Vehicle information detection method and system

Abstract

The present application discloses a method and system for detecting vehicle information, wherein the method includes: when the vehicle to be tested passes through a weighing sensor, obtaining vehicle weighing detection information of the vehicle to be tested detected by the weighing sensor; obtaining first side point cloud information of the vehicle to be tested scanned by a first transverse scanning component, and obtaining second side point cloud information of the vehicle to be tested scanned by a second transverse scanning component, the first transverse scanning component and the second transverse scanning component are relatively located on both sides of the weighing sensor, and the projections of the first scanning surface of the first transverse scanning component and the second scanning surface of the second transverse scanning component on the ground are in the middle of the weighing sensor; obtaining third side point cloud information of the vehicle to be tested scanned by a longitudinal scanning component, and the third scanning surface of the longitudinal scanning component is parallel to the lane direction; and determining the vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information.

Description

Technical Field

[0001] The present application relates to the field of vehicle identification, and more specifically, to a method and system for detecting vehicle information. Background Art

[0002] In order to reduce the safety hazards caused by overloading of freight vehicles, vehicle information can be obtained. For example, a vehicle information recognition system can be used to detect the vehicle's outline information (height, width, length, etc.) and a weighing system can be used to detect the vehicle's weight.

[0003] Related art vehicle information detection methods typically employ a transverse scanning component installed on a support structure at the entrance to the detection area, and a longitudinal scanning component installed on a support structure at the exit of the detection area to detect the vehicle's outline. Multiple rows of load cells are then deployed within the detection area to measure vehicle weight. However, these vehicle information detection methods suffer from the high cost of vehicle information detection due to the need for multiple rows of load cells. Summary of the Invention

[0004] The embodiments of the present application provide a method and system for detecting vehicle information to at least solve the technical problem of high vehicle information detection cost caused by the need to set up multiple rows of weighing sensors in the vehicle information detection method in the related art.

[0005] According to one aspect of an embodiment of the present application, a method for detecting vehicle information is provided, comprising: obtaining vehicle weighing detection information obtained by the weighing sensor when the vehicle to be tested passes through a weighing sensor; obtaining first side point cloud information obtained by a first lateral scanning component performing a lateral scan on the vehicle to be tested, and obtaining second side point cloud information obtained by a second lateral scanning component performing a lateral scan on the vehicle to be tested, wherein the first lateral scanning component and the second lateral scanning component are relatively arranged on both sides of the weighing sensor, and the projections of the first scanning surface of the first lateral scanning component and the second scanning surface of the second lateral scanning component on the ground are both located in the middle position of the weighing sensor; obtaining third side point cloud information obtained by a longitudinal scanning component performing a longitudinal scan on the vehicle to be tested, wherein the third scanning surface of the longitudinal scanning component is parallel to the lane direction of the target lane where the vehicle to be tested is located; and determining the vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information.

[0006] According to another aspect of the embodiment of the present application, a vehicle information detection system is also provided, comprising: a weighing sensor, arranged on the ground of a target lane; a first transverse scanning component and a second transverse scanning component relatively arranged on both sides of the weighing sensor, the projections of the first scanning surface of the first transverse scanning component and the second scanning surface of the second transverse scanning component on the ground are both located in the middle position of the weighing sensor; a longitudinal scanning component, the third scanning surface of the longitudinal scanning component is parallel to the lane direction of the target lane; a data processing component, respectively connected to the weighing sensor, the first transverse scanning component, the second transverse scanning component and the longitudinal scanning component, for In the process of the measured vehicle passing through the weighing sensor, vehicle weighing detection information obtained by the weighing sensor for detecting the vehicle to be measured is obtained; first side point cloud information obtained by the first transverse scanning component for transversely scanning the vehicle to be measured, and second side point cloud information obtained by the second transverse scanning component for transversely scanning the vehicle to be measured is obtained; third side point cloud information obtained by the longitudinal scanning component for longitudinally scanning the vehicle to be measured is obtained; and vehicle information of the vehicle to be measured is determined based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information.

[0007] In an embodiment of the present application, a method of detecting vehicle information is adopted by combining a transverse scanning component with a weighing sensor. In the process of the vehicle to be tested passing through the weighing sensor, vehicle weighing detection information obtained by the weighing sensor for detecting the vehicle to be tested is obtained; first side point cloud information obtained by the first transverse scanning component for transverse scanning of the vehicle to be tested, and second side point cloud information obtained by the second transverse scanning component for transverse scanning of the vehicle to be tested are obtained, wherein the first transverse scanning component and the second transverse scanning component are relatively arranged on both sides of the weighing sensor, and the projections of the first scanning surface of the first transverse scanning component and the second scanning surface of the second transverse scanning component on the ground are both located in the middle position of the weighing sensor; third side point cloud information obtained by the longitudinal scanning component for longitudinally scanning the vehicle to be tested, wherein the third scanning surface of the longitudinal scanning component is parallel to the lane direction of the target lane where the vehicle to be tested is located; according to the first The vehicle information of the vehicle to be tested is determined based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information. Since two horizontal scanning components are relatively arranged on both sides of the weighing sensor, and a longitudinal scanning component is also arranged, the contour information of the vehicle to be tested can be obtained by matching the scanning time, and then the information related to the vehicle contour in the vehicle information can be determined, such as the number of axles, single and double tire information, etc.); at the same time, by matching the scanning time, the vehicle information can be obtained based on the vehicle weighing detection information obtained when the vehicle passes through a row of weighing sensors, without the need to set up multiple rows of weighing sensors. The purpose of using a single row of weighing sensors to determine the vehicle information of the vehicle to be tested can be achieved, thereby achieving the technical effect of reducing the detection cost of vehicle information, thereby solving the problem of high detection cost of vehicle information caused by the need to set up multiple rows of weighing sensors in the vehicle information detection method in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0010] Figure 1 is a schematic diagram of a hardware environment of an optional vehicle information detection method according to an embodiment of the present application;

[0011] Figure 2 is a flow chart of an optional method for detecting vehicle information according to an embodiment of the present application;

[0012] Figure 3 is a schematic diagram of an optional vehicle information identification system according to an embodiment of the present application;

[0013] Figure 4 is a schematic diagram of an optional vehicle information detection method according to an embodiment of the present application;

[0014] Figure 5 is a schematic diagram of another optional method for detecting vehicle information according to an embodiment of the present application;

[0015] Figure 6 is a schematic diagram of another optional method for detecting vehicle information according to an embodiment of the present application;

[0016] Figure 7 is a schematic diagram of another optional method for detecting vehicle information according to an embodiment of the present application;

[0017] Figure 8 is a schematic diagram of another optional method for detecting vehicle information according to an embodiment of the present application;

[0018] Figure 9 is a schematic diagram of another optional method for detecting vehicle information according to an embodiment of the present application;

[0019] Figure 10 This is a schematic diagram of another optional method for detecting vehicle information according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0021] According to one aspect of the embodiment of the present application, a method for detecting vehicle information is provided. Optionally, in this embodiment, the above-mentioned method for detecting vehicle information can be applied to Figure 1 In the hardware environment shown, the detection component 102 and the data processor 104 are included. Figure 1As shown, the data processor 104 is connected to the detection component 102 via a network and can be used to identify vehicle information based on the detection data of the detection component 102, for example, identifying the outline information of the vehicle, the weight information of the vehicle, etc. A data storage component (data can be stored in a database) can be set on the data processor or independently of the data processor to provide data storage services for the data processor 104. Here, the detection component 102 and the data processor 104 can both belong to the vehicle information detection system. In addition to being connected via a network, the detection component 102 and the data processor 104 can also be connected via a network cable or a serial port. The detection component 102 can include two horizontal scanning components, a vertical scanning component and a row of weighing sensors, wherein the horizontal scanning component and the vertical scanning component can be, but are not limited to, scanning laser sensors, and the weighing sensors can include, but are not limited to, narrow strip sensors, etc.

[0022] The vehicle information detection method of the embodiment of the present application can be executed by the data processor 104, or can be executed by the data processor 104 and the detection component 102 together. Taking the vehicle information detection method of the embodiment of the present application as an example, Figure 2 FIG. 1 is a flow chart of an optional vehicle information detection method according to an embodiment of the present application, such as Figure 2 As shown, the process of the method may include the following steps:

[0023] Step S202 : when the vehicle to be tested passes through the weighing sensor, vehicle weighing detection information obtained by the weighing sensor during detection of the vehicle to be tested is obtained.

[0024] The vehicle information detection method in this embodiment can be applied to the scenario of detecting vehicle information of passing vehicles in a preset area. The preset area here can be an expressway, an ordinary highway or an area on other roads where passing vehicles need to be detected. The vehicle information may include the weight of the vehicle, the speed of the vehicle, the diameter of the tire of the vehicle, the number of axles of the vehicle, the single and double tire information of the vehicle, etc. By detecting the number of axles of the vehicle and the single and double tire information of the vehicle, the weight limit of the vehicle can be obtained. Combined with the detected actual weight of the vehicle, it can be determined whether the passing vehicle is overweight or overloaded. At the same time, by detecting the speed of the vehicle, it can be determined whether the vehicle is speeding. Since overweight and overloaded freight vehicles are prone to traffic accidents, it is necessary to manage overweight and overloaded vehicles. Therefore, the vehicle information detection system can be applied to the entrance overweight and overload inspection system. With the continuous deepening of the overweight and overload management work, laser scanning technology and dynamic weighing technology have played an important role in the entrance overweight and overload inspection system.

[0025] Taking the vehicle information detection system used on highways as an example, this system may include a weighing system for measuring vehicle weight, which may utilize dynamic weighing technology. Weighing systems can be either full-vehicle, axle-group, or narrow-bar systems. However, full-vehicle and axle-group weighing systems require long installation times, impacting toll booth efficiency. Narrow-bar systems typically require multiple rows of narrow-bar sensors, resulting in high system costs.

[0026] To at least partially address the above issues, this embodiment uses a single-row load cell combined with two transverse scanning components (i.e., a first transverse scanning component and a second transverse scanning component) and a longitudinal scanning component to determine vehicle information, thereby determining whether the vehicle is overweight, overloaded, or speeding. Compared to previous weighing systems, this system can shorten the construction period and reduce costs.

[0027] The weighing sensor can be a sensor laid on the target lane, which can be embedded in the ground foundation, with the upper surface flush with the road surface, and can be used to obtain the pressure information, force width information and force position information of the vehicle to be tested. The weighing sensor can convert the pressure signal into a measurable electrical signal output, and determine the vehicle's weight information, number of axles and other information based on the pressure information, force width, force position and the like detected by the weighing sensor. Optionally, the weighing sensor can be a narrow strip sensor, or other types of weighing sensors. The width of the weighing sensor (for example, a narrow strip sensor) along the direction of vehicle travel (i.e., the driving direction of the target lane) can be within a certain width range (for example, 5-30 cm). For example, the width of the weighing sensor along the driving direction is 10 cm. The length of the weighing sensor can be the same as or similar to the lane width of the target lane.

[0028] A first lateral scanning component can be installed on one side of the target lane to obtain first lateral point cloud information of the vehicle under test. The first lateral scanning component can be a scanning laser sensor, such as a single-line scanning laser sensor or a multi-line scanning laser sensor, positioned within a certain height range from the ground, for example, 1m-2m above the ground. The scanning plane of the first lateral scanning component is perpendicular to the vehicle's direction of travel, and its projection on the ground is located in the middle of the load cell. The first lateral scanning component can be installed on a first support structure on one side of the target lane. The first support structure can be a telescopic pole, a gantry, or other type of support structure.

[0029] The second lateral scanning component can be installed on the other side of the target lane to obtain the second side point cloud information of the vehicle to be tested. The second lateral scanning component can be a scanning laser sensor, for example, a single-line scanning laser sensor or a multi-line scanning laser sensor, and its height from the ground is within a certain height range, for example, a height from the ground is 5m-7m. The scanning surface of the second lateral scanning component is perpendicular to the direction of vehicle travel and its projection on the ground is located in the middle position of the weighing sensor. The second lateral scanning component can be installed on the second support structure on the other side of the target lane. The second support structure can be a single-column straight pole, a gantry or other types of support structures. The scanning surface of the first lateral scanning component is projected in the middle position of the second support structure.

[0030] The longitudinal scanning component can be installed in the middle of the target lane, scanning along the vehicle's travel direction to obtain point cloud information of the third side of the vehicle under test. The longitudinal scanning component can be a scanning laser sensor, such as a single-line scanning laser sensor or a multi-line scanning laser sensor, positioned above the ground within a certain height range, for example, 5m-7m. The longitudinal scanning component can be mounted on a third support structure that spans the target lane or extends at least to the middle of the target lane. The second support structure can be an L-bar, gantry, or other type of support structure.

[0031] For example, Figure 3 As shown, the entrance overweight inspection system includes: a narrow strip sensor 301, a telescopic pole 302, a first scanning laser sensor 303, a single column straight pole 304, a second scanning laser sensor 305, an L rod 306, a third scanning laser sensor 307 and a data processor 308, wherein the first scanning laser sensor 303 is installed on the telescopic pole 302, the second scanning laser sensor 305 is installed on the single column straight pole 304, and the third scanning laser sensor 307 is installed on the L rod 306.

[0032] The data processor 308 is connected to the narrow strip sensor 301, the first scanning laser sensor 303, the second scanning laser sensor 305, and the third scanning laser sensor 307, respectively. The data processor 308 can be connected to the first scanning laser sensor 303, the second scanning laser sensor 305, and the third scanning laser sensor 307 via a network cable, and connected to the narrow strip sensor 301 via a serial port. The data processor 308 is configured to process vehicle weighing detection information, including the first side point cloud information output by the first scanning laser sensor 303, the second side point cloud information output by the second scanning laser sensor 305, and the third side point cloud information output by the third scanning laser sensor 307, and the pressure information, force-applied width information, and force-applied position information output by the narrow strip sensor 301, to obtain information such as the weight, number of axles, single / double tire information, length, width, and height information of the vehicle under test, and whether cheating is occurring.

[0033] As the vehicle under test passes through the load cell, the data processor can obtain vehicle weighing information obtained by the load cell. The vehicle weighing information can be determined based on pressure information detected by the load cell, or changes in the pressure information, during the time the vehicle under test passes through the load cell. The information can include, but is not limited to, all or part of the pressure information, force duration, force width, and force position information of the vehicle under test.

[0034] Step S204 , obtaining first side point cloud information obtained by the first lateral scanning component performing a lateral scan on the vehicle to be tested, and obtaining second side point cloud information obtained by the second lateral scanning component performing a lateral scan on the vehicle to be tested.

[0035] The lateral scanning component (including the first lateral scanning component and the second lateral scanning component) can perform lateral scanning periodically. The lateral scanning can be continuous, or it can be started when a vehicle is detected to have entered the weighing area of ​​the target lane, when the weighing sensor is detected to have been triggered, or when other scanning conditions are met. This is not limited in this embodiment. For the vehicle to be tested, the data processor can obtain the lateral scanning data obtained by the lateral scanning performed by the first lateral scanning component, and determine the lateral scanning data corresponding to the vehicle to be tested, thereby obtaining the first side point cloud information of the vehicle to be tested. Similarly, the data processor can obtain the second side point cloud information obtained by the lateral scanning performed by the second lateral scanning component on the vehicle to be tested.

[0036] Here, the scanning surface of the transverse scanning component is perpendicular to the driving direction, and the weighing sensors may also be arranged perpendicular to the driving direction. The side point cloud data may be the vehicle point cloud information scanned from the time the vehicle under test first passes through the scanning surface of the transverse scanning component to the time the vehicle under test last passes through the scanning surface of the transverse scanning component. Here, the side point cloud information may be point cloud information of a single surface of the vehicle under test, with the first side point cloud information and the second side point cloud information respectively representing point cloud information of the left and right sides of the vehicle under test.

[0037] To improve the accuracy and convenience of vehicle information detection, the first and second transverse scanning components can be positioned opposite each other on either side of the load cell. The projections of the first and second scanning surfaces of the first and second transverse scanning components onto the ground are both located in the center of the load cell. Furthermore, the first and second transverse scanning components can scan synchronously, i.e., at the same scanning time.

[0038] For example, Figure 3 As shown, the scanning surface of the first scanning laser sensor 303 is perpendicular to the vehicle's driving direction and its projection on the ground is located in the middle of the narrow strip sensor 301, and the scanning surface of the second scanning laser sensor 305 is perpendicular to the vehicle's driving direction and its projection on the ground is located in the middle of the narrow strip sensor 301.

[0039] Step S206 , obtaining third side point cloud information obtained by the longitudinal scanning component performing a longitudinal scan on the vehicle to be tested.

[0040] For the vehicle under test, the data processor can obtain longitudinal scanning data obtained by the longitudinal scanning component and determine the longitudinal scanning data corresponding to the vehicle under test, thereby obtaining third-side point cloud information of the vehicle under test. Here, the third-side point cloud information can be point cloud information of the pitch surface of the vehicle under test obtained by scanning the vehicle under test from the diagonal front. The method for obtaining the third-side point cloud information is similar to the method for obtaining the first and second side point cloud information described above and is not further described here.

[0041] Here, the third scanning surface of the longitudinal scanning component is parallel to the lane direction of the target lane where the vehicle to be tested is located, and the projection of the third scanning surface of the longitudinal scanning component on the ground is located in the middle position of the weighing sensor. Figure 3 As shown, the scanning surface of the third scanning laser sensor 307 is parallel to the driving direction of the vehicle and passes through the middle position of the narrow strip sensor 301.

[0042] Step S208 : determining the vehicle information of the vehicle to be tested according to the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information.

[0043] In this embodiment, vehicle information of the vehicle under test can be determined based on the vehicle weighing detection information and the first side point cloud information, the second side point cloud information, and the third side point cloud information. The vehicle information can include one or more types of vehicle information. For example, the vehicle information can include vehicle profile information (e.g., vehicle height, vehicle length, etc.) and vehicle weight. It can also include other vehicle information such as single or double tire information, number of axles, whether it is a suspended axle, and information such as the vehicle type, standard load capacity, standard dimensions, and whether there is abnormal driving of the vehicle under test.

[0044] Optionally, for the standard load capacity of the vehicle to be tested, the type of the vehicle to be tested can be determined based on the vehicle length, width, height, and axle information, thereby determining the corresponding standard load capacity and standard size of the vehicle to be tested. Based on the detected information, it can be determined whether the vehicle to be tested is over-limit or overweight. For possible cheating driving behaviors by freight drivers such as jumping the scale, stopping and starting, and repeatedly reversing, the relationship between the force width information and force position information in the vehicle weighing detection information and the point cloud information of the vehicle to be tested in the corresponding first side point cloud information, second side point cloud information, and third side point cloud information and the scanning time can be used to determine whether the vehicle to be tested is driving normally.

[0045] Through the above steps S202 to S208, vehicle weighing detection information obtained by the weighing sensor when the vehicle to be tested passes through the weighing sensor is obtained; first side point cloud information obtained by the first transverse scanning component performing a transverse scan on the vehicle to be tested, and second side point cloud information obtained by the second transverse scanning component performing a transverse scan on the vehicle to be tested are obtained, wherein the first transverse scanning component and the second transverse scanning component are relatively arranged on both sides of the weighing sensor, and the projections of the first scanning surface of the first transverse scanning component and the second scanning surface of the second transverse scanning component on the ground are both located in the middle position of the weighing sensor; third side point cloud information obtained by the longitudinal scanning component performing a longitudinal scan on the vehicle to be tested is obtained, wherein the third scanning surface of the longitudinal scanning component is parallel to the lane direction of the target lane where the vehicle to be tested is located; vehicle information of the vehicle to be tested is determined based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information, thereby solving the problem of high vehicle information detection cost caused by the need to set up multiple rows of weighing sensors in the vehicle information detection method in the related art, thereby reducing the vehicle information detection cost.

[0046] In an exemplary embodiment, determining vehicle information of a vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information includes:

[0047] S11, converting the first side point cloud information into first side profile information, converting the second side point cloud information into second side profile information, and converting the third side point cloud information into third side profile information;

[0048] S12 , matching the first side profile information, the second side profile information, and the third side profile information according to the scanning time to obtain three-dimensional profile information of the vehicle to be tested.

[0049] In this embodiment, the vehicle information of the vehicle to be tested may include: three-dimensional profile information of the vehicle to be tested. Here, the three-dimensional profile information of the vehicle to be tested may be determined based on the first side point cloud information, the second side point cloud information, and the third side point cloud information. The three-dimensional profile information of the vehicle to be tested may include information such as the vehicle length, vehicle width, and vehicle height of the vehicle to be tested. When determining the three-dimensional profile information of the vehicle to be tested, the first side point cloud information may be converted into first side profile information, the second side point cloud information may be converted into second side profile information, and the third side point cloud information may be converted into third side profile information. The first side profile information, the second side profile information, and the third side profile information may be matched according to the scanning time to obtain the three-dimensional profile information of the vehicle to be tested.

[0050] As the vehicle under test passes through the scanning surface of the transverse scanning component (the longitudinal scanning component is similar), the transverse scanning component can obtain ranging information from several scanning cycles. The side point cloud information is composed of ranging information from several scanning cycles. Since each scanning cycle corresponds to a moment, the side point cloud information is composed of ranging information from different moments. In order to determine the three-dimensional profile information of the vehicle under test, the side point cloud information can first be converted into side profile information. The conversion can unify the side point cloud information into a specific coordinate system, that is, the side point cloud information (which can be the first side point cloud information, the second side point cloud information, and the third side point cloud information) is converted into rectangular coordinate information in the target coordinate system; based on the converted rectangular coordinate information and the corresponding scanning moment, the side profile information (which can be the first side profile information, the second side profile information, and the third side profile information) is determined.

[0051] Here, the target coordinate system is a coordinate system with the projection of the first transverse scanning component on the ground as the coordinate origin, a straight line passing through the coordinate origin and perpendicular to the lane direction as the first coordinate axis, a straight line passing through the coordinate origin and perpendicular to the ground as the second coordinate axis, and a straight line passing through the coordinate origin and parallel to the lane direction as the third coordinate axis. For example, Figure 4As shown, the projection of the light emitting center of the first scanning laser sensor 303 on the ground is the coordinate origin O, the straight line passing through the coordinate origin in the detection area and perpendicular to the driving direction of the vehicle to be tested is the X-axis, the straight line passing through the coordinate origin and perpendicular to the ground of the detection area is the Y-axis, and the straight line passing through the coordinate origin in the detection area and parallel to the driving direction of the vehicle to be tested is the Z-axis.

[0052] Optionally, converting the first side point cloud information into first side profile information includes: determining first rectangular coordinate information corresponding to the first measurement point based on a scanning angle corresponding to each first measurement point in the first side point cloud information, a component height of the first transverse scanning component, and a distance between each first measurement point and the first transverse scanning component, wherein the first rectangular coordinate information is coordinate information of the first measurement point in the target coordinate system; and determining the first side profile information based on the first rectangular coordinate information and a scanning time corresponding to each first measurement point.

[0053] For example, Figure 5 As shown, when the vehicle under test passes through the scanning surface of the first scanning laser sensor 303, first side point cloud information of the vehicle under test is obtained. γ1 and θ1 of all measurement points scanned by the first scanning laser sensor 303 within a scanning cycle T1 constitute the first ranging information of that scanning cycle, where γ1 is the distance between the current point scanned by the first scanning laser sensor 303 and the first scanning laser sensor 303, and θ1 is the angle between the light emitted by the first scanning laser sensor 303 and the Y-axis. As the vehicle under test passes through the scanning surface of the first scanning laser sensor 303, the first scanning laser sensor 303 can obtain first ranging information for several scanning cycles. The first side point cloud information is composed of the first ranging information of several scanning cycles T1. Since each scanning cycle T1 corresponds to a moment in time, the first side point cloud information is composed of first ranging information at different moments in time.

[0054] The first distance measurement information in each scanning period T1 is transformed according to the first coordinate transformation formula (1):

[0055]

[0056] Where h1 is the height of the first scanning laser sensor 303 from the ground, x1 is the distance O from the projection of the current point on the ground, and y1 is the height of the current point from the ground. x1 and y1 within each scanning cycle T1 constitute the first rectangular coordinate information. Since each scanning cycle T1 corresponds to a moment, the first rectangular coordinate information of the vehicle under test at different moments can be obtained. The first side profile information is composed of the first rectangular coordinate information at different moments, thus converting the first side point cloud information into the first side profile information.

[0057] Optionally, converting the second side point cloud information into second side profile information includes: determining second rectangular coordinate information corresponding to the second measurement point based on a scanning angle corresponding to each second measurement point in the second side point cloud information, a component height of the second transverse scanning component, a distance between the second transverse scanning component and the first transverse scanning component in the direction of the first coordinate axis, and a distance between each second measurement point and the second transverse scanning component, wherein the second rectangular coordinate information is coordinate information of the second measurement point in the target coordinate system; and determining the second side profile information based on the second rectangular coordinate information and a scanning moment corresponding to each second measurement point.

[0058] For example, Figure 5 As shown, as the vehicle passes through the second scanning laser sensor 305, second side point cloud information of the vehicle is acquired. γ2 and θ2 of all measurement points scanned by the second scanning laser sensor 305 within a scanning cycle T2 constitute the second ranging information for that scanning cycle, where γ2 is the distance between the current point scanned by the second scanning laser sensor 305 and the second scanning laser sensor 305, and θ2 is the angle between the light emitted by the second scanning laser sensor 305 and the Y-axis. As the vehicle passes through the scanning surface of the second scanning laser sensor 305, the second scanning laser sensor 305 can obtain second ranging information for several scanning cycles. The second side point cloud information is composed of the second ranging information for several scanning cycles T2. Since each scanning cycle T2 corresponds to a moment in time, the second side point cloud information is composed of second ranging information at different moments in time.

[0059] The second ranging information within each scanning period T2 is transformed according to the second coordinate transformation formula (2):

[0060]

[0061] Where h2 is the height of the second scanning laser sensor 305 from the ground, L2 is the projection of the distance from the first scanning laser sensor 303 to the second scanning laser sensor 305 in the X-direction, x2 is the distance of the projection of the current point on the ground from the coordinate origin O, and y2 is the height of the current point from the ground. x2 and y2 within each scanning cycle T2 constitute the second rectangular coordinate information. Since each scanning cycle T2 corresponds to a moment in time, the second rectangular coordinate information of the vehicle under test at different moments in time can be obtained. The second side profile information is composed of the second rectangular coordinate information at different moments in time, thus achieving the conversion of the second side point cloud information into the second side profile information.

[0062] Optionally, converting the third side point cloud information into third side profile information includes: determining third rectangular coordinate information corresponding to the third measurement point based on a scanning angle corresponding to each third measurement point in the third side point cloud information, a component height of the longitudinal scanning component, a distance between the longitudinal scanning component and a plane containing the first coordinate axis and the second coordinate axis, and a distance between each third measurement point and the third transverse scanning component, wherein the third rectangular coordinate information is coordinate information of the third measurement point in the target coordinate system; and determining the third side profile information based on the third rectangular coordinate information and a scanning moment corresponding to each third measurement point.

[0063] For example, Figure 6 As shown, as the vehicle under test passes through the third scanning laser sensor 307, third side point cloud information of the vehicle under test is acquired. γ3 and θ3 of all measurement points scanned by the third scanning laser sensor 307 within a scanning cycle T3 constitute the third ranging information for that scanning cycle, where γ3 is the distance between the current point scanned by the third scanning laser sensor 307 and the third scanning laser sensor 307, and θ3 is the angle between the light emitted by the third scanning laser sensor 307 and the Y-axis. As the vehicle under test passes through the scanning surface of the third scanning laser sensor 307, the third scanning laser sensor 307 can acquire third ranging information for several scanning cycles. The third side point cloud information is composed of the third ranging information for several scanning cycles T3. Since each scanning cycle T3 corresponds to a moment in time, the third side point cloud information is composed of third ranging information at different moments in time.

[0064] The third distance measurement information in each scanning period T3 is transformed according to the third coordinate transformation formula (3):

[0065]

[0066] Where h3 is the height of the third scanning laser sensor 307 from the ground, L3 is the distance from the third scanning laser sensor 307 to the XOY plane, z3 is the distance from the current point to the XOY plane, and y3 is the height of the current point from the ground. z3 and y3 within each scanning cycle T3 constitute the third rectangular coordinate information. Since each scanning cycle T3 corresponds to a moment in time, the third rectangular coordinate information of the vehicle under test at different moments in time can be obtained. The third side profile information is composed of the third rectangular coordinate information at different moments in time, thus completing the conversion of the third side point cloud information into the third side profile information.

[0067] In this embodiment, after obtaining the first, second, and third side profile information, the first, second, and third side profile information can be matched according to scanning time to obtain three-dimensional profile information of the vehicle under test. Optionally, to facilitate time matching, the scanning periods of the first, second, and longitudinal scanning components can be configured to be the same, and the scanning times of the first, second, and longitudinal scanning components can also be configured to be the same.

[0068] Through this embodiment, the three-dimensional contour information of the vehicle is obtained by matching the three side contour information according to the scanning time, which can improve the accuracy of establishing the three-dimensional information of the vehicle.

[0069] In an exemplary embodiment, matching the first side profile information, the second side profile information, and the third side profile information according to the scanning time to obtain the three-dimensional profile information of the vehicle to be tested includes:

[0070] S21, obtaining first profile reference information of the vehicle to be tested from the first side profile information, wherein the first profile reference information includes: a minimum lateral distance between the vehicle to be tested and a reference point at each first scanning moment;

[0071] S22, obtaining second profile reference information of the vehicle to be tested from the second side profile information, wherein the second profile reference information includes: a maximum lateral distance between the vehicle to be tested and a reference point at a scanning moment matching each first scanning moment, and a maximum vertical distance between the vehicle to be tested and the ground at a scanning moment matching each first scanning moment;

[0072] S23 , determining the vehicle width of the vehicle to be tested according to the minimum lateral distance and the maximum lateral distance, and determining the vehicle height of the vehicle to be tested according to the maximum vertical distance.

[0073] In this embodiment, the three-dimensional profile information of the vehicle to be tested may include the vehicle width and vehicle height of the vehicle to be tested, and the vehicle width and vehicle height of the vehicle to be tested may be determined by the first side profile information and the second side profile information. The component height of the first transverse scanning component and the component height of the second transverse scanning component may be different, wherein the higher transverse scanning component may be the second transverse scanning component. Since the installation height of the second transverse scanning component is higher than the installation height of the first transverse scanning component, the vehicle height of the vehicle to be tested can be determined using the second side profile information; since the installation positions of the first transverse scanning component and the second transverse scanning component are respectively located on both sides of the road, the vehicle width of the vehicle to be tested can be determined based on the first side profile information and the second side profile information.

[0074] In this embodiment, first profile reference information of the vehicle under test can be obtained from the first side profile information. Here, the first profile reference information may include the minimum lateral distance between the vehicle under test and a reference point at each first scanning moment. The reference point may be the projection point of the luminous center of the first lateral scanning component on the ground, i.e., the coordinate origin O in the aforementioned embodiment.

[0075] Correspondingly, the second profile reference information of the vehicle to be tested can be obtained from the second side profile information. The second profile reference information may include the maximum lateral distance between the vehicle to be tested and the reference point at the scanning moment that matches each first scanning moment, and the maximum vertical distance between the vehicle to be tested and the ground at the scanning moment that matches each first scanning moment. For a first scanning moment, the scanning moment that matches the first scanning moment may be the scanning moment with the smallest time difference with the first scanning moment. If the second scanning component and the first scanning component scan synchronously (the scanning period is the same and the scanning moment is the same), the scanning moment that matches the first scanning moment is the first scanning moment.

[0076] For example, Figure 4 As shown, the scanning surfaces of the first scanning laser sensor 303 and the second scanning laser sensor 305 are located in the XOY plane. The minimum lateral distance is the minimum value x of all points of the vehicle to be tested scanned by the first scanning laser sensor 303 at each moment. min The maximum lateral distance is the maximum value x of all points of the vehicle to be tested scanned by the second scanning laser sensor 305 at each moment. max The maximum vertical distance is the y-axis distance of all points of the vehicle to be tested scanned by the second scanning laser sensor 305 at each moment. max According to the minimum value x of all points of the vehicle to be tested scanned at each moment min , the maximum value x of all points of the vehicle to be tested scanned at each moment max , we can get the width of the vehicle to be tested, that is, x max -x min According to the second side profile information or the y values ​​of all points of the vehicle to be tested scanned at each moment max , calculate y at different times max The maximum value among them can be used to obtain the height of the vehicle to be tested.

[0077] In addition to scanning the minimum value x of all points of the vehicle to be tested at each moment min In addition, at least one of the following information can be obtained from the first side profile information: the time t1 when the vehicle to be tested first passes through the scanning surface of the first scanning laser sensor 303, the time t2 when the vehicle to be tested last passes through the scanning surface of the first scanning laser sensor 303, the time tn The time t at which the highest point of each axis of the vehicle to be tested passes through the scanning surface of the first scanning laser sensor 303 is m The time t when each axis of the vehicle to be tested ends passing through the scanning surface of the first scanning laser sensor 303 l , the number of axles of the vehicle to be tested, the single and double tire information of each axle of the vehicle to be tested, and the diameter of each axle of the vehicle to be tested. Depending on the vehicle information to be determined, all or part of the above information can be obtained from the first side profile information.

[0078] Except for the maximum value x of all points of the vehicle to be tested scanned at each moment max , the y of all points of the vehicle to be tested scanned at each moment max At least one of the following information can also be obtained from the second side profile information: the time t′1 when the vehicle to be tested first passes through the scanning surface of the second scanning laser sensor 305, the time t′2 when the vehicle to be tested last passes through the scanning surface of the second scanning laser sensor 305, and the time t′ when each axis of the vehicle to be tested starts to pass through the scanning surface of the second scanning laser sensor 305. n The time t′ when the highest point of each axis of the vehicle to be tested passes through the scanning surface of the second scanning laser sensor 305 m The time t when each axis of the vehicle to be tested ends passing through the scanning surface of the second scanning laser sensor 305 l ', the number of axles of the vehicle to be tested, the single and double tire information of each axle of the vehicle to be tested, and the diameter of each axle of the vehicle to be tested. According to the vehicle information to be determined, all or part of the above information can be obtained from the second side profile information.

[0079] In addition, the z coordinates of all points of the vehicle to be tested scanned at each moment can be obtained from the third side profile information. max , z max Indicates the distance between the vehicle head and the XOY plane, that is, the horizontal distance between the vehicle head and the first scanning surface or the second scanning surface. The horizontal distance here refers to the distance in the driving direction of the target lane, that is, the distance on the Z axis.

[0080] According to this embodiment, the vehicle height and width are determined by using the side profile information at each scanning moment scanned by the two lateral scanning components, thereby improving the accuracy of vehicle width and height detection.

[0081] In an exemplary embodiment, determining the vehicle width of the vehicle to be tested according to the minimum lateral distance and the maximum lateral distance includes:

[0082] S31, matching each first scanning moment with the displacement force information of the vehicle to be tested, to obtain pressure information of different displacements generated by the vehicle to be tested on the weighing sensor at each first scanning moment, wherein the vehicle weighing detection information includes displacement force information, and the displacement force information is pressure information of different displacements detected by the weighing sensor at different moments;

[0083] S32, determining a reference angle between the traveling direction of the vehicle to be tested and the lane direction at each first scanning moment based on pressure information of different displacements generated by the vehicle to be tested on the weighing sensor at each first scanning moment;

[0084] S33 , determining the vehicle width of the vehicle to be tested according to the reference angle, the minimum lateral distance, and the maximum lateral distance.

[0085] Since the vehicle is not always parallel to the lane direction during driving, when the vehicle to be tested passes the weighing sensor, its driving direction may be at a certain angle to the lane direction. There will be a certain error between the vehicle width calculated based on the minimum lateral distance and the maximum lateral distance and the actual width of the vehicle to be tested, resulting in an inaccurate vehicle width.

[0086] In this embodiment, in order to avoid errors in the detection of the vehicle width due to an angle between the driving direction of the vehicle to be tested and the lane direction, the vehicle width can be corrected based on the information detected by the weighing sensor.

[0087] The vehicle weighing information detected by the load cell can include displacement force information. By matching each first scanning moment with the displacement force information of the vehicle under test, pressure information generated by the different displacements of the vehicle under test on the load cell at each first scanning moment can be obtained. Here, the displacement force information can be pressure information of different displacements detected by the load cell at different moments.

[0088] The pressure information generated by the different displacements of the vehicle on the load cell at each first scan moment can be used to determine the reference angle between the vehicle's travel direction and the lane direction at each first scan moment. This reference angle can be used to correct the difference between the minimum and maximum lateral distances to determine the vehicle's width.

[0089] For example, Figure 7 As shown, according to the pressure information of different displacements caused by each axle of the vehicle under test pressing on the narrow strip, the angle between the driving direction of the vehicle under test and the lane direction at different times can be obtained. According to the angle between the driving direction of the vehicle under test and the lane direction at different times, the minimum value x of all points of the vehicle under test scanned at each time min , the maximum value x of all points of the vehicle to be tested is scanned at each momentmax , obtain the width of the vehicle to be tested, and use the angle between the driving direction of the vehicle to be tested and the lane direction at different times to correct the width result, so that the width calculation is more accurate.

[0090] Through this embodiment, the angle between the vehicle and the lane direction is determined based on the force information of different displacements detected by the weighing sensor to correct the detected vehicle width, thereby improving the accuracy of vehicle width detection.

[0091] In an exemplary embodiment, matching the first side profile information, the second side profile information, and the third side profile information according to the scanning time to obtain the three-dimensional profile information of the vehicle to be tested includes:

[0092] S41, obtaining vehicle length reference information of the vehicle to be tested from the first target profile information, wherein the first target profile information includes at least one of the following: first side profile information, second side profile information, and the vehicle length reference information includes: the vehicle end time when the vehicle to be tested last passes through the scanning surface of the transverse scanning component corresponding to the first target profile information;

[0093] S42: Obtaining a target vehicle head distance corresponding to the vehicle tailing moment from the third side profile information, wherein the target vehicle head distance is the distance along the lane direction between the vehicle head of the vehicle to be tested and the scanning surface of the transverse scanning component corresponding to the first target profile information at the vehicle tailing moment;

[0094] S43: Determine the target vehicle head distance as the vehicle length of the vehicle to be tested.

[0095] In this embodiment, the three-dimensional profile information of the vehicle under test may include the vehicle length. The vehicle length is determined based on the horizontal distance between the front of the vehicle under test, as detected by the longitudinal scanning component, and the longitudinal scanning component when the vehicle leaves the scanning plane of the transverse scanning component. This horizontal distance refers to the distance between the projection of the longitudinal scanning component on the ground and the detected projection of the front of the vehicle under test on the ground, in the direction of travel of the target lane.

[0096] The time when the vehicle to be tested leaves the scanning surface of the transverse scanning component can be determined based on the first side profile information or the second side profile information. When performing vehicle length detection on the vehicle to be tested, the vehicle length reference information of the vehicle to be tested can be obtained from the first target profile information. Here, the first target profile information may include at least one of the following: first side profile information, second side profile information, which may be side profile information corresponding to the transverse scanning component specified in the first transverse scanning component and the second transverse scanning component. The vehicle length reference information may include the moment when the vehicle to be tested last passed through the scanning surface of the transverse scanning component corresponding to the first target profile information (the aforementioned specified transverse scanning component), that is, the vehicle tailing moment.

[0097] Based on the determined vehicle tailing moment, a target headway distance corresponding to the vehicle tailing moment can be obtained from the third side profile information. Here, the target headway distance can be the distance along the lane direction between the head of the vehicle under test and the scanning surface of the transverse scanning component corresponding to the first target profile information at the vehicle tailing moment. Since the rear of the vehicle under test is located at the scanning surface of the transverse scanning component corresponding to the first target profile information at the vehicle tailing moment, the target headway distance is the vehicle length of the vehicle under test.

[0098] For example, the time t2 at which the vehicle under test last passes through the scanning surface of the first scanning laser sensor 303 is obtained from the first side profile information. At the time t2, the distance between the vehicle head and the XOY plane (i.e., Figure 3 The distance between the coordinate plane shown in Figure 1 and Figure 2 is the vehicle length.

[0099] It should be noted that the third side point cloud information represents the horizontal distance between the longitudinal scanning component and the front of the vehicle under test. The third side profile information is obtained by converting the third side point cloud information into the aforementioned target coordinate system, where a coordinate plane of the target coordinate system may overlap with the scanning plane of the first or second transverse scanning component. Therefore, based on the third side profile information, the distance between the front of the vehicle and the scanning plane of the first or second transverse scanning component along the lane direction can be directly determined.

[0100] Through this embodiment, the vehicle tailing moment is determined based on the side profile information, and the vehicle length is determined based on the longitudinal scanning data at the tailing moment, which can improve the accuracy of vehicle length calculation.

[0101] In an exemplary embodiment, determining vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information further includes:

[0102] S51: Determine the ground contact length of each axle based on the third side point cloud information, the vehicle pressure information of the vehicle under test, and the sensor width of the weighing sensor along the lane direction, wherein the ground contact length of each axle is the length of each axle in contact with the ground in the lane direction at a given moment. The vehicle weighing detection information includes the vehicle pressure information of the vehicle under test, which is the pressure value generated by the vehicle under test on the weighing sensor at different moments.

[0103] S52, determining the weight of each axle based on the ground contact length of each axle, the sensor width, and the vehicle pressure information of the vehicle to be tested;

[0104] S53 , performing a summation operation on the weight of each axle to obtain the weight of the vehicle to be tested.

[0105] In this embodiment, the vehicle information of the vehicle under test may include the vehicle's weight. The weight of the vehicle under test is calculated by summing the weight of each axle of the vehicle under test. Here, each axle refers to the axle that exerts pressure on the ground and does not include suspended axles on the vehicle under test. The weight of each axle is determined based on the pressure information generated by each axle on the load cell as detected by the load cell. Here, the vehicle weighing detection information includes vehicle pressure information, which is the pressure value generated by the load cell on the vehicle under test.

[0106] Since the vehicle under test is in motion on the load cell, the pressure information generated when each axle of the vehicle under test passes through the load cell can include pressure values ​​detected at different times. The duration of the pressure curve for each axle is related to the ground contact length of each axle of the vehicle under test and the speed of each axle. Here, the ground contact length of each axle can be the length of each axle in contact with the ground in the lane direction at the same time.

[0107] Since the ground contact length of each axle is typically greater than the width of the load cell along the driving direction, the weight of each axle can be determined by combining the ground contact length of each axle, the load cell width along the lane direction, and the vehicle pressure information. The ground contact length of each axle can be determined based on the third-side point cloud information, the vehicle pressure information, and the sensor width. Specifically, the weigh-in and weigh-out times of each axle can be determined based on the vehicle pressure information. The time is then matched with the third-side point cloud information to obtain the distance between the vehicle head and the scanning surface of the first or second lateral scanning component along the lane direction corresponding to the weigh-in and weigh-out times, respectively. The distance traveled by the vehicle under test between the weigh-in and weigh-out times can then be determined. Finally, the sensor width is subtracted from the travel distance to obtain the ground contact length of each axle.

[0108] The first side point cloud information or the second side point cloud information is determined. The ground contact length of each axle of the vehicle under test is obtained from the first side point cloud information or the second side point cloud information.

[0109] Through this embodiment, the weight of each axle is determined based on the ground contact length of each axle, the sensor width of the weighing sensor along the lane direction, and the vehicle pressure information, and then the weight of the vehicle to be tested is obtained, which can improve the accuracy of vehicle weight detection.

[0110] In an exemplary embodiment, the method further includes:

[0111] S61, obtaining a first reference time corresponding to each axis of the vehicle to be tested from the third target profile information, wherein the third target profile information includes at least one of the following: first side profile information, second side profile information, and the first reference time is the time when the highest point of each axis passes through the scanning surface of the transverse scanning component corresponding to the third target profile information;

[0112] S62, obtaining a second reference time corresponding to a pressure peak value of each axis from the vehicle pressure information, wherein the vehicle weighing detection information includes vehicle pressure information, and the vehicle pressure information is a pressure value generated by the vehicle to be tested on the weighing sensor;

[0113] S63: When the first reference time does not match the second reference time, it is determined that the vehicle to be tested has abnormal driving behavior.

[0114] In order to avoid the occurrence of cheating driving behaviors such as freight drivers jumping the scale, stopping and starting, and repeatedly reversing, which will lead to errors in the measured weight of each axle, thereby affecting the calculation of the weight of the vehicle to be tested. In this embodiment, the first reference moment corresponding to each axle of the vehicle to be tested can be obtained from the third target profile information. Here, the third target profile information may include at least one of the following: first side profile information, second side profile information. The first reference moment may be the moment when the highest point of each axle passes through the scanning surface of the transverse scanning component corresponding to the third target profile information, that is, the first reference moment may be the moment when the highest point of each axle passes through the scanning surface of the corresponding transverse scanning component determined according to the first side profile information scanned by the first transverse scanning component or the second side profile information scanned by the second transverse scanning component.

[0115] Optionally, the second reference moment corresponding to the pressure peak of each axis can be obtained from the vehicle pressure information, and the first reference moment can be matched with the second reference moment. When the first reference moment matches the second reference moment, since the first reference moment is the moment when a certain transverse scanning component detects that the highest point of each axis passes through its scanning surface, and the scanning surface of the transverse scanning component is located in the middle position of the weighing sensor in the driving direction, then the second reference moment can be considered to be the moment when the highest point of each axis detected by the weighing sensor passes through the scanning surface of the transverse scanning component. If the two are consistent, it can be determined that no abnormal driving behavior of the vehicle under test has been detected. Here, the matching of the first reference moment and the second reference moment can mean that the first reference moment is the same as the second reference moment, or that the time difference between the two is less than or equal to the time difference threshold.

[0116] Optionally, before determining the weight of each axle, the above-mentioned method can be used to determine whether the vehicle has abnormal driving behavior, and when it is determined that the vehicle is driving normally, the weight of each axle can be determined based on the ground contact length, sensor width and vehicle pressure information of each axle. The method of determining the weight of each axle is similar to that in the aforementioned embodiment and will not be repeated here.

[0117] For example, when the vehicle to be tested passes through the narrow strip sensor 301, the vehicle pressure information of the vehicle to be tested is obtained. The vehicle pressure information is composed of pressure values ​​at different times, such as Figure 8 As shown, it is a pressure curve diagram generated when a 6-axle vehicle passes through the narrow strip sensor 301. From the vehicle pressure information, the time T when each axle of the vehicle to be tested starts to pass through the narrow strip sensor 301 can be obtained. n , the time T corresponding to the peak pressure of each axle of the vehicle to be tested m , the time T when each axle of the vehicle to be tested ends passing the narrow strip sensor 301 l The time t at which the highest point of each axis of the vehicle to be tested passes through the scanning surface of the first scanning laser sensor 303 is obtained from the first side profile information. m .

[0118] The time Tm corresponding to the pressure peak of each axis of the vehicle to be tested and the time tt corresponding to the highest point of each axis of the vehicle to be tested passing through the scanning surface of the first scanning laser sensor 303 m Compare and judge whether the vehicle under test has abnormal driving behavior. Under normal circumstances, the T of each axis m and t m equal.

[0119] In this embodiment, if the first reference time does not match the second reference time, it can be determined that the vehicle under test has abnormal driving behavior. Here, the mismatch between the first reference time and the second reference time can be that the first reference time is different from the second reference time, or the time difference between the two is greater than the time difference threshold. Abnormal driving behavior can include but is not limited to jumping the scale, stopping and starting, and repeatedly reversing. For example, at T m and t m If they are not equal, it is determined that the vehicle under test may have abnormal driving behavior.

[0120] Through this embodiment, by judging whether the moments of the highest points of the axles detected by the lateral scanning component and the weighing sensor match, it is determined whether the vehicle is driving abnormally, thereby improving the accuracy of abnormal driving behavior detection.

[0121] In an exemplary embodiment, the method further includes:

[0122] S71, obtaining vehicle head position information of the vehicle to be tested from the third side profile information, wherein the vehicle head position information is used to describe changes in the position of the vehicle head of the vehicle to be tested over time;

[0123] S72 , detecting abnormal driving behavior of the vehicle to be tested based on the vehicle head position information, and obtaining an abnormal driving detection result of the vehicle to be tested.

[0124] The detection of whether the vehicle under test has abnormal driving behavior can also be determined based on the position change of the vehicle's front end. In particular, for situations where the vehicle under test may stop and go, or repeatedly reverse, the front end position of the vehicle under test at different times can be used to determine whether the vehicle under test is in a normal driving state.

[0125] In this embodiment, the vehicle's front position information can be obtained from the third side profile information. Here, the vehicle's front position information describes how the vehicle's front position changes over time. The vehicle's front position can be the distance between the vehicle's front and the scanning surface of the load cell, the first transverse scanning component, or the second transverse scanning component along the lane direction. During normal driving, the vehicle's front position can gradually move away from the location of the load cell, the first transverse scanning component, or the second transverse scanning component, while gradually approaching the location of the longitudinal scanning component.

[0126] Abnormal driving behavior of the vehicle under test can be detected based on the vehicle head position information, and abnormal driving detection results can be obtained. Correspondingly, if the vehicle head position information shows that the vehicle under test has a constant head position for multiple time periods, it can be determined that the vehicle under test has engaged in stop-and-go behavior. If the vehicle head position information shows that the vehicle under test has repeatedly moved its head position close to and away from the longitudinal scanning component over multiple time periods, it can be determined that the vehicle under test has engaged in repeated reversing behavior.

[0127] Through this embodiment, whether the vehicle to be tested has abnormal driving behavior is determined by the change of the vehicle head position information scanned by the longitudinal scanning component over time, which can improve the accuracy of judging abnormal driving behavior.

[0128] In an exemplary embodiment, determining the weight of each axle based on the ground contact length of each axle, the sensor width of the weighing sensor along the lane direction, and vehicle pressure information of the vehicle to be tested includes:

[0129] S81: Take each axle as the current axle and perform the following axle weight determination operation to obtain the weight of each axle:

[0130] Determine the time when the current axis starts to pass through the load cell according to the vehicle pressure information, and obtain the starting passing time corresponding to the current axis;

[0131] Determine a set of second scanning moments from the scanning moments of the longitudinal scanning component based on the starting passing moment, the ground contact length of the current axle, and the sensor width, wherein the total travel distance of the vehicle under test between the starting passing moment and the second scanning moment with the largest interval between the axle starting moment and the set of second scanning moments is the ground contact length of the current axle;

[0132] determining a set of reference weights corresponding to the current axle according to reference pressure information corresponding to each second scanning moment in a set of second scanning moments in the vehicle pressure information;

[0133] The sum of the weights of each reference weight in a set of reference weights is determined as the weight of the current axle.

[0134] In this embodiment, to determine the weight of each axle, each axle of the vehicle under test can be used as the current axle for axle weight determination. First, based on the vehicle pressure information, the time when the current axle begins to pass through the load cell is determined to obtain the starting passage time corresponding to the current axle. Then, based on the starting passage time, the ground contact length of the current axle, and the sensor width of the load cell along the lane direction, a set of second scanning times is determined from the scanning times of the longitudinal scanning component. Here, the total travel distance between the starting passage time of the vehicle under test and the second scanning time with the largest distance from the starting time of the axle in the set of second scanning times is the ground contact length of the current axle. This set of second scanning times can include the time when the current axle begins to generate pressure on the load cell and the time when the current axle moves forward by a sensor width from that time. It can also include the time when the current axle stops generating pressure on the load cell.

[0135] After determining a set of second scanning moments, reference pressure information corresponding to each second scanning moment in the set of second scanning moments can be determined based on the vehicle pressure information. Furthermore, a set of reference weights corresponding to the current axle can be determined based on the reference pressure information corresponding to each second scanning moment in the set of second scanning moments. The sum of the weights of each reference weight in the set of reference weights can be determined as the weight of the current axle. Furthermore, the reference pressure information corresponding to each second scanning moment in the set of second scanning moments can be determined and superimposed to obtain the reference pressure information corresponding to the current axle. Based on the reference pressure information corresponding to the current axle, the weight of the current axle can be determined. That is, the weight of the current axle can be determined by summing the pressure values ​​corresponding to each second scanning moment.

[0136] Here, if the ground contact length of an axle is less than the sensor width of the load cell, the peak pressure value detected by the load cell is the pressure value generated when the entire axle is on the load cell. In this case, the weight of the axle can be determined based on the detected peak pressure value of the axle. Typically, the ground contact length of an axle is greater than the sensor width of the load cell. To ensure the accuracy of axle weight determination, determining the above set of scanning moments can be equivalent to creating a set of virtual load cells adjacent to each other according to the sensor width. The total width of the virtual load cells and the actual load cells along the lane direction is at least the ground contact length of the current axle. The pressure value corresponding to each scanning moment is equivalent to the pressure value detected by each load cell (including the virtual load cells and the actual load cells) when the current axle is completely on the virtual load cells and the actual load cells. The sum of these pressure values ​​is equivalent to the pressure value detected when the current axle is completely on a load cell with the same width as its ground contact length in the lane direction. That is, the maximum pressure value that the axle can generate. The weight of the current axle can be determined based on the maximum pressure value.

[0137] Through this embodiment, a set of scanning moments is determined based on the time when each axle starts to pass through the weighing sensor, the ground contact length of each axle, and the sensor width; the corresponding pressure information detected by the weighing sensor is determined based on the determined set of scanning moments, and the weight of each axle is determined based on the determined pressure information, which can improve the calculation efficiency of the vehicle weight.

[0138] In an exemplary embodiment, a set of second scanning times is determined from the scanning times of the longitudinal scanning component according to the starting passing time, the contact length of the current axis, and the sensor width, including:

[0139] S91, acquiring a vehicle head distance that matches the starting passing time from the third side profile information to obtain a first vehicle head distance;

[0140] S92, when the contact length of the current axle is the product of the sensor width and the target multiple, sequentially searching the third side profile information for scanning moments corresponding to each of the set of vehicle head distances to obtain a set of second scanning moments, wherein the set of vehicle head distances is a distance obtained by adding the first vehicle head distance to a multiple of the sensor width from 1 to the target multiple, respectively.

[0141] S93, when the ground contact length of the current axis is the sum of the product of the target multiple of the sensor width and the target remainder, the scanning time corresponding to each vehicle head distance in a group of vehicle head distances and the scanning time corresponding to the second vehicle head distance are searched in sequence from the third side profile information to obtain a group of second scanning times, wherein a group of vehicle head distances is the distance obtained by adding the first vehicle head distance to 1 times to the target multiple of the sensor width respectively, and the second vehicle head distance is the sum of the first vehicle head distance and the ground contact length of the current axis.

[0142] The third side profile information can reflect the distance the vehicle under test has advanced in the lane direction. The distance the vehicle under test has advanced is the same as the distance advanced for each axle. Therefore, in this embodiment, the vehicle head distance matching the initial passing time can be obtained from the third side profile information to obtain the first vehicle head distance. Furthermore, a set of second scanning times for the current axle can be determined based on the scanning time after the vehicle head advances each sensor width as indicated by the third side profile information. The ground contact length of the current axle may or may not be an integer multiple of the sensor width. Different methods can be used to determine a set of second scanning times for different ratios between the ground contact length of the current axle and the sensor width of the load cell.

[0143] If the current axle's ground contact length is the product of the sensor width and the target multiple, the scanning time corresponding to each headway distance in the set of headway distances can be sequentially searched from the third side profile information to obtain a set of second scanning times. Here, the set of headway distances can be the distances obtained by adding the first headway distance to multiples from 1 to the target multiple of the sensor width.

[0144] For example, Figure 9 As shown in the figure, at different times, the contact position of the same tire and the narrow strip sensor is different. According to the ground contact length of each axle of the vehicle to be tested, the z of all points of the vehicle to be tested is scanned at each moment. max The weight of the vehicle to be tested is obtained based on the first pressure information (ie, the distance along the lane direction between the vehicle head of the vehicle to be tested and the scanning surface of the transverse scanning component corresponding to the first target profile information) and the first pressure information.

[0145] When calculating the weight of the current axle, the time T when the current axle of the vehicle to be tested starts to pass through the narrow strip sensor 301 can be obtained from the vehicle pressure information. n , T n The distance between the head of the vehicle and the XOY plane at the moment is Z n The width of the narrow strip sensor 301 along the vehicle's travel direction is W (ie, the sensor width). The front of the vehicle to be tested moves forward by W, and the axle of the vehicle to be tested also moves forward by W. The ground contact length of the axle is D, D=m*W+δ.

[0146] If δ = 0, that is, the ground length of the axle is the product of the sensor width and the target multiple, the distance between the head of the vehicle and the XOY plane is {Z n +W,Z n +2W,...,Z n +m*W} corresponds to the time {T 1n ,T 2n ,...,T mn}, according to the vehicle pressure information, {T 1n ,T 2n ,...,T mn The pressure value at the moment {G1,G2,...,G m}, then sum up all the pressure values ​​(G=G1+G2+...+G m ), the weight of the axle can be determined. The weight of each axle can be added together to obtain the weight information of the vehicle under test.

[0147] If the contact length of the current axle is the sum of the product of the target multiple of the sensor width and the target remainder, the scanning time corresponding to each of the set of vehicle headway distances and the scanning time corresponding to the second vehicle headway distance are sequentially searched from the third side profile information to obtain a set of second scanning times. Here, the set of vehicle headway distances may be the distances obtained by adding the first vehicle headway distance to each of the sensor widths from 1 to the target multiple, and the second vehicle headway distance may be the sum of the first vehicle headway distance and the contact length of the current axle.

[0148] For example, if δ≠0, that is, the ground contact length of each axis is the sum of the target multiple of the sensor width and the target remainder, the distance between the vehicle head and the plane is {Z n +W,Z n +2W,...Z n +m*W,Z n +D} corresponds to the time {T 1n ,T 2n ,...,T mn ,T' mn}, according to the vehicle pressure information, {T 1n ,T 2n ,...,T mn ,T' mn The pressure at the moment {G1,G2,...,G m ,G' m}, then sum up all the pressure values ​​(G=G1+G2+...+G m +G' m ), the weight of the axle can be determined. The weight of each axle can be added together to obtain the weight information of the vehicle under test.

[0149] Through this embodiment, for different ratios between the ground contact length of the axle and the sensor width, based on the horizontal distance between the vehicle head and the weighing sensor, the scanning moments for calculating the pressure information are determined, thereby improving the accuracy of vehicle weight detection.

[0150] In an exemplary embodiment, determining vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information further includes:

[0151] S101, obtaining speed reference information of each axle of the vehicle to be tested from second target profile information, wherein the second target profile information includes at least one of the following: first side profile information, second side profile information, and the speed reference information includes: the diameter of each axle, the axle start time when each axle starts to pass through a scanning surface of a transverse scanning component corresponding to the second target profile information, and the axle end time when each axle ends to pass through the scanning surface of the transverse scanning component corresponding to the second target profile information;

[0152] S102 , determining the speed of each axle according to the diameter of each axle and the time difference between the end time of the axle and the start time of the axle.

[0153] In this embodiment, the vehicle information of the vehicle under test may also include the speed of each axle of the vehicle under test. To determine the speed of each axle, the diameter of each axle, the axle start time when each axle begins to pass through the scanning surface of a certain transverse scanning component, and the axle end time when each axle ends to pass through the scanning surface of the same transverse scanning component can be determined. The speed of each axle can be determined by combining the diameter of each axle and the time difference between the axle end time and the axle start time. After determining the speed of each axle, the average speed of each axle can be determined as the average speed of the vehicle under test.

[0154] The speed of each axle, the axle start time of each axle, and the axle end time of each axle can be obtained from at least one of the first side profile information and the second side profile information (i.e., the second target profile information). In this embodiment, speed reference information for each axle of the vehicle under test can be obtained from the second target profile information. The speed reference information for each axle can include the information required for determining the axle speed.

[0155] For example, the diameter of each axle of the vehicle to be tested is the highest point H of each axle max , according to the time t when each axis of the vehicle to be tested starts to pass through the scanning surface of the scanning laser sensor 303 n The time t when each axis of the vehicle to be tested ends passing through the scanning surface of the scanning laser sensor 303 l , the diameter H of each axle of the vehicle to be tested max, get the speed of each axis of the vehicle to be tested, which is: V n =H max / (t l -t n ).

[0156] Through this embodiment, the diameter of each axis, the time when each axis starts to pass through the scanning surface of the transverse scanning component, and the time when each axis ends to pass through the scanning surface of the transverse scanning component are determined from the side profile information scanned by the transverse scanning component, and the speed of each axis is determined, which can improve the efficiency of axle speed detection.

[0157] In an exemplary embodiment, the vehicle information of the vehicle to be tested may further include single and double tire (ie, single and double axle) information of each axle of the vehicle to be tested and the type of the vehicle to be tested.

[0158] Currently, a commonly used method for accurately detecting whether a vehicle has single or double tires is to install an axle identifier in the weighing system to obtain this information. However, since axle identifiers are often run over by freight vehicles, their service life is short and they need to be replaced frequently.

[0159] In this embodiment, determining the vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information further includes:

[0160] S111, determining the single and double tire information of each axle of the vehicle to be tested based on the number of peaks on the pressure value curve of different displacements corresponding to each axle of the vehicle to be tested in the displacement force information corresponding to the vehicle to be tested, wherein the vehicle weighing detection information includes displacement force information, and the displacement force information is the pressure information of different displacements at different times detected by the weighing sensor.

[0161] In this embodiment, the number of peaks on the pressure value curve corresponding to different displacements of each axle of the vehicle to be tested in the displacement force information is used. Considering that when a single-tire axle passes through the weighing sensor, the pressure values ​​generated at different force points of the weighing sensor are a single-peak curve, while when a double-tire axle passes through the weighing sensor, the pressure values ​​generated at different force points of the weighing sensor are a double-peak curve. The vehicle weighing detection information obtained by the weighing sensor may include the displacement force information of the vehicle to be tested, and the displacement force information is the pressure information of different displacements detected by the weighing sensor at different moments. The number of peaks on the curve can be obtained based on the pressure value curve of different displacements, thereby determining whether the axle is single or double. For each axle of the vehicle to be tested, the single and double tire information of each axle is determined based on the number of peaks on the pressure value curve of different displacements corresponding to each axle of the vehicle to be tested in the displacement force information.

[0162] Here, the pressure value curve of different displacements corresponding to each axis is the pressure value curve detected at any moment when each axis passes through the weighing sensor, for example, the moment when the highest point of each axis passes through the scanning surface of the first transverse scanning component or the second transverse scanning component, the moment corresponding to the pressure peak of each axis, etc., which is not limited here.

[0163] For example, the displacement pressure curve generated when a certain axis of the vehicle to be tested presses on the narrow strip sensor 301 at a certain moment is as follows: Figure 10 From the displacement force information, we can obtain the distance between each force point and the coordinate origin O of each axle of the vehicle under test when it passes through the narrow strip sensor 301, the ground contact width of each axle of the vehicle under test, the tire distribution on each axle of the vehicle under test, and the angle between the vehicle's driving direction and the lane direction.

[0164] Furthermore, the single / double tire information for each axle can be obtained from the first and second side profile information. However, given the potential blind spots that may be missed by the lateral scanning component, determining the single / double tire information for each axle based solely on side profile information can lead to errors. Fusion of the single / double tire information for each axle determined using displacement and force information can improve the accuracy of vehicle information detection.

[0165] In this embodiment, determining the vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information further includes:

[0166] S112, obtaining tire distribution on each axle from the displacement force information;

[0167] S113, identifying the vehicle to be tested according to the tire distribution on each axle to obtain a vehicle identification result, wherein the vehicle identification result is used to indicate whether the vehicle to be tested is a multi-axle multi-wheel hydraulic flatbed truck.

[0168] While ordinary vehicles have two or four tires per axle, multi-axle, multi-wheel hydraulic flatbed trucks have eight tires per axle. According to regulations governing the operation of overweight transport vehicles on highways, multi-axle, multi-wheel hydraulic flatbed trucks have a greater impact on the road surface than ordinary vehicles, and therefore can be inspected.

[0169] In this embodiment, a similar approach as described above is used to obtain the tire distribution on each axle from the displacement force information, such as the number of axles of the vehicle under test and whether each axle has single or double tires. The vehicle under test is identified based on the tire distribution on each axle, resulting in a vehicle identification result. This vehicle identification result indicates whether the vehicle under test is a multi-axle, multi-wheel hydraulic flatbed truck. In other words, based on the tire distribution on each axle of the vehicle under test, it can be determined whether the vehicle under test is a multi-axle, multi-wheel hydraulic flatbed truck.

[0170] Through this embodiment, the single and double tire information of the vehicle to be tested is determined by the displacement force information detected by the weighing sensor, and it is judged whether the vehicle to be tested is a multi-axle and multi-wheel hydraulic flatbed truck. No additional detection device is needed, which can improve the detection efficiency while reducing costs.

[0171] In an exemplary embodiment, obtaining first side point cloud information obtained by performing a lateral scan on a vehicle to be tested by a first lateral scanning component includes:

[0172] S121, obtaining a set of candidate point cloud information obtained by continuously performing lateral scanning by the first lateral scanning component;

[0173] S122, when the number of points in a set of candidate point cloud information where the support structure where the second transverse scanning component is located changes from being greater than or equal to a preset point number threshold to being less than a preset point number threshold, the candidate point cloud information in which the number of points in the set of candidate point cloud information where the support structure where the second transverse scanning component is located is first less than the preset point number threshold is determined as the vehicle starting point cloud information of the vehicle to be tested;

[0174] S123, when the number of points of the support structure where the second transverse scanning component is located in a group of candidate point cloud information is converted from less than a preset point threshold to greater than or equal to the preset point threshold, the candidate point cloud information in which the number of points of the support structure where the second transverse scanning component is located is last scanned less than the preset point threshold in a group of candidate point cloud information is determined as the vehicle finishing point cloud information of the vehicle to be tested.

[0175] The first transverse scanning component can determine the starting and ending point cloud information of the vehicle under test based on the number of vehicle points scanned by the first transverse scanning component, thereby determining the first side point cloud information. However, a black vehicle will absorb the light emitted by the first transverse scanning component, resulting in the transverse scanning component failing to measure the vehicle and therefore assuming that no vehicle has passed. This can lead to inaccurate calculations of the time when the vehicle under test first and last passes through the scanning surface of the first transverse scanning component, thus affecting the detection accuracy of the vehicle information under test.

[0176] In this embodiment, because the first and second lateral scanning components are positioned opposite each other on opposite sides of the lane, the support structure for the second lateral scanning component (i.e., the second support structure) can be configured to be higher than the height of a typical vehicle. The support structure for the second lateral scanning component assists in determining the set of candidate point cloud information obtained by the first lateral scanning component through continuous lateral scanning, thereby determining the first side point cloud information of the vehicle under test. Here, the set of candidate point cloud information can include point cloud information scanned by the first lateral scanning component over a period of time.

[0177] When no vehicle passes through the scanning area of ​​the first transverse scanning component, the first transverse scanning component can scan almost all of the second supporting structures. Therefore, the number of scanning points corresponding to the second supporting structures scanned by the first transverse scanning component is greater than or equal to the preset point threshold. When a vehicle passes through the scanning area of ​​the first transverse scanning component, the number of scanning points corresponding to the second supporting structures scanned by the first transverse scanning component will be significantly reduced due to obstruction by the vehicle, for example, reduced to less than the preset point threshold. When the vehicle leaves the scanning area of ​​the first transverse scanning component, the number of scanning points corresponding to the second supporting structures scanned by the first transverse scanning component will increase again to greater than or equal to the preset point threshold.

[0178] In this embodiment, when the number of points in a set of candidate point cloud information where the support structure where the second transverse scanning component is located changes from being greater than or equal to a preset point threshold to being less than the preset point threshold, the candidate point cloud information in which the number of points in the set of candidate point cloud information where the support structure where the second transverse scanning component is located is less than the preset point threshold for the first time can be determined as the vehicle starting point cloud information of the vehicle to be tested. When the number of points in a set of candidate point cloud information where the support structure where the second transverse scanning component is located is less than the preset point threshold for the last time, the candidate point cloud information in which the number of points in the set of candidate point cloud information where the support structure where the second transverse scanning component is located is less than the preset point threshold for the last time can be determined as the vehicle ending point cloud information of the vehicle to be tested.

[0179] Correspondingly, the first side point cloud information can include the vehicle's starting point cloud information, the vehicle's ending point cloud information, and the point cloud information between the vehicle's starting point cloud information and the vehicle's ending point cloud information within a set of candidate point cloud information. The second lateral scanning component can determine the second side point cloud information in a similar manner as the first lateral scanning component; alternatively, the second side point cloud information can be determined by reference to the scanning time corresponding to the first side point cloud information. This is not further detailed here.

[0180] For example, since the first scanning laser sensor 303 can scan the single-column straight pole 304, when no vehicle passes by, the number of points scanned by the first scanning laser sensor 303 on the single-column straight pole 304 is greater than or equal to the preset point threshold. When a vehicle passes by, the number of points scanned by the first scanning laser sensor 303 on the single-column straight pole 304 decreases. When the number of points is less than the preset point threshold, it is considered that the vehicle under test has passed through the scanning surface of the first scanning laser sensor 303 for the first time, which is the time t1 mentioned above. When the number of points is greater than or equal to the preset point threshold, it is considered that the vehicle under test has passed through the scanning surface of the first scanning laser sensor 303 for the last time, which is the time t2 mentioned above. In actual applications, black vehicles will absorb the light emitted by the first scanning laser sensor 303, resulting in the first scanning laser sensor 303 being unable to measure, and therefore it will be considered that no vehicle has passed, resulting in inaccurate calculation of the time t2. However, by using the single-column straight rod 304, it is possible to more accurately determine whether a vehicle has passed the first scanning laser sensor 303, and the time t2 can be calculated more accurately.

[0181] Through this embodiment, the point cloud information of the vehicle to be tested is determined by the change in the number of points scanned by the lateral scanning component on the opposite support structure, which can avoid the error in the point cloud information caused by the vehicle color absorbing the laser, thereby improving the accuracy of vehicle information detection.

[0182] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0183] According to another aspect of the embodiments of the present application, a vehicle information detection system for implementing the above-mentioned vehicle information detection method is also provided. The vehicle information detection system may include:

[0184] A weighing sensor is set on the ground of the target lane;

[0185] With respect to the first transverse scanning component and the second transverse scanning component provided on both sides of the weighing sensor, projections of the first scanning surface of the first transverse scanning component and the second scanning surface of the second transverse scanning component on the ground are both located in the middle of the weighing sensor;

[0186] a longitudinal scanning component, wherein a third scanning surface of the longitudinal scanning component is parallel to a lane direction of the target lane;

[0187] The data processing component is respectively connected to the weighing sensor, the first transverse scanning component, the second transverse scanning component and the longitudinal scanning component, and is used to obtain vehicle weighing detection information obtained by the weighing sensor when the vehicle to be tested passes through the weighing sensor; obtain first side point cloud information obtained by the first transverse scanning component for transverse scanning of the vehicle to be tested, and obtain second side point cloud information obtained by the second transverse scanning component for transverse scanning of the vehicle to be tested; obtain third side point cloud information obtained by the longitudinal scanning component for longitudinal scanning of the vehicle to be tested; and determine vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information.

[0188] It should be noted that the data processing component may be a component on a server or a processing device that performs the aforementioned determination of the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information, and the determination of the vehicle information based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information, such as a processor, a controller, etc. The manner of determining the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information, and determining the vehicle information based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information is similar to that in the aforementioned embodiment and has been described, so it will not be repeated here.

[0189] Through the above-mentioned vehicle information detection system, in the process of the vehicle to be tested passing through the weighing sensor, vehicle weighing detection information obtained by the weighing sensor for detecting the vehicle to be tested is obtained; first side point cloud information obtained by the first transverse scanning component for transverse scanning of the vehicle to be tested is obtained, and second side point cloud information obtained by the second transverse scanning component for transverse scanning of the vehicle to be tested is obtained, wherein the first transverse scanning component and the second transverse scanning component are relatively arranged on both sides of the weighing sensor, and the projections of the first scanning surface of the first transverse scanning component and the second scanning surface of the second transverse scanning component on the ground are both located in the middle position of the weighing sensor; third side point cloud information obtained by the longitudinal scanning component for longitudinally scanning the vehicle to be tested is obtained, wherein the third scanning surface of the longitudinal scanning component is parallel to the lane direction of the target lane where the vehicle to be tested is located; vehicle information of the vehicle to be tested is determined based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information, thereby solving the problem of high vehicle information detection cost caused by the need to set up multiple rows of weighing sensors in the vehicle information detection method of the related technology, thereby reducing the vehicle information detection cost.

[0190] In an exemplary embodiment, the data processing component is further used to convert the first side point cloud information into first side profile information, convert the second side point cloud information into second side profile information, and convert the third side point cloud information into third side profile information; match the first side profile information, the second side profile information and the third side profile information according to the scanning time to obtain three-dimensional profile information of the vehicle to be tested.

[0191] In an exemplary embodiment, the data processing component is further used to obtain first profile reference information of the vehicle to be tested from the first side profile information; obtain second profile reference information of the vehicle to be tested from the second side profile information; determine the vehicle width of the vehicle to be tested based on the minimum lateral distance and the maximum lateral distance, and determine the vehicle height of the vehicle to be tested based on the maximum vertical distance.

[0192] In an exemplary embodiment, the data processing component is further used to match each first scanning moment with the displacement force information of the vehicle to be tested, so as to obtain pressure information of different displacements generated by the vehicle to be tested on the weighing sensor at each first scanning moment; determine a reference angle between the driving direction of the vehicle to be tested and the lane direction at each first scanning moment based on the pressure information of different displacements generated by the vehicle to be tested on the weighing sensor at each first scanning moment; and determine the vehicle width of the vehicle to be tested based on the reference angle, the minimum lateral distance, and the maximum lateral distance.

[0193] In an exemplary embodiment, the data processing component is also used to obtain vehicle length reference information of the vehicle to be tested from the first target profile information, the first target profile information includes at least one of the following: first side profile information, second side profile information, and the vehicle length reference information includes: the vehicle end time when the vehicle to be tested passes through the scanning surface of the transverse scanning component corresponding to the first target profile information for the last time; obtaining the target vehicle head distance corresponding to the vehicle end time from the third side profile information, wherein the target vehicle head distance is the distance along the lane direction between the vehicle head of the vehicle to be tested and the scanning surface of the transverse scanning component corresponding to the first target profile information at the vehicle end time; and determining the target vehicle head distance as the vehicle length of the vehicle to be tested.

[0194] In an exemplary embodiment, the data processing component is further used to determine the ground contact length of each axle based on the third side point cloud information, the vehicle pressure information of the vehicle to be tested, and the sensor width of the weighing sensor along the lane direction, wherein the ground contact length of each axle is the length of each axle in contact with the ground in the lane direction at the same time, and the vehicle weighing detection information includes the vehicle pressure information of the vehicle to be tested, and the vehicle pressure information of the vehicle to be tested is the pressure value generated by the vehicle to be tested on the weighing sensor at different times; the weight of each axle is determined based on the ground contact length, sensor width and vehicle pressure information of the vehicle to be tested; and a summation operation is performed on the weight of each axle to obtain the weight of the vehicle to be tested.

[0195] In an exemplary embodiment, the data processing component is also used to perform the following axle weight determination operations on each axle as the current axle to obtain the weight of each axle: based on the vehicle pressure information, determine the time when the current axle starts to pass through the weighing sensor to obtain the starting passing time corresponding to the current axle; based on the starting passing time, the ground contact length of the current axle and the sensor width, determine a group of second scanning moments from the scanning time of the longitudinal scanning component, wherein the total moving distance of the vehicle to be tested between the starting passing time and the second scanning moment with the largest interval time with the starting time of the axle in a group of second scanning moments is the ground contact length of the current axle; based on the reference pressure information corresponding to each second scanning moment in a group of second scanning moments in the vehicle pressure information, determine a group of reference weights corresponding to the current axle; and determine the sum of the weight of each reference weight in a group of reference weights as the weight of the current axle.

[0196] In an exemplary embodiment, the data processing component is also used to obtain the vehicle head distance that matches the starting passing time from the third side profile information to obtain a first vehicle head distance; when the ground contact length of the current axis is the product of the sensor width and the target multiple, the scanning time corresponding to each vehicle head distance in a group of vehicle head distances is sequentially searched from the third side profile information to obtain a group of second scanning times, wherein a group of vehicle head distances is the distance obtained by adding the first vehicle head distance to 1 times to the target multiple of the sensor width; when the ground contact length of the current axis is the sum of the product of the target multiple of the sensor width and the target remainder, the scanning time corresponding to each vehicle head distance in a group of vehicle head distances and the scanning time corresponding to the second vehicle head distance are sequentially searched from the third side profile information to obtain a group of second scanning times, wherein a group of vehicle head distances is the distance obtained by adding the first vehicle head distance to 1 times to the target multiple of the sensor width, and the second vehicle head distance is the sum of the first vehicle head distance and the ground contact length of the current axis.

[0197] In an exemplary embodiment, the data processing component is further used to obtain speed reference information of each axle of the vehicle to be tested from the second target profile information, wherein the second target profile information includes at least one of the following: first side profile information, second side profile information, and the speed reference information includes: the diameter of each axle, the axle start time when each axle starts to pass through the scanning surface of the transverse scanning component corresponding to the second target profile information, and the axle end time when each axle ends to pass through the scanning surface of the transverse scanning component corresponding to the second target profile information; the speed of each axle is determined based on the diameter of each axle and the time difference between the axle end time and the axle start time.

[0198] In an exemplary embodiment, the data processing component is also used to determine the single and double tire information of each axle of the vehicle to be tested based on the number of peaks on the pressure value curve of different displacements corresponding to each axle of the vehicle to be tested in the displacement force information; obtain the tire distribution on each axle from the displacement force information; identify the vehicle to be tested based on the tire distribution on each axle to obtain a vehicle identification result, wherein the vehicle identification result is used to indicate whether the vehicle to be tested is a multi-axle and multi-wheel hydraulic flatbed vehicle.

[0199] In an exemplary embodiment, the data processing component is further used to obtain a first reference moment corresponding to each axis of the vehicle to be tested from the third target profile information, wherein the third target profile information includes at least one of the following: first side profile information, second side profile information, and the first reference moment is the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component corresponding to the third target profile information; obtain a second reference moment corresponding to the pressure peak of each axis from the vehicle pressure information, wherein the vehicle weighing detection information includes vehicle pressure information, and the vehicle pressure information is the pressure value generated by the vehicle to be tested on the weighing sensor; when the first reference moment does not match the second reference moment, it is determined that the vehicle to be tested has abnormal driving behavior.

[0200] In an exemplary embodiment, the data processing component is also used to obtain the front position information of the vehicle to be tested from the third side profile information, wherein the front position information is used to describe the change in the position of the vehicle head of the vehicle to be tested over time; based on the front position information, the abnormal driving behavior of the vehicle to be tested is detected to obtain the abnormal driving detection result of the vehicle to be tested.

[0201] In an exemplary embodiment, the data processing component is also used to obtain a group of candidate point cloud information obtained by the first transverse scanning component continuously performing transverse scanning; when the number of points of the support structure where the second transverse scanning component is located scanned in a group of candidate point cloud information changes from greater than or equal to a preset point threshold to less than the preset point threshold, the candidate point cloud information in which the number of points of the support structure where the second transverse scanning component is located is less than the preset point threshold for the first time in the group of candidate point cloud information is determined as the vehicle starting point cloud information of the vehicle to be tested; when the number of points of the support structure where the second transverse scanning component is located scanned in a group of candidate point cloud information changes from less than the preset point threshold to greater than or equal to the preset point threshold, the candidate point cloud information in which the number of points of the support structure where the second transverse scanning component is located is less than the preset point threshold for the last time in the group of candidate point cloud information is determined as the vehicle ending point cloud information of the vehicle to be tested; wherein the first side point cloud information includes vehicle starting point cloud information, vehicle ending point cloud information, and point cloud information in a group of candidate point cloud information located between the vehicle starting point cloud information and the vehicle ending point cloud information.

[0202] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. Figure 1 The hardware environment shown can be implemented through software or hardware, wherein the hardware environment includes a network environment.

[0203] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for detecting vehicle information, characterized in that: include: When the vehicle to be tested passes through the weighing sensor, vehicle weighing detection information obtained by the weighing sensor for detecting the vehicle to be tested is obtained; Acquiring first side point cloud information obtained by a first transverse scanning component performing a transverse scan on the vehicle to be tested, and acquiring second side point cloud information obtained by a second transverse scanning component performing a transverse scan on the vehicle to be tested, wherein the first transverse scanning component and the second transverse scanning component are disposed on opposite sides of the load cell, and projections of a first scanning surface of the first transverse scanning component and a second scanning surface of the second transverse scanning component on the ground are both located in the middle of the load cell; Acquiring third side point cloud information obtained by a longitudinal scanning component performing a longitudinal scan on the vehicle to be tested, wherein the third scanning plane of the longitudinal scanning component is parallel to a lane direction of a target lane where the vehicle to be tested is located; Determining vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information; Wherein, the determining of the vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information also includes: determining the ground contact length of each axle according to the third side point cloud information, the vehicle pressure information of the vehicle to be tested, and the sensor width of the weighing sensor along the lane direction, wherein the ground contact length of each axle is the length of each axle in contact with the ground in the lane direction at the same time, and the vehicle weighing detection information includes the vehicle pressure information of the vehicle to be tested, and the vehicle pressure information of the vehicle to be tested is the pressure value generated by the vehicle to be tested on the weighing sensor at different times; determining the weight of each axle according to the ground contact length of each axle, the sensor width, and the vehicle pressure information of the vehicle to be tested; and performing a summation operation on the weight of each axle to obtain the weight of the vehicle to be tested.

2. The method according to claim 1, characterized in that The determining the vehicle information of the vehicle to be tested according to the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information includes: Converting the first side point cloud information into first side profile information, converting the second side point cloud information into second side profile information, and converting the third side point cloud information into third side profile information; The first side profile information, the second side profile information, and the third side profile information are matched according to scanning time to obtain three-dimensional profile information of the vehicle to be tested.

3. The method according to claim 2, characterized in that The matching of the first side profile information, the second side profile information, and the third side profile information according to the scanning time to obtain the three-dimensional profile information of the vehicle to be tested includes: Acquire first profile reference information of the vehicle to be tested from the first side profile information, wherein the first profile reference information includes: a minimum lateral distance between the vehicle to be tested and a reference point at each first scanning moment; Acquire second profile reference information of the vehicle to be tested from the second side profile information, wherein the second profile reference information includes: a maximum lateral distance between the vehicle to be tested and the reference point at a scanning moment matching each of the first scanning moments, and a maximum vertical distance between the vehicle to be tested and the ground at a scanning moment matching each of the first scanning moments; The vehicle width of the vehicle to be tested is determined according to the minimum lateral distance and the maximum lateral distance, and the vehicle height of the vehicle to be tested is determined according to the maximum vertical distance.

4. The method according to claim 3, characterized in that The determining the vehicle width of the vehicle to be tested according to the minimum lateral distance and the maximum lateral distance includes: Matching each first scanning moment with the displacement force information of the vehicle to be tested, to obtain pressure information of different displacements generated by the vehicle to be tested on the weighing sensor at each first scanning moment, wherein the vehicle weighing detection information includes the displacement force information, and the displacement force information is pressure information of different displacements detected by the weighing sensor at different moments; determining a reference angle between the traveling direction of the vehicle to be tested and the lane direction at each first scanning moment according to pressure information of different displacements generated by the vehicle to be tested on the load cell at each first scanning moment; The vehicle width of the vehicle to be tested is determined according to the reference angle, the minimum lateral distance, and the maximum lateral distance.

5. The method according to claim 1, characterized in that The determining the weight of each axle according to the ground contact length of each axle, the sensor width, and the vehicle pressure information of the vehicle to be tested includes: The following axle weight determination operation is performed on each axle as the current axle to obtain the weight of each axle: Determining, based on the vehicle pressure information, the time when the current axle starts to pass through the load cell, and obtaining the starting passing time corresponding to the current axle; determining a set of second scanning moments from the scanning moments of the longitudinal scanning component according to the starting passing moment, the ground contact length of the current axle, and the sensor width, wherein the total movement distance of the vehicle under test between the starting passing moment and the second scanning moment with the largest interval between the axle starting moment and the second scanning moment in the set of second scanning moments is the ground contact length of the current axle; determining a set of reference weights corresponding to the current axle according to reference pressure information corresponding to each second scanning moment in the set of second scanning moments in the vehicle pressure information; The sum of the weights of each reference weight in the set of reference weights is determined as the weight of the current axle.

6. The method according to claim 5, characterized in that The step of determining a set of second scanning moments from the scanning moments of the longitudinal scanning component according to the starting passing moment, the ground contact length of the current axis, and the sensor width comprises: Acquire a vehicle head distance that matches the starting passing time from the third side profile information to obtain a first vehicle head distance; In the case that the ground contact length of the current axis is the product of the sensor width and the target multiple, the scanning time corresponding to each vehicle head distance in a group of vehicle head distances is searched in sequence from the third side profile information to obtain the group of second scanning times, wherein the group of vehicle head distances is the distance obtained by adding the first vehicle head distance to 1 times of the sensor width to the target multiple; in the case that the ground contact length of the current axis is the sum of the product of the target multiple of the sensor width and the target remainder, the scanning time corresponding to each vehicle head distance in a group of vehicle head distances and the scanning time corresponding to the second vehicle head distance are searched in sequence from the third side profile information to obtain the group of second scanning times, wherein the group of vehicle head distances is the distance obtained by adding the first vehicle head distance to 1 times of the sensor width to the target multiple, and the second vehicle head distance is the sum of the first vehicle head distance and the ground contact length of the current axis.

7. The method according to claim 2, characterized in that The determining the vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information further includes at least one of the following: determining, based on the number of peaks on a pressure value curve corresponding to different displacements of each axle of the vehicle under test in the displacement force information corresponding to the vehicle under test, whether each axle of the vehicle under test has a single or double tire, wherein the vehicle weighing detection information includes the displacement force information, and the displacement force information is pressure information detected at different positions of the load cell at the same time when different displacements at different times are detected by the load cell; The tire distribution on each axle is obtained from the displacement force information; the vehicle to be tested is identified according to the tire distribution on each axle to obtain a vehicle identification result, wherein the vehicle identification result is used to indicate whether the vehicle to be tested is a multi-axle multi-wheel hydraulic flatbed vehicle.

8. The method according to claim 1, characterized in that The method further comprises: Obtaining a first reference time corresponding to each axis of the vehicle to be tested from third target profile information, wherein the third target profile information includes at least one of the following: the first side profile information, the second side profile information, and the first reference time is a time when the highest point of each axis passes through a scanning surface of a transverse scanning component corresponding to the third target profile information; Obtaining a second reference time corresponding to the pressure peak of each axis from the vehicle pressure information, wherein the vehicle weighing detection information includes the vehicle pressure information, and the vehicle pressure information is the pressure value generated by the vehicle to be tested on the weighing sensor; When the first reference time does not match the second reference time, it is determined that the vehicle to be tested has abnormal driving behavior.

9. The method according to any one of claims 1 to 8, characterized in that The step of obtaining first side point cloud information obtained by the first transverse scanning component performing transverse scanning on the vehicle to be tested includes: Acquire a set of candidate point cloud information obtained by continuously performing lateral scanning by the first lateral scanning component; When the number of points in the set of candidate point cloud information where the support structure where the second transverse scanning component is located changes from being greater than or equal to a preset point number threshold to being less than the preset point number threshold, the candidate point cloud information in which the number of points in the set of candidate point cloud information where the support structure where the second transverse scanning component is located is first less than the preset point number threshold is determined as the vehicle starting point cloud information of the vehicle to be tested; When the number of points in the set of candidate point cloud information where the support structure where the second transverse scanning component is located is scanned changes from less than the preset point number threshold to greater than or equal to the preset point number threshold, the candidate point cloud information in which the number of points in the set of candidate point cloud information where the support structure where the second transverse scanning component is located is scanned for the last time less than the preset point number threshold is determined as the vehicle tail point cloud information of the vehicle to be tested; The first side point cloud information includes the vehicle starting point cloud information, the vehicle ending point cloud information, and point cloud information in the set of candidate point cloud information located between the vehicle starting point cloud information and the vehicle ending point cloud information.

10. A vehicle information detection system, characterized in that: include: A weighing sensor is set on the ground of the target lane; With respect to the first transverse scanning component and the second transverse scanning component provided on both sides of the weighing sensor, projections of the first scanning surface of the first transverse scanning component and the second scanning surface of the second transverse scanning component on the ground are both located in the middle of the weighing sensor; a longitudinal scanning component, wherein a third scanning surface of the longitudinal scanning component is parallel to a lane direction of the target lane; a data processing component connected to the weighing sensor, the first transverse scanning component, the second transverse scanning component, and the longitudinal scanning component, respectively, for obtaining vehicle weighing detection information obtained by the weighing sensor when the vehicle to be tested passes through the weighing sensor; obtaining first side point cloud information obtained by the first transverse scanning component when the vehicle to be tested is transversely scanned, and obtaining second side point cloud information obtained by the second transverse scanning component when the vehicle to be tested is transversely scanned; obtaining third side point cloud information obtained by the longitudinal scanning component when the vehicle to be tested is longitudinally scanned; and determining vehicle information of the vehicle to be tested based on the first side point cloud information, the second side point cloud information, the third side point cloud information, and the vehicle weighing detection information; Wherein, the data processing component is further used to determine the ground contact length of each axle according to the third side point cloud information, the vehicle pressure information of the vehicle to be tested and the sensor width of the weighing sensor along the lane direction, wherein the ground contact length of each axle is the length of each axle in contact with the ground in the lane direction at the same time, and the vehicle weighing detection information includes the vehicle pressure information of the vehicle to be tested, and the vehicle pressure information of the vehicle to be tested is the pressure value generated by the vehicle to be tested on the weighing sensor at different times; the weight of each axle is determined according to the ground contact length of each axle, the sensor width and the vehicle pressure information of the vehicle to be tested; and a summation operation is performed on the weight of each axle to obtain the weight of the vehicle to be tested.

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