Method, device, storage medium and equipment for detecting vehicle crossing by traffic radar

Abstract

The present invention provides a method, apparatus, storage medium, and device for detecting crossing vehicles using a traffic radar, wherein the method comprises: establishing a trajectory based on the measured target data of the current frame and predicting the measured target data of the next frame, wherein the measured target data includes position and speed, determining the direction of movement of the trajectory, setting a corresponding target matching gate based on the direction of movement of the trajectory, performing trajectory matching based on the corresponding target matching gate, performing Kalman filter estimation on the successfully matched trajectory, obtaining the real-time position and speed after updating the trajectory, determining the direction of movement of the updated trajectory, and when the direction of movement of the updated trajectory is a lateral trajectory, correcting the updated real-time speed and outputting the trajectory information. The present invention can accurately and stably track crossing vehicles in complex environments during the traffic radar detection and tracking process, and can improve the application effect of traffic radar vehicle detection and tracking in complex environments.

Description

Technical Field

[0001] The present invention relates to the field of radar signal processing technology, and in particular to a method, device, storage medium and equipment for detecting vehicle crossing by a traffic radar. Background Art

[0002] With the increasing number of vehicles in my country, urban traffic congestion has become a common phenomenon. The use of intelligent transportation systems (ITS) can alleviate urban traffic pressure. Another new approach to alleviating urban traffic pressure is the intelligent transportation system (ITS). ITS combines sensor measurement, signal processing, data communication transmission, and information management technologies to achieve the goal of managing the entire ground transportation system. It establishes a transportation management system that intelligently directs vehicle movement through real-time and accurate measurement of traffic information.

[0003] Traffic radar plays a crucial role in ITS. As an information source for the ITS, it is primarily responsible for collecting real-time traffic data, providing crucial insight for ITS decision-making. Traffic radar systems can monitor traffic on the road around the clock, classify vehicles, and generate statistics on traffic volume, average speed, and road occupancy. Currently, most traffic radars are frequency-modulated continuous wave (FMCW) systems operating in the millimeter wave (mmW) band. Millimeter-wave radars are insensitive to laterally moving targets, making tracking more difficult and prone to track breakage. This makes full detection and tracking impossible, resulting in poor performance when used in the complex environments of urban intersections. Summary of the Invention

[0004] In view of this, the present invention provides a method, device, storage medium and equipment for detecting crossing vehicles using traffic radar, which can accurately and stably track crossing vehicles in complex environments during the traffic radar detection and tracking process, and can improve the application effect of traffic radar in vehicle detection and tracking in complex environments.

[0005] In a first aspect, an embodiment of the present invention provides a method for detecting a vehicle crossing by a traffic radar, the method comprising:

[0006] Establishing a trajectory based on the measurement target data of the current frame and predicting the measurement target data of the next frame, wherein the measurement target data includes position and velocity;

[0007] determining a direction of motion of the trajectory;

[0008] Set the corresponding target matching gate according to the moving direction of the trajectory, and perform trajectory matching according to the corresponding target matching gate;

[0009] Perform Kalman filter estimation on the successfully matched trajectory, and update the trajectory to obtain real-time position and speed;

[0010] Determine the direction of movement of the updated trajectory;

[0011] When the running direction of the updated trajectory is a lateral trajectory, the updated real-time speed is corrected and then the trajectory information is output.

[0012] Preferably, determining the movement direction of the trajectory includes:

[0013] Determining whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar;

[0014] If so, when the lateral speed of the trajectory is greater than the lateral motion speed threshold and the longitudinal speed of the trajectory is less than the longitudinal motion speed threshold, or when the lateral motion acceleration of the trajectory is greater than the lateral motion acceleration threshold and the longitudinal motion acceleration of the trajectory is not greater than the longitudinal motion acceleration threshold, the motion direction of the trajectory is determined to be lateral motion;

[0015] If not, when the lateral speed of the trajectory is greater than the product of the lateral speed threshold and the lateral speed weight factor and the longitudinal speed is less than the product of the longitudinal motion speed threshold and the longitudinal speed weight factor, or when the lateral motion acceleration of the trajectory is greater than the lateral motion acceleration threshold and the longitudinal motion acceleration of the trajectory is not greater than the longitudinal motion acceleration threshold, the motion direction of the trajectory is determined to be lateral motion.

[0016] Preferably, when the lateral speed of the trajectory is greater than the product of the lateral speed threshold and the lateral speed weight factor and the longitudinal speed is not less than the product of the longitudinal motion speed threshold and the longitudinal speed weight factor, or when the lateral motion acceleration of the trajectory is greater than the lateral motion acceleration threshold and the longitudinal motion acceleration of the trajectory is not greater than the longitudinal motion acceleration threshold, the motion direction of the trajectory is judged to be longitudinal motion.

[0017] Preferably, setting a corresponding target matching gate according to the moving direction of the trajectory, and performing trajectory matching according to the corresponding target matching gate includes:

[0018] When the trajectory is moving in a lateral direction, the lateral threshold of the target matching gate is the vehicle length, and the longitudinal threshold of the target matching gate is the vehicle width;

[0019] When the moving direction of the trajectory is back and forth movement, the lateral threshold of the target matching gate is the vehicle width, and the longitudinal threshold of the target matching gate is the vehicle length.

[0020] Preferably, when the running direction of the updated trajectory is a horizontal trajectory, outputting the trajectory information after correcting the updated real-time speed includes:

[0021] Determine whether the difference between the horizontal coordinate of the updated trajectory and the horizontal coordinate of the successfully matched measurement target exceeds a correction threshold;

[0022] If so, the updated real-time speed is multiplied by a correction factor to accelerate or decelerate the speed according to the relative position of the trajectory and the measurement target.

[0023] Preferably, before determining whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar, the method further includes determining whether the trajectory is a newly created trajectory.

[0024] Preferably, if the trajectory is not a new trajectory, determining whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar;

[0025] If the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar, and the longitudinal coordinate of the trajectory is less than the longitudinal distance from the preset stop line to the radar, then when the lateral speed of the trajectory is greater than the lateral movement speed threshold and the longitudinal speed of the trajectory is less than the longitudinal movement speed threshold, or when the lateral movement acceleration of the trajectory is greater than the lateral movement acceleration threshold and the longitudinal movement acceleration of the trajectory is not greater than the longitudinal movement acceleration threshold, it is determined that the movement direction of the trajectory is lateral movement.

[0026] In a second aspect, an embodiment of the present invention provides a device for detecting a vehicle crossing a vehicle using a traffic radar, the device comprising:

[0027] A trajectory establishment module, configured to establish a trajectory based on the measurement target data of the current frame and predict the measurement target data of the next frame, wherein the measurement target data includes position and velocity;

[0028] A first movement direction determination module, configured to determine the movement direction of the trajectory;

[0029] A target matching module is used to set a corresponding target matching gate according to the movement direction of the trajectory, and perform trajectory matching according to the corresponding target matching gate;

[0030] A trajectory update module is used to perform Kalman filter estimation on the successfully matched trajectory and update the trajectory to obtain real-time position and speed;

[0031] A second motion direction determination module, configured to determine the motion direction of the updated trajectory;

[0032] The trajectory output module is used to correct the updated real-time speed and then output the trajectory information when the running direction of the updated trajectory is a horizontal trajectory.

[0033] In a third aspect, an embodiment of the present invention provides a storage medium storing a computer program, wherein the computer program is configured to execute any one of the methods in the first aspect when running.

[0034] In a fourth aspect, an embodiment of the present invention provides a device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform any one of the methods in the first aspect.

[0035] The technical solution provided by the present invention determines the direction of motion of a trajectory, sets different target matching gates according to different motion directions, performs trajectory matching according to the corresponding target matching gates, performs Kalman filter estimation on the successfully matched trajectory, updates the trajectory to obtain real-time position and velocity, then re-determines the direction of motion of the updated trajectory after Kalman filter estimation. When the updated trajectory is determined to be a horizontal trajectory, the updated real-time velocity is corrected and the trajectory information is output. This allows accurate and stable tracking of crossing vehicles in complex environments during traffic radar detection and tracking, improving the application effectiveness of traffic radar vehicle detection and tracking in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a flow chart of a method for detecting vehicle crossing by a traffic radar provided by one embodiment of the present invention;

[0037] Figure 2 is a flow chart for determining the direction of motion of a trajectory in one embodiment of the present invention;

[0038] Figure 3 Flowchart of outputting trajectory information in one embodiment of the present invention;

[0039] Figure 4 is a schematic structural diagram of a device for detecting vehicle crossing by a traffic radar provided by another embodiment of the present invention;

[0040] Figure 5 2 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the embodiments described herein are merely some, rather than all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0042] See also Figure 1 , Figure 1 1 is a flow chart of a method for detecting a vehicle crossing by a traffic radar according to an embodiment of the present invention, the method comprising the following steps:

[0043] Step 101: Establish a trajectory based on the measured target data of the current frame and predict the measured target data of the next frame, wherein the measured target data includes position and velocity.

[0044] In this embodiment, real-time traffic information data of a moving object may be collected by a traffic radar. The moving object may be a moving object such as a vehicle. The real-time traffic information data may include the speed, position, acceleration, etc. of the moving object.

[0045] When the traffic radar collects the measurement target data of the current frame, a new trajectory is established based on the collected position and speed data of the moving object, and the position and speed data of the moving object in the next frame are predicted based on the position, speed, acceleration and inter-frame acquisition time of the current frame.

[0046] Step 102: Determine the moving direction of the trajectory.

[0047] In an embodiment of the present invention, different target matching gates are allocated according to the different moving directions of the moving object, so that objects with different moving directions can be detected more accurately. Therefore, determining the moving direction of the object helps to improve the accuracy of the detection of the crossing object.

[0048] In one embodiment, Figure 2 As shown, Figure 2 This is a flow chart of a method for determining the direction of motion of a trajectory according to an embodiment of the present invention. Figure 2 , the direction of movement of the trajectory can be determined by the following steps:

[0049] Step 121 , determine whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar. If so, execute step 122 ; if not, execute step 123 .

[0050] Step 122: Determine whether the horizontal speed of the trajectory is greater than the horizontal motion speed threshold and the vertical speed of the trajectory is less than the vertical motion speed threshold, or the horizontal motion acceleration of the trajectory is greater than the horizontal motion acceleration threshold and the vertical motion acceleration of the trajectory is not greater than the vertical motion acceleration threshold. If so, determine that the motion direction of the trajectory is horizontal motion; if not, determine that the motion direction of the trajectory is unknown direction motion.

[0051] Step 123: Determine whether the horizontal speed of the trajectory is greater than the product of the horizontal speed threshold and the horizontal speed weight factor and the vertical speed is less than the product of the vertical motion speed threshold and the vertical speed weight factor, or the horizontal motion acceleration of the trajectory is greater than the horizontal motion acceleration threshold and the vertical motion acceleration of the trajectory is not greater than the vertical motion acceleration threshold. If so, determine that the motion direction of the trajectory is horizontal motion; if not, determine that the motion direction of the trajectory is vertical motion.

[0052] In this embodiment, define the horizontal motion speed of the trajectory in the rectangular coordinate system as Vx, the vertical motion speed as Vy, the horizontal motion acceleration as Ax, the vertical motion acceleration as Ay, the horizontal coordinate and vertical coordinate of the trajectory as posX and posY, and the horizontal coordinate and vertical coordinate of the starting position of the trajectory as startX and startY. Define the longitudinal distance from the intersection stop line to the radar as stopLine, the horizontal motion speed threshold for crossing the trajectory as crossThreshVx, the vertical motion speed threshold as crossThreshVy, the horizontal motion acceleration threshold as crossThreshAx, the vertical motion acceleration threshold as crossThreshAy, the horizontal speed weight factor as factorVx, and the vertical speed weight factor as factorVy.

[0053] When determining the motion direction of the trajectory of the moving object, if startY < stopLine and Vx > crossThreshVx, Vy < crossThreshVy or Ax > crossThreshAx and Ay > crossThreshAy, then determine that the trajectory is a horizontal motion trajectory. Since the objects moving horizontally are generally within the intersection stop line, there may be vehicles changing lanes or making U-turns outside the stop line. Therefore, the determination of the trajectory starting outside the stop line should be strict, and the horizontal acceleration threshold and the vertical acceleration threshold need to be multiplied by the speed weight factors factorVx and factorVy respectively to improve the accuracy of detecting the motion direction of the trajectory.

[0054] In some preferred embodiments, before step 121, the method may further include:

[0055] Step 121a: Determine whether the trajectory is a newly created trajectory.

[0056] Specifically, whether the trajectory is a new trajectory can be determined based on the position and speed of the moving object captured in the current frame and the position and speed of the moving object captured in the previous frame. If it is a new trajectory, step 121 is executed; if it is not a new trajectory, step 123 is executed.

[0057] Step 122a: Determine whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar. If so, execute step 124; if not, execute step 123.

[0058] Step 124: Determine whether the longitudinal coordinate of the trajectory is less than the longitudinal distance from the preset stop line to the radar. If so, execute step 122; if not, execute step 123.

[0059] In this embodiment, trajectory determination for moving objects that are not newly established requires stricter control. The lateral acceleration threshold and longitudinal acceleration threshold are multiplied by velocity weighting factors, factor Vx and factor Vy, respectively, to improve the accuracy of trajectory direction detection. Furthermore, for vehicles whose longitudinal coordinates at their starting position are less than the longitudinal distance from the preset stop line to the radar, it is necessary to further determine whether the longitudinal coordinates of the trajectory are less than the longitudinal distance from the preset stop line to the radar. This improves the accuracy of trajectory direction detection.

[0060] Step 103: Set a corresponding target matching gate according to the moving direction of the trajectory, and perform trajectory matching according to the corresponding target matching gate.

[0061] In this embodiment, the selection of the peak gate size is crucial for the target matching algorithm. A gate that is too large will result in a large number of irrelevant points within the matching domain, while a gate that is too small will miss key points. Trajectory motion can include both horizontal and vertical directions, and traffic radar detects different trajectories differently. Therefore, to ensure detection accuracy and avoid missed and false detections, different target matching gates are required for vehicles moving in different directions.

[0062] Specifically, when the movement direction of the trajectory is lateral movement, the lateral threshold of the target matching gate is the vehicle length, and the longitudinal threshold of the target matching gate is the vehicle width; when the movement direction of the trajectory is back and forth movement, the lateral threshold of the target matching gate is the vehicle width, and the longitudinal threshold of the target matching gate is the vehicle length.

[0063] After setting the target matching gate, target matching is performed on the vehicle moving laterally and the vehicle moving longitudinally using the corresponding target matching gate.

[0064] Step 104: Perform Kalman filter estimation on the successfully matched trajectory, and obtain real-time position and speed after updating the trajectory.

[0065] In this step, the trajectory successfully matched in step 13 is subjected to Kalman filtering, and then the position and speed of the vehicle are updated in real time.

[0066] Step 105: Determine the moving direction of the updated trajectory.

[0067] In this step, since the trajectory position coordinates and velocity are closer to the true values ​​after Kalman filtering, repeating the step of determining the trajectory's direction of motion can more accurately determine the vehicle's direction of motion. However, in repeating the step of determining the trajectory's direction of motion, the position and velocity used are the position and velocity obtained in real time after Kalman filtering estimation. The real-time updated position and velocity data are used to re-determine the trajectory's direction of motion.

[0068] The step of determining the direction of trajectory movement can be understood by referring to step 12, which will not be repeated here.

[0069] Step 106: When the running direction of the updated trajectory is a horizontal trajectory, the updated real-time speed is corrected and the trajectory information is output.

[0070] In this embodiment, when the movement direction of the updated trajectory is a longitudinal trajectory, the trajectory information can be directly output. When the updated trajectory is still determined to be a transverse trajectory, the transverse trajectory needs to be corrected before outputting the trajectory information.

[0071] Please refer to Figure 3 , Figure 3 Flowchart for outputting trajectory information in an embodiment of the present invention. Outputting trajectory information after correcting the updated real-time speed can be achieved by the following steps:

[0072] Step 161 : Determine whether the difference between the horizontal coordinate of the updated trajectory and the horizontal coordinate of the successfully matched measurement target exceeds a correction threshold. If so, execute step 162 ; otherwise, execute step 164 .

[0073] Step 162 , determining whether the lateral speed of the updated trajectory is greater than a first preset lateral speed threshold. If so, dividing the lateral speed of the updated trajectory by the speed correction factor and outputting the trajectory. If not, executing step 163 .

[0074] Step 163: Determine whether the lateral speed of the updated trajectory is less than the negative of the first preset lateral speed threshold and greater than the negative of the second preset lateral speed threshold. If so, multiply the lateral speed of the updated trajectory by the speed correction factor and output the trajectory. If not, output the trajectory.

[0075] Step 164 : Determine whether the difference between the horizontal coordinate of the updated trajectory and the horizontal coordinate of the successfully matched measurement target is less than the negative of the correction threshold. If so, execute step 165 ; if not, output the trajectory.

[0076] Step 165 : Determine whether the lateral coordinate of the updated trajectory is greater than a first preset lateral velocity threshold and less than a second preset lateral velocity threshold. If so, multiply the lateral velocity of the updated trajectory by a velocity correction factor and output the trajectory. If not, execute step 166 .

[0077] Step 166 : Determine whether the lateral speed of the updated trajectory is less than the negative of the first preset lateral speed threshold. If so, divide the lateral speed of the updated trajectory by the speed correction factor and output the trajectory. If not, output the trajectory.

[0078] In this embodiment, for the measurement target data, its position transverse coordinate is defined as measPosx, the trajectory transverse movement distance threshold is latMoveDist, and the transverse speed correction factor is modifyVx. The speed of the transverse motion trajectory is corrected. If the difference between the trajectory transverse position coordinate posX and the transverse coordinate measPosx of the successfully matched measurement target exceeds the threshold latMoveDist, the trajectory is multiplied by the correction factor modifyVx to accelerate or decelerate the speed correction according to the relative position of the trajectory and the measurement target.

[0079] Therefore, by determining the direction of motion of the trajectory, different target matching gates are set according to different motion directions, and the trajectory is matched according to the corresponding target matching gates. The successfully matched trajectory is estimated through Kalman filtering, and the trajectory is updated to obtain real-time position and velocity. The direction of motion is then determined again for the updated trajectory estimated by Kalman filtering. When the updated trajectory is determined to be a horizontal trajectory, the updated real-time velocity is corrected and the trajectory information is output. This allows accurate and stable tracking of crossing vehicles in complex environments during traffic radar detection and tracking, improving the application effect of traffic radar vehicle detection and tracking in complex environments.

[0080] Please refer to Figure 4 , Figure 4 1 is a structural diagram of a device for detecting vehicle crossing by a traffic radar provided by an embodiment of the present invention, the device comprising:

[0081] A trajectory establishment module 21 is used to establish a trajectory based on the measurement target data of the current frame and predict the measurement target data of the next frame, wherein the measurement target data includes position and speed;

[0082] A first motion direction determination module 22, configured to determine the motion direction of the trajectory;

[0083] A target matching module 23 is configured to set a corresponding target matching gate according to the direction of motion of the trajectory, and perform trajectory matching according to the corresponding target matching gate;

[0084] A trajectory updating module 24 is configured to perform Kalman filter estimation on the successfully matched trajectory and update the trajectory to obtain real-time position and velocity;

[0085] A second motion direction determination module 25 is used to determine the motion direction of the updated trajectory;

[0086] The trajectory output module 26 is configured to correct the updated real-time speed and then output the trajectory information when the running direction of the updated trajectory is a horizontal trajectory.

[0087] Preferably, the first motion direction determination module 22 may include a first determination unit 221, a second determination unit 222, and a third determination unit 223, wherein:

[0088] The first judgment unit 221 is used to judge whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar. If so, the second judgment unit 222 is used to make further judgment; if not, the third judgment unit 223 is used to make further judgment.

[0089] Among them, the second judgment unit 22 is used to judge whether the lateral speed of the trajectory is greater than the lateral motion speed threshold and the longitudinal speed of the trajectory is less than the longitudinal motion speed threshold, or the lateral motion acceleration of the trajectory is greater than the lateral motion acceleration threshold and the longitudinal motion acceleration of the trajectory is not greater than the longitudinal motion acceleration threshold. If so, it is judged that the movement direction of the trajectory is lateral movement; if not, it is judged that the movement direction of the trajectory is unknown direction movement.

[0090] The third judgment unit 223 is used to determine whether the lateral speed of the trajectory is greater than the product of the lateral speed threshold and the lateral speed weight factor and the longitudinal speed is less than the product of the longitudinal motion speed threshold and the longitudinal speed weight factor, or whether the lateral motion acceleration of the trajectory is greater than the lateral motion acceleration threshold and the longitudinal motion acceleration of the trajectory is not greater than the longitudinal motion acceleration threshold. If so, the motion direction of the trajectory is determined to be lateral motion; if not, the motion direction of the trajectory is determined to be longitudinal motion.

[0091] In some preferred embodiments, the first motion direction determination module 22 may further include a fourth determination unit 224 and a fifth determination unit 225 .

[0092] The fourth determining unit 224 is used to determine whether the trajectory is a new trajectory.

[0093] When the fourth determination unit 224 determines that the established trajectory is a new trajectory, the first determination unit 221 is used to determine whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar. If the first determination unit 221 determines that the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar, the fifth determination unit 225 is used to determine whether the longitudinal coordinate of the trajectory is less than the longitudinal distance from the preset stop line to the radar. If so, the second determination unit 222 is used to perform further determination. If not, the third determination unit 223 is used to perform further determination.

[0094] Preferably, when the movement direction of the trajectory is lateral movement, the lateral threshold of the target matching gate corresponding to the target matching module 23 is the vehicle length, and the longitudinal threshold of the target matching gate is the vehicle width; when the movement direction of the trajectory is back and forth movement, the lateral threshold of the target matching gate corresponding to the target matching module 23 is the vehicle width, and the longitudinal threshold of the target matching gate is the vehicle length.

[0095] The technical solution provided by the present invention determines the direction of motion of a trajectory, sets different target matching gates according to different motion directions, performs trajectory matching according to the corresponding target matching gates, performs Kalman filter estimation on the successfully matched trajectory, updates the trajectory to obtain real-time position and velocity, then re-determines the direction of motion of the updated trajectory after Kalman filter estimation. When the updated trajectory is determined to be a horizontal trajectory, the updated real-time velocity is corrected and the trajectory information is output. This allows accurate and stable tracking of crossing vehicles in complex environments during traffic radar detection and tracking, improving the application effectiveness of traffic radar vehicle detection and tracking in complex environments.

[0096] It should be noted that the device for detecting vehicle crossing by traffic radar in the embodiment of the present invention and the method for detecting vehicle crossing by traffic radar in the above embodiment belong to the same inventive concept. For technical details not described in detail in this device, please refer to the previous description of the method and will not be repeated here.

[0097] In addition, an embodiment of the present invention further provides a storage medium, in which a computer program is stored. The computer program is configured to execute the aforementioned method when running.

[0098] Figure 5A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0099] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0100] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0101] The processor 11 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the idle detection method.

[0102] In some embodiments, the idle detection method can be implemented as a computer program that is tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the idle detection method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the idle detection method in any other suitable manner (e.g., by means of firmware).

[0103] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0104] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0105] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0106] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0107] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0108] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within a cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0109] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0110] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for detecting vehicle crossing using a traffic radar, characterized in that: The method comprises: Establishing a trajectory based on the measurement target data of the current frame and predicting the measurement target data of the next frame, wherein the measurement target data includes position and velocity; determining a direction of motion of the trajectory; Set the corresponding target matching gate according to the moving direction of the trajectory, and perform trajectory matching according to the corresponding target matching gate; Performing Kalman filter estimation on the successfully matched trajectory, and obtaining real-time position and velocity after updating the trajectory; Determine the direction of movement of the updated trajectory; When the running direction of the updated trajectory is a horizontal trajectory, the updated real-time speed is corrected and then the trajectory information is output; wherein, determining the moving direction of the trajectory includes: Determining whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar; If so, when the lateral speed of the trajectory is greater than the lateral motion speed threshold and the longitudinal speed of the trajectory is less than the longitudinal motion speed threshold, or when the lateral motion acceleration of the trajectory is greater than the lateral motion acceleration threshold and the longitudinal motion acceleration of the trajectory is not greater than the longitudinal motion acceleration threshold, the motion direction of the trajectory is determined to be lateral motion; If not, when the lateral speed of the trajectory is greater than the product of the lateral speed threshold and the lateral speed weight factor and the longitudinal speed is less than the product of the longitudinal motion speed threshold and the longitudinal speed weight factor, or when the lateral motion acceleration of the trajectory is greater than the lateral motion acceleration threshold and the longitudinal motion acceleration of the trajectory is not greater than the longitudinal motion acceleration threshold, the motion direction of the trajectory is determined to be lateral motion.

2. The method according to claim 1, characterized in that The corresponding target matching gate is set according to the direction of the trajectory. Track matching based on the corresponding target matching gate includes: When the trajectory is moving in a lateral direction, the lateral threshold of the target matching gate is the vehicle length, and the longitudinal threshold of the target matching gate is the vehicle width; When the moving direction of the trajectory is back and forth movement, the lateral threshold of the target matching gate is the vehicle width, and the longitudinal threshold of the target matching gate is the vehicle length.

3. The method according to claim 1, characterized in that When the running direction of the updated trajectory is a horizontal trajectory, outputting the trajectory information after correcting the updated real-time speed includes: Determine whether the difference between the horizontal coordinates of the updated trajectory and the horizontal coordinates of the successfully matched measurement target exceeds the correction threshold; if so, multiply the updated real-time speed by the correction factor according to the relative position of the trajectory and the measurement target to accelerate or decelerate the correction speed.

4. The method according to claim 1, wherein Before determining whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar, the method further includes determining whether the trajectory is a new trajectory.

5. The method according to claim 4, characterized in that If the trajectory is not a newly created trajectory, determine whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar; if the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar, and the longitudinal coordinate of the trajectory is less than the longitudinal distance from the preset stop line to the radar, then when the lateral speed of the trajectory is greater than the lateral movement speed threshold and the longitudinal speed of the trajectory is less than the longitudinal movement speed threshold, or when the lateral movement acceleration of the trajectory is greater than the lateral movement acceleration threshold and the longitudinal movement acceleration of the trajectory is not greater than the longitudinal movement acceleration threshold, determine that the movement direction of the trajectory is lateral movement.

6. A device for detecting vehicle crossing by a traffic radar, characterized in that: The device comprises: A trajectory establishment module, configured to establish a trajectory based on the measurement target data of the current frame and predict the measurement target data of the next frame, wherein the measurement target data includes position and velocity; A first movement direction determination module, configured to determine the movement direction of the trajectory; A target matching module is used to set a corresponding target matching gate according to the movement direction of the trajectory, and perform trajectory matching according to the corresponding target matching gate; A trajectory update module is used to perform Kalman filter estimation on the successfully matched trajectory and update the trajectory to obtain real-time position and speed; A second motion direction determination module, configured to determine the motion direction of the updated trajectory; The trajectory output module is used to correct the updated real-time speed and output the trajectory information when the running direction of the updated trajectory is a horizontal trajectory; wherein the first movement direction judgment module is specifically used to: Determining whether the longitudinal coordinate of the starting position of the trajectory is less than the longitudinal distance from the preset stop line to the radar; If so, when the lateral speed of the trajectory is greater than the lateral motion speed threshold and the longitudinal speed of the trajectory is less than the longitudinal motion speed threshold, or when the lateral motion acceleration of the trajectory is greater than the lateral motion acceleration threshold and the longitudinal motion acceleration of the trajectory is not greater than the longitudinal motion acceleration threshold, the motion direction of the trajectory is determined to be lateral motion; If not, when the lateral speed of the trajectory is greater than the product of the lateral speed threshold and the lateral speed weight factor and the longitudinal speed is less than the product of the longitudinal motion speed threshold and the longitudinal speed weight factor, or when the lateral motion acceleration of the trajectory is greater than the lateral motion acceleration threshold and the longitudinal motion acceleration of the trajectory is not greater than the longitudinal motion acceleration threshold, the motion direction of the trajectory is determined to be lateral motion.

7. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 6 when executed.

8. A device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 6.

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