are retained.

[0144] In this step, the 3D radar point cloud within each grid serves as a filtering unit. Since the ground where the turnstile is located is not necessarily parallel to the horizontal plane (XOY plane), the elevation values in the vertical direction (Z-axis direction) are also different. For example, if the turnstile is installed on a slope, the ground elevation values at the positions of the turnstile in the width direction (X-axis direction) are different, so the projection of the ground on the XOZ plane is an oblique line, and the angle between this oblique line and the X-axis is the slope of the slope. In response to this situation, assuming that a unified filtering threshold is used to filter the 3D radar point cloud, it is very likely that some 3D radar point clouds above the ground that should be retained will be filtered out, while some 3D radar point clouds below the ground that should be filtered out will be retained, which will in turn affect the accuracy and precision of the detection results. Therefore, in this embodiment, by setting different filtering conditions for each grid, the difference lies in the values of the first filtering threshold and the second filtering threshold, and the values of the first filtering threshold and the second filtering threshold are related to the corresponding ground elevation values. In this way, the filtering of the 3D radar point cloud is achieved, which is beneficial to improving the accuracy and precision of the turnstile opening detection results.

[0145] Exemplarily, as Figure 11 shown, the first filtering threshold of the leftmost grid is H1, the second filtering threshold is ΔH, and the minimum elevation value of the 3D radar point cloud in this grid in the Z-axis direction is H2; the 3D radar points with elevation values greater than or equal to the first filtering threshold H1 in the Z-axis direction, or the 3D radar points with the difference between the elevation value in the Z-axis direction and the minimum elevation value H2 greater than or equal to the second filtering threshold ΔH are retained, and the 3D radar points that do not meet the above conditions are filtered out.

[0146] It should be noted that Figure 11 only exemplarily shows that the 3D radar points that meet one of the two filtering conditions can be retained, but it does not constitute a limitation on the turnstile opening detection method provided by the embodiments of the present disclosure. In other embodiments, it can also be set that only the 3D radar points that meet both filtering conditions can be retained, which is not limited here.

[0147] Based on the above embodiments, the embodiments of the present disclosure also provide a turnstile access control method, as Figure 12 shown, this method includes:

[0148] S1210. Use any of the turnstile opening detection methods provided in the above embodiments to obtain the detected turnstile opening.

[0149] S1220. Obtain the opening threshold corresponding to the turnstile.

[0150] Specifically, obtain the maximum allowable passing width or maximum allowable passing height of the turnstile in the high-precision map; for turnstiles in unfamiliar environments, in order to save their relevant information in the high-precision map, for unfamiliar environments, photos of the turnstile can also be obtained through a camera, and then information such as the type of the turnstile and the maximum allowable passing width or maximum allowable passing width of the turnstile can be obtained. Obtain vehicle contour data from the storage device of the autonomous vehicle, including at least the vehicle height and vehicle width.

[0151] For a straight up-and-down opening and closing turnstile, determine that the ratio of the vehicle height to the maximum allowable passing height of the turnstile is the opening threshold, and the calculation formula is as follows:

[0152] O0 = H2 ÷ H1 × k1 × 100%;

[0153] Where, O0 represents the opening threshold, H2 represents the vehicle height, H1 represents the maximum allowable passing height of the turnstile; k1 represents a coefficient and k1 ≥ 1.0.

[0154] For a straight left-and-right opening and closing turnstile, determine that the ratio of the vehicle width to the maximum allowable passing width of the turnstile is the opening threshold, and the calculation formula is as follows:

[0155] O0 = W2 ÷ W1 × k2 × 100%;

[0156] Where, O0 represents the opening threshold, W2 represents the vehicle width, W1 represents the maximum allowable passing width of the turnstile, and k2 represents a coefficient and k2 ≥ 1.0.

[0157] For a rotary front-and-back opening and closing turnstile and a rotary up-and-down opening and closing turnstile, when calculating the turnstile opening, if the turnstile opening is equal to the ratio of the number of grids in the idle state to the preset number of grids in the one-dimensional grid graph, then determine that the ratio of the vehicle width to the maximum allowable passing width of the turnstile is the opening threshold; if the turnstile opening is equal to the ratio of the number of grids in the occupied state to the preset number of grids in the one-dimensional grid graph, then use the following formula to calculate the opening threshold:

[0158]

[0159] Where, O0 represents the opening threshold, W2 represents the vehicle width, W1 represents the maximum allowable passing width of the turnstile, and k3 represents a coefficient and k3 ≥ 1.0.

[0160] S1230. According to the size relationship between the turnstile opening and the opening threshold, determine whether the turnstile allows the vehicle to pass.

[0161] Specifically, if the turnstile opening is greater than or equal to the opening threshold, determine that the turnstile allows the vehicle to pass; if the turnstile opening is less than the opening threshold, determine that the turnstile does not allow the vehicle to pass.

[0162] Based on the same inventive concept, an embodiment of the present disclosure further provides a turnstile opening detection device. This device can execute the steps of any turnstile opening detection method provided by the embodiments of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method. The same parts can be understood with reference to the above, and will not be repeated hereinafter.

[0163] Figure 13 It is a schematic structural diagram of a turnstile opening detection device provided by an embodiment of the present disclosure. Refer to Figure 13 , the device 1300 includes: a first acquisition module 1301, configured to acquire the three-dimensional radar point cloud and the turnstile type at the turnstile; a first determination module 1302, configured to determine at least one projection direction based on the turnstile type; a dimensionality reduction module 1303, configured to perform dimensionality reduction processing on the three-dimensional radar point cloud based on at least one projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud; a second determination module 1304, configured to determine the opening degree of the turnstile based on the one-dimensional grid graph.

[0164] In some embodiments, the first determination module is configured to determine at least one projection direction based on the turnstile type, including: determining a first projection direction and a second projection direction based on the turnstile type; the dimensionality reduction module is configured to perform dimensionality reduction processing on the three-dimensional radar point cloud based on at least one projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud, including: performing projection dimensionality reduction processing on the three-dimensional radar point cloud based on the first projection direction to obtain a two-dimensional grid graph corresponding to the three-dimensional radar point cloud; performing re-projection dimensionality reduction processing on the two-dimensional grid graph based on the second projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud.

[0165] In some embodiments, the first determination module is configured to determine at least one projection direction based on the turnstile type, including: determining a fourth projection direction based on the turnstile type; the dimensionality reduction module is configured to perform dimensionality reduction processing on the three-dimensional radar point cloud based on at least one projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud, including: performing projection dimensionality reduction processing on the three-dimensional radar point cloud based on a preset third direction to obtain a two-dimensional grid graph corresponding to the three-dimensional radar point cloud; performing re-projection dimensionality reduction processing on the two-dimensional grid graph based on the fourth projection direction to obtain a one-dimensional grid graph corresponding to the three-dimensional radar point cloud.

[0166] In some embodiments, a three-dimensional coordinate system is established with the center point of the turnstile's projection on the horizontal plane as the origin, the width direction of the turnstile's projection on the horizontal plane as the X-axis, the forward direction of the vehicle passing through the turnstile as the Y-axis, and the vertical height direction as the Z-axis; the turnstile types include the front-back rotating and opening type and the up-down rotating and opening type; the preset third direction is one of the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0167] In some embodiments, the type of the turnstile is the front-back rotating and opening type. When the preset third direction is the X-axis, the fourth projection direction is the Z-axis; when the preset third direction is the Y-axis, the fourth projection direction is the Z-axis; when the preset third direction is the Z-axis, the fourth projection direction is the X-axis or the Y-axis.

[0168] In some embodiments, the type of the turnstile is the up-down rotating and opening type. When the preset third direction is the X-axis, the fourth projection direction is the Y-axis; when the preset third direction is the Y-axis, the fourth projection direction is the X-axis or the Z-axis; when the preset third direction is the Z-axis, the fourth projection direction is the Y-axis.

[0169] In some embodiments, a three-dimensional coordinate system is established with the center point of the horizontal plane projection of the turnstile as the origin. The width direction of the horizontal plane projection of the turnstile is the X-axis, the forward direction of the vehicle passing through the turnstile is the Y-axis, and the vertical height direction is the Z-axis. The types of turnstiles include the front-back rotating and opening type, the up-down rotating and opening type, and the up-down linear opening type. The preset third direction is the X-axis direction or the Y-axis direction.

[0170] In some embodiments, the type of the turnstile is the up-down linear opening type. When the preset third direction is the X-axis, the fourth projection direction is the Y-axis; when the third direction is the Y-axis, the fourth projection direction is the X-axis.

[0171] In some embodiments, a three-dimensional coordinate system is established with the center point of the horizontal plane projection of the turnstile as the origin. The width direction of the horizontal plane projection of the turnstile is the X-axis, the forward direction of the vehicle passing through the turnstile is the Y-axis, and the vertical height direction is the Z-axis. The types of turnstiles include the front-back rotating and opening type, the up-down rotating and opening type, the up-down linear opening type, and the left-right linear opening type. The preset third direction is the Y-axis direction.

[0172] In some embodiments, the type of the turnstile is the left-right linear opening type. When the preset third direction is the Y-axis, the fourth projection direction is the Z-axis.

[0173] In other embodiments, the type of the turnstile is the left-right linear opening type. The preset third direction can also be set to the Z-axis, and the determined fourth projection direction is the Y-axis.

[0174] In some embodiments, the one-dimensional grid pattern includes at least two grids. The states of the grids include the idle state and the occupied state. Based on the one-dimensional grid pattern, determining the opening degree of the turnstile includes:

[0175] o = f÷b×100%;

[0176] Among them, o represents the opening of the gate, b represents the preset number of grids, and f represents the number of grids in the occupied state or the number of grids in the idle state in the one-dimensional grid graph; for the gate type of linear up and down opening and closing or linear left and right opening and closing, f is the number of grids in the idle state in the one-dimensional grid graph; for the gate type of rotating front and back opening and closing or rotating up and down opening and closing, when the gate is parallel to the direction of the one-dimensional grid graph, if the gate is in a fully open state, f is the number of grids in the occupied state in the one-dimensional grid graph, and if the gate is in a fully closed state, f is the number of grids in the idle state in the one-dimensional grid graph.

[0177] In some embodiments, before performing dimensionality reduction processing on the three-dimensional radar point cloud, the device further includes: a filtering module, used to divide the three-dimensional radar point cloud into grids in a first plane formed by an X-axis and a Y-axis; and based on the elevation value of the three-dimensional radar point cloud in the Z-axis direction and the filtering conditions in each grid, retaining the three-dimensional radar points that meet the filtering conditions; wherein satisfying the filtering conditions includes: the elevation value of the three-dimensional radar point cloud in the Z-axis direction is greater than or equal to a first filtering threshold of the grid in which it is located; and / or, the difference between the elevation value of the three-dimensional radar point cloud in the Z-axis direction and the minimum elevation value of the three-dimensional radar point cloud in the grid in which it is located in the Z-axis direction is greater than or equal to a second filtering threshold of the corresponding grid.

[0178] For contents not described in detail in the device embodiments of the present disclosure, reference may be made to the description in any method embodiments of the present disclosure.

[0179] Based on the above implementation, the present disclosure also provides a vehicle device.

[0180] like Figure 14 FIG. 1 is a schematic diagram of the structure of a vehicle device provided by an embodiment of the present disclosure. Figure 14 The vehicle device 1400 includes: one or more processors 1402; a memory 1401 for storing executable instructions of the processor 1402; the processor 1402 is used to read executable instructions from the memory 1401 and execute the executable instructions to implement the steps of any of the above-mentioned gate opening detection methods, which has corresponding beneficial effects. In order to avoid repeated description, it will not be repeated here.

[0181] The memory 1401 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. In some implementations, the memory 1401 stores the following elements: executable units or data structures, or their subsets, or their extended set operating systems and application programs.

[0182] Among them, the processor 1402 can be an integrated circuit chip with signal processing capabilities. In the implementation process, the steps of the above method can be completed by the integrated logic circuit in the hardware of the processor 1402 or the instructions in the form of software. The above-mentioned processor 1402 can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0183] Based on the above embodiments, the embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, and the computer program is used to execute the steps of any one of the above gate opening detection methods, and has corresponding beneficial effects. To avoid repeated description, it will not be elaborated here.

[0184] In the context of the present disclosure, the computer-readable storage medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0185] It should be noted that the above-mentioned computer-readable storage medium in the present disclosure can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0186] Based on the above embodiments, the embodiments of the present disclosure further provide a vehicle, including the above-mentioned vehicle equipment, and having corresponding beneficial effects. To avoid repeated description, it will not be elaborated here.

[0187] It should be noted that the vehicle in the embodiments of the present disclosure further includes other devices known to those skilled in the art, such as high-precision maps, vehicle-mounted sensors (lidar, millimeter-wave radar, inertial navigation devices), and vehicle controllers, etc., which are not limited here.

[0188] It should be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0189] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting the opening degree of a turnstile, characterized in that, Including: Obtain the 3D radar point cloud at the turnstile and the turnstile type; Based on the turnstile type, determine at least one projection direction; Based on the at least one projection direction, perform dimensionality reduction processing on the 3D radar point cloud to obtain a one-dimensional grid graph corresponding to the 3D radar point cloud; Based on the one-dimensional grid graph, determine the opening degree of the turnstile; Wherein, the one-dimensional grid graph includes at least two grids, and the states of the grids include an idle state and an occupied state. The determining of the opening degree of the turnstile based on the one-dimensional grid graph includes: o = f÷b×100%; Wherein, o represents the opening degree of the turnstile, b represents the preset number of grids, and f represents the number of grids in the occupied state or the number of grids in the idle state in the one-dimensional grid graph; Wherein, for the turnstile type of straight up-and-down opening or straight left-and-right opening, f is the number of grids in the idle state in the one-dimensional grid graph; for the turnstile type of rotary front-and-back opening or rotary up-and-down opening, when the turnstile is parallel to the direction where the one-dimensional grid graph is located, if the turnstile is in a fully open state, then f is the number of grids in the occupied state in the one-dimensional grid graph, and if the turnstile is in a fully closed state, then f is the number of grids in the idle state in the one-dimensional grid graph.

2. The method according to claim 1, wherein: The determining of at least one projection direction based on the turnstile type includes: determining a first projection direction and a second projection direction based on the turnstile type; The performing of dimensionality reduction processing on the 3D radar point cloud based on the at least one projection direction to obtain a one-dimensional grid graph corresponding to the 3D radar point cloud includes: Based on the first projection direction, perform projection dimensionality reduction processing on the 3D radar point cloud to obtain a two-dimensional grid graph corresponding to the 3D radar point cloud; Based on the second projection direction, perform re-projection dimensionality reduction processing on the two-dimensional grid graph to obtain a one-dimensional grid graph corresponding to the 3D radar point cloud.

3. The method according to claim 1, characterized in that, The determining of at least one projection direction based on the turnstile type includes: Determine a fourth projection direction based on the turnstile type; The performing of dimensionality reduction processing on the 3D radar point cloud based on the at least one projection direction to obtain a one-dimensional grid graph corresponding to the 3D radar point cloud includes: Based on a preset third direction, perform projection dimensionality reduction processing on the 3D radar point cloud to obtain a two-dimensional grid graph corresponding to the 3D radar point cloud; Based on the fourth projection direction, perform re-projection dimensionality reduction processing on the two-dimensional grid graph to obtain a one-dimensional grid graph corresponding to the 3D radar point cloud.

4. The method according to claim 3, characterized in that Establish a three-dimensional coordinate system with the center point of the turnstile's projection on the horizontal plane as the origin, the width direction of the turnstile's projection on the horizontal plane as the X-axis, the forward direction of the vehicle passing through the turnstile as the Y-axis, and the vertical height direction as the Z-axis; the turnstile types include rotary front-and-back opening and rotary up-and-down opening; The preset third direction is one of the X-axis direction, the Y-axis direction, and the Z-axis direction.

5. The method according to claim 4, wherein The gate type is a rotating front and back opening and closing type. When the preset third direction is the X-axis, the fourth projection direction is the Z-axis; when the preset third direction is the Y-axis, the fourth projection direction is the Z-axis; when the preset third direction is the Z-axis, the fourth projection direction is the X-axis or the Y-axis.

6. The method according to claim 4, characterized in that, The gate type is a rotating up and down opening type. When the preset third direction is the X-axis, the fourth projection direction is the Y-axis; when the preset third direction is the Y-axis, the fourth projection direction is the X-axis or the Z-axis; when the preset third direction is the Z-axis, the fourth projection direction is the Y-axis.

7. The method according to claim 3, wherein A three-dimensional coordinate system is established with the center point of the gate projection on the horizontal plane as the origin. The width direction of the gate projection on the horizontal plane is the X-axis, the forward direction of the vehicle passing through the gate is the Y-axis, and the vertical height direction is the Z-axis. The types of gates include rotating front and rear opening and closing, rotating up and down opening and closing, and linear up and down opening and closing. The preset third direction is the X-axis direction or the Y-axis direction.

8. The method according to claim 7, wherein The gate type is a linear up and down opening type. When the preset third direction is the X-axis, the fourth projection direction is the Y-axis; when the third direction is the Y-axis, the fourth projection direction is the X-axis.

9. The method according to claim 3, wherein A three-dimensional coordinate system is established with the center point of the gate projection on the horizontal plane as the origin. The width direction of the gate projection on the horizontal plane is the X-axis, the forward direction of the vehicle passing through the gate is the Y-axis, and the vertical height direction is the Z-axis. The types of gates include rotating front and back opening and closing type, rotating up and down opening and closing type, linear up and down opening and closing type, and linear left and right opening and closing type. The preset third direction is the Y-axis direction.

10. The method according to claim 9, wherein The gate type is a linear left-right opening and closing type. When the preset third direction is the Y axis, the fourth projection direction is the Z axis.

11. The method according to any one of claims 4-10, characterized in that, Before the dimensionality reduction processing is performed on the three-dimensional radar point cloud, the method further includes: Dividing the three-dimensional radar point cloud into grids in a first plane formed by an X-axis and a Y-axis; Based on the elevation value of the three-dimensional radar point cloud in the Z-axis direction and the filtering condition in each grid, retaining the three-dimensional radar points that meet the filtering condition; Meeting the filtering conditions includes: The elevation value of the three-dimensional radar point cloud in the Z-axis direction is greater than or equal to the first filtering threshold of the grid where it is located; and / or, A difference between an elevation value of the three-dimensional radar point cloud in the Z-axis direction and a minimum elevation value of the three-dimensional radar point cloud in the grid where the three-dimensional radar point cloud is located in the Z-axis direction is greater than or equal to a second filtering threshold of the corresponding grid.

12. A gate opening detection device, characterized in that, include: The first acquisition module is used to obtain the three-dimensional radar point cloud and gate type at the gate; A first determination module, configured to determine at least one projection direction based on the gate type; A dimensionality reduction module, configured to perform dimensionality reduction processing on the three-dimensional radar point cloud based on the at least one projection direction to obtain a one-dimensional grid graphic corresponding to the three-dimensional radar point cloud; A second determination module, used to determine the opening of the gate based on the one-dimensional grid graph; The one-dimensional grid pattern includes at least two grids, the states of the grids include an idle state and an occupied state, and the determining of the gate opening based on the one-dimensional grid pattern includes: o = f ÷ b × 100%; Wherein, o represents the opening degree of the turnstile, b represents the preset number of grids, and f represents the number of grids in the occupied state or the number of grids in the idle state in the one-dimensional grid pattern; Among them, for the turnstile types of straight up-and-down opening / closing or straight left-and-right opening / closing, f is the number of grids in the idle state in the one-dimensional grid pattern; for the turnstile types of rotary front-and-back opening / closing or rotary up-and-down opening / closing, when the turnstile is parallel to the direction where the one-dimensional grid pattern is located, if the turnstile is in a fully open state, then f is the number of grids in the occupied state in the one-dimensional grid pattern, and if the turnstile is in a fully closed state, then f is the number of grids in the idle state in the one-dimensional grid pattern.

13. A vehicle-mounted device, characterized in that, Comprising: One or more processors; A memory for storing the executable instructions of the processor; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the steps of the turnstile opening degree detection method according to any one of claims 1-11.

14. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and the computer program is used to execute the steps of the turnstile opening degree detection method according to any one of claims 1-11.

15. A vehicle, characterized in that, Comprising the vehicle equipment according to claim 13.

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