Vehicle information detection method and system, storage medium and electronic device

Abstract

The present application discloses a method and system for detecting vehicle information, a storage medium, and an electronic device, wherein the method comprises: obtaining vehicle weighing detection information obtained by the weighing sensor when the vehicle to be tested passes through a weighing sensor, wherein the weighing sensor is arranged on a target lane; obtaining side point cloud information obtained by a transverse scanning component performing a transverse scan on the vehicle to be tested, wherein the target distance between the transverse scanning component and the weighing sensor in the driving direction along the target lane is half the target width of the weighing sensor along the driving direction; and determining the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information. This application solves 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.

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, a storage medium, and an electronic device. 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 detection system can be used to detect the vehicle's contour 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 vehicle information detection method and system, a storage medium and an electronic device to at least solve 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.

[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 detecting the vehicle to be tested during a process in which the vehicle to be tested passes through a weighing sensor, wherein the weighing sensor is arranged on a target lane; obtaining side point cloud information obtained by a lateral scanning component performing a lateral scan on the vehicle to be tested, wherein a target distance between the lateral scanning component and the weighing sensor in the driving direction along the target lane is half of a target width of the weighing sensor along the driving direction; and determining the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information.

[0006] According to another aspect of an embodiment of the present application, a vehicle information detection system is also provided, including: a weighing sensor, wherein the weighing sensor is arranged on a target lane; a lateral scanning component, wherein a target distance between the lateral scanning component and the weighing sensor in the driving direction along the target lane is half of a target width of the weighing sensor along the driving direction; a data processor, configured to obtain vehicle weighing detection information obtained by the weighing sensor when the vehicle to be tested passes through the weighing sensor; obtain side point cloud information obtained by the lateral scanning component when the vehicle to be tested is horizontally scanned; and determine vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information.

[0007] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to execute the above-mentioned vehicle information detection method when running.

[0008] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the vehicle information detection method through the computer program.

[0009] In an embodiment of the present application, a method of detecting vehicle information is adopted in which a transverse scanning component is combined 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, wherein the weighing sensor is arranged on the target lane; side point cloud information obtained by the transverse scanning component for transversely scanning the vehicle to be tested is obtained, wherein the target distance between the transverse scanning component and the weighing sensor in the driving direction along the target lane is half of the target width of the weighing sensor along the driving direction; vehicle information of the vehicle to be tested is determined based on the vehicle weighing detection information and the side point cloud information, because the side point cloud information obtained by the transverse scanning component for transversely scanning the vehicle to be tested can characterize the wheel position of the vehicle to be tested. The outline of the vehicle to be tested can be determined based on the side point cloud data. In addition, by setting the distance between the transverse scanning component and the weighing sensor along the driving direction to be half the width of the weighing sensor along the driving direction, the vehicle weight can be calculated based on the principle of symmetry and the scanning time of the transverse scanning component and the pressure information detected by the weighing sensor. Since the vehicle information can be determined by the transverse scanning component and the single-row weighing sensor, the purpose of using the single-row weighing sensor 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 the vehicle information, thereby solving the problem of high detection cost of the vehicle information in the related art due to the need to set up multiple rows of weighing sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] 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.

[0011] 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.

[0012] 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;

[0013] Figure 2 is a flow chart of an optional method for detecting vehicle information according to an embodiment of the present application;

[0014] Figure 3 is a schematic diagram of an optional vehicle information detection system according to an embodiment of the present application;

[0015] Figure 4is a schematic diagram of optional vehicle pressure information according to an embodiment of the present application;

[0016] Figure 5 is a schematic diagram of an optional vehicle information detection method according to an embodiment of the present application;

[0017] Figure 6 is a schematic diagram of an optional transverse scanning component scanning a vehicle according to an embodiment of the present application;

[0018] Figure 7 is a schematic diagram of an optional side profile of a vehicle according to an embodiment of the present application;

[0019] Figure 8 is a schematic diagram of an optional rectangular coordinate system according to an embodiment of the present application;

[0020] Figure 9 is a schematic diagram of optional force width information according to an embodiment of the present application;

[0021] Figure 10 This is a structural block diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] 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.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] 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 1In the hardware environment shown, the detection component 102 and the data processor 104 are included. Figure 1 As 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 vehicle's outline information, vehicle weight information, etc. A data storage component (data can be stored in a database) can be provided 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.

[0025] The aforementioned network may include, but is not limited to, at least one of the following: a wired network or a wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: a wide area network, a metropolitan area network, or a local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity) or Bluetooth. Besides being connected via a network, the detection component 102 and the data processor 104 may also be connected via a network cable or a serial port. The detection component 102 may include a transverse scanning component and a weighing sensor. The transverse scanning component may include, but is not limited to, a scanning laser sensor, and the weighing sensor may include, but is not limited to, a narrow strip sensor.

[0026] 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:

[0027] Step S202 , 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, wherein the weighing sensor is set on the target lane.

[0028] The vehicle information detection method in this embodiment can be applied to scenarios where vehicle information is detected on passing vehicles within 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 information such as vehicle weight, vehicle speed, number of tires, tire diameter, and number of axles. By detecting information such as the number of tires, the number of tires, and the number of axles, the vehicle's weight limit 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 vehicle's speed, it can be determined whether the vehicle is speeding. In some examples in this application, a vehicle information detection system applied to a highway is used as an example for explanation.

[0029] Currently, vehicle information detection systems can include weighing systems for measuring vehicle weight. These weighing systems utilize dynamic weighing technology, which plays a vital role in overload and overload control systems and non-site enforcement systems. 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.

[0030] In order to at least partially solve the above problems, a single-row weighing sensor is used in combination with a transverse scanning component to determine vehicle information to judge whether the vehicle is overweight, overloaded, speeding, etc. Compared with the aforementioned weighing system, the construction period is shortened and the cost is reduced.

[0031] 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 and force width 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, etc. based on the pressure information, force width, etc. 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, 5cm-30cm). For example, the width of the weighing sensor along the driving direction is 10cm. The length of the weighing sensor can be the same as or similar to the lane width of the target lane.

[0032] The lateral scanning component can be used to acquire side point cloud information of the vehicle under test. It can be a scanning laser sensor, such as a single-line scanning laser sensor or a multi-line scanning laser sensor. The lateral scanning component can be installed on one side of the target lane. It can be mounted on a support structure (for mounting the lateral scanning component) on the side of the target lane. The support structure can be a telescopic pole, a gantry, or other type of support structure. The height of the support structure above the ground is within a certain range, for example, 1m-2m above the ground.

[0033] The transverse scanning component can be arranged in front of the weighing sensor in the driving direction of the target lane, and the target distance between the transverse scanning component and the weighing sensor along the driving direction is half of the target width of the weighing sensor along the driving direction.

[0034] For example, Figure 3 As shown, the weighing system includes a telescopic pole 301, a scanning laser sensor 302, a narrow strip sensor 303, and a data processor 304. The telescopic pole 301 is used to mount the scanning laser sensor 302; the distance between the scanning laser sensor 302 and the near end of the narrow strip sensor 303 is half the width of the narrow strip sensor 303 along the vehicle's travel direction. The data processor 304 is connected to the scanning laser sensor 302 and the narrow strip sensor 303, respectively. Optionally, the data processor 304 is connected to the scanning laser sensor 302 via a network cable and to the narrow strip sensor 303 via a serial port. It can be used to process the side point cloud information output by the scanning laser sensor 302 and the pressure information output by the narrow strip sensor 303 to obtain vehicle information such as the weight, number of axles, and whether the vehicle is single or double tire.

[0035] 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.

[0036] It should be noted that the distance between the transverse scanning component and the load cell along the travel direction may not be half the width of the load cell along the travel direction. For example, if the width of the load cell along the travel direction is relatively large (e.g., greater than a certain width threshold), the weight of the vehicle under test can be directly measured. Furthermore, the scanning surface of the transverse scanning component can be configured to be non-parallel to the middle of the width of the load cell along the travel direction, so that the vehicle speed can be determined based on the time difference between the moment corresponding to the peak force on the axle and the time when the highest point of the axle passes through the scanning surface of the transverse scanning component. Furthermore, if the vehicle speed does not need to be calculated or can be measured by other means, the relative position of the transverse scanning component and the load cell can be left unchanged.

[0037] Step S204: Acquire the side point cloud information obtained by the lateral scanning component performing lateral scanning on the vehicle to be tested.

[0038] The lateral scanning component can perform lateral scanning periodically. Lateral scanning can be continuous or initiated upon detection of a vehicle entering the weighing area of ​​the target lane, detection of a weighing sensor being triggered, or other scanning conditions being met, which is not limited in this embodiment. For a vehicle under test, a data processor can obtain lateral scanning data obtained by the lateral scanning component from performing a lateral scan of the vehicle under test and, based on the scanning time and other factors, determine the lateral scanning data corresponding to the vehicle under test, thereby obtaining lateral point cloud information of the vehicle under test.

[0039] Here, the scanning surface of the transverse scanning component is perpendicular to the driving direction, and the weighing sensor can also be laid out in a direction perpendicular to the driving direction. The side point cloud data can be the vehicle point cloud information scanned from the time (t1) when the vehicle under test first passes through the scanning surface of the transverse scanning component to the time (t2) when the vehicle under test last passes through the scanning surface of the transverse scanning component.

[0040] Step S206: Determine the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information.

[0041] The vehicle information of the vehicle to be tested can be determined based on the vehicle weighing detection information and the side point cloud information. The vehicle information can include one or more types of vehicle information, such as vehicle profile information (e.g., vehicle height, vehicle length, etc.), vehicle weight, and other vehicle information, such as single-axle and dual-axle information, number of axles, and whether it is a suspended axle. In order to ensure the comprehensiveness of vehicle information detection, in addition to the horizontal scanning component, other horizontal scanning components and vertical scanning components can also be provided, which are not limited in this embodiment.

[0042] Since the side point cloud information can represent the side profile, the full or partial profile information of the vehicle under test can be determined based on the side point cloud information. Since the distance between the lateral scanning component and the load cell along the driving direction is half the width of the load cell along the driving direction, the above-mentioned configuration can be used to simulate three adjacent load cells with identical sensor parameters (one of which is an actual load cell). By combining information such as the scanning time of the lateral scanning component and the pressure value detected by the load cell, the vehicle weight can be calculated, thus enabling vehicle weight detection using a single row of load cells.

[0043] Through the above steps S202 to S206, vehicle weighing detection information obtained by the weighing sensor for detecting the vehicle to be tested is obtained during the process of the vehicle to be tested passing through the weighing sensor, wherein the weighing sensor is set on the target lane; side point cloud information obtained by the lateral scanning component for lateral scanning of the vehicle to be tested is obtained, wherein the target distance between the lateral scanning component and the weighing sensor in the driving direction along the target lane is half of the target width of the weighing sensor along the driving direction; vehicle information of the vehicle to be tested is determined based on the vehicle weighing detection information and the side point cloud 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.

[0044] In an exemplary embodiment, determining vehicle information of a vehicle to be tested based on vehicle weighing detection information and side point cloud information includes:

[0045] S11, determining the pressure peak value of each axle of the vehicle to be tested based on the vehicle pressure information of the vehicle to be tested obtained by the weighing sensor, wherein the vehicle weighing detection information includes the vehicle pressure information;

[0046] S12, determining the pressure value corresponding to the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component in the vehicle pressure information, and obtaining a reference pressure value of each axis;

[0047] S13, determining the sum of the peak pressure value of each axis and twice the reference pressure value of each axis as the weight of each axis;

[0048] S14, performing a summation operation on the weight of each axle to obtain the weight of the vehicle to be tested.

[0049] The vehicle weighing detection information may include the vehicle pressure information of the vehicle to be tested obtained by the weighing sensor. The vehicle pressure information is composed of pressure values ​​at different times, such as Figure 4 As shown, Figure 4This is a pressure curve generated by a six-axle vehicle passing through a narrow strip sensor. Vehicle pressure information can include the pressure curve for each axle of the vehicle under test. The duration of each axle's pressure curve is related to the diameter and speed of each axle of the vehicle under test.

[0050] A variety of vehicle information about the vehicle under test can be obtained from the vehicle pressure information, including the peak pressure value (Tm) for each axle of the vehicle under test, as well as other vehicle information, such as the time when each axle begins to pass through the load cell (Tn), the time when each axle ends to pass through the load cell (Tl), and the number of axles in the vehicle under test. Here, the axles for which peak pressure values ​​can be obtained can be the axles in contact with the ground in the vehicle under test, i.e., not suspended axles. Therefore, the number of axles for which peak pressure values ​​can be obtained (i.e., non-suspended axles, which can be referred to as target axles) is less than or equal to the total number of axles in the vehicle under test.

[0051] Based on the side point cloud information, the moment when the highest point of each axle (non-suspended axles) passes through the scanning surface of the transverse scanning component can be determined. The pressure value corresponding to the moment when the highest point of each axle passes through the scanning surface of the transverse scanning component can be obtained from the vehicle pressure information, thereby obtaining the reference pressure value for each axle. This reference pressure value is used as a reference for determining vehicle weight.

[0052] Since the distance between the transverse scanning component and the load cell along the driving direction is half the width of the load cell along the driving direction, if three identical load cells are arranged side by side, according to the principle of symmetry, when the highest point of each axle reaches the scanning surface of the transverse scanning component, the pressure value detected by the middle load cell is the peak pressure value of each axle obtained by the first load cell (the actual load cell), and the pressure values ​​detected by the first and third load cells are the same, both being reference pressure values. The total pressure value generated by each axle on the ground is twice the peak pressure value and the reference pressure value. Therefore, the sum of the peak pressure value of each axle and twice the reference pressure value of each axle is determined as the weight of each axle, and the weight of each axle is summed to obtain the weight of the vehicle under test.

[0053] For example, Figure 5 As shown, the peak pressure value of each axle of the vehicle to be tested is Gmax, and the pressure value corresponding to the moment tm when the highest point of each axle of the vehicle to be tested passes through the scanning surface of the scanning laser sensor 302 is G1. Since the distance between the scanning laser sensor 302 and the near end of the narrow strip sensor 303 is half the width of the narrow strip sensor 303 along the vehicle's driving direction, the weight of each axle of the vehicle to be tested is Gmax+2*G1. The weight of the vehicle to be tested can be obtained by adding the weight of each axle.

[0054] Through this embodiment, the weight of each axle is calculated based on the principle of symmetry, combined with the pressure peak of each axis and the pressure value corresponding to the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component, and then the weight of the vehicle to be tested is obtained, which can improve the convenience of vehicle weight detection.

[0055] In an exemplary embodiment, the method further includes:

[0056] S21, converting the side point cloud information into side profile information;

[0057] S22, obtaining the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component from the side profile information.

[0058] As the vehicle under test passes through the transverse scanning component's scanning surface, it acquires ranging information from several scanning cycles. The side point cloud information is composed of ranging information from these scanning cycles. Since each scanning cycle corresponds to a moment in time, the side point cloud information is composed of ranging information from different moments in time. To facilitate determining the moment when the highest point of each axis passes through the transverse scanning component's scanning surface, the side point cloud information can first be converted into side profile information. This conversion unifies the side point cloud information into a specific coordinate system, allowing for determination of vehicle information.

[0059] For example, Figure 6 As shown, by scanning the vehicle to be tested with the lateral scanning component, the side point cloud information of the vehicle to be tested can be obtained, the side point cloud information is converted into side profile information, and the side profile information is drawn as shown in FIG. Figure 7 shown.

[0060] Side profile information can include the location of a set of measurement points and the scanning time corresponding to each measurement point. Therefore, this side profile information can be used to identify each axle of the vehicle under test. Then, based on the measurement points corresponding to each axle, the time at which the highest point of each axle passes through the scanning surface of the transverse scanning component can be determined. Furthermore, based on the matching relationship between the scanning times, the peak pressure value of each axle and the pressure value corresponding to the time when the highest point of each axle passes through the scanning surface of the transverse scanning component can be matched.

[0061] Through this embodiment, by converting the side point cloud information into side profile information and obtaining the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component from the side profile information, the convenience of information matching can be improved.

[0062] In an exemplary embodiment, converting side point cloud information into side profile information includes:

[0063] S31, determining rectangular coordinate information corresponding to each measurement point based on a scanning angle corresponding to each measurement point in the side point cloud information, a component height of the transverse scanning component, and a distance between each measurement point and the transverse scanning component, wherein the rectangular coordinate information corresponding to each measurement point is coordinate information of each measurement point in the target coordinate system;

[0064] S32: Determine side profile information according to the rectangular coordinate information corresponding to each measurement point and the scanning time corresponding to each measurement point.

[0065] The data obtained by the transverse scanning component can be distance information, that is, the distance between the measuring point and the transverse scanning component, and the scanning angle corresponding to each measuring point can also be obtained. In order to facilitate the determination of vehicle information, the side point cloud information can be converted into a rectangular coordinate system under the same coordinate system (that is, the target coordinate system). Here, the target coordinate system is a coordinate system with the position of the transverse scanning component as the coordinate origin. Considering that the transverse scanning component usually has a certain component height, and information such as the vehicle height is determined based on the distance between the highest point of the vehicle and the ground, in this embodiment, the target coordinate system can be a projection of the transverse scanning component on the ground as the coordinate origin. The coordinate origin of the target coordinate system is the projection of the transverse scanning component on the ground. The three coordinate axes of the target coordinate system include: a first coordinate axis (for example, the X axis) passing through the coordinate origin, perpendicular to the driving direction and parallel to the ground, a second coordinate axis (for example, the Y axis) passing through the coordinate origin and perpendicular to the ground, and a third coordinate axis (for example, the Z axis) passing through the coordinate origin and parallel to the driving direction.

[0066] For each measurement point in the side surface point cloud, the corresponding rectangular coordinate information (i.e., the coordinate information of each measurement point in the target coordinate system) can be determined based on the scanning angle corresponding to each measurement point in the side surface point cloud, the component height of the transverse scanning component, and the distance between each measurement point and the transverse scanning component. The side profile information can be determined based on the rectangular coordinate information corresponding to each measurement point and the scanning time corresponding to each measurement point.

[0067] For example, when the vehicle to be tested passes through the scanning laser sensor 302, the side point cloud information of the vehicle to be tested is obtained, and a rectangular coordinate system is established such as Figure 8As shown, the projection of the luminous center of the scanning laser sensor 302 on the ground is taken as the coordinate origin O, the straight line passing through the coordinate origin and perpendicular to the driving direction of the vehicle to be measured on the ground in the detection area is taken as the X-axis, and the straight line passing through the coordinate origin and perpendicular to the ground in the detection area is taken as the Y-axis. The γ and θ of all measurement points scanned by the scanning laser sensor 302 in one scanning cycle constitute the first ranging information of the scanning cycle, where γ is the distance between the current point scanned by the scanning laser sensor 302 and the scanning laser sensor 302, and θ is the angle between the light emitted by the scanning laser sensor 302 and the X-axis.

[0068] The distance measurement information in each scanning cycle is transformed according to the coordinate transformation formula. The coordinate transformation formula is shown in formula (1):

[0069]

[0070] Where h is the height of the scanning laser sensor 302 from the ground, x is the distance O from the projection of the current point on the ground, and y is the height of the current point from the ground. The x and y values ​​within each scanning cycle form rectangular coordinate information. Since each scanning cycle corresponds to a moment in time, the rectangular coordinate information of the vehicle under test at different moments can be obtained.

[0071] The side profile information consists of rectangular coordinates at different times. From this information, at least one of the following information about the vehicle under test can be obtained: the time when the vehicle under test first passes through the scanning surface of the scanning laser sensor 302; the time when the vehicle under test last passes through the scanning surface of the scanning laser sensor 302; the time tn when each axis of the vehicle under test begins to pass through the scanning surface of the scanning laser sensor 302; the time tm when the highest point of each axis of the vehicle under test passes through the scanning surface of the scanning laser sensor 302; the time tl when each axis of the vehicle under test ends to pass through the scanning surface of the scanning laser sensor 302; the number of axles of the vehicle under test; the odd / even tire information of each axle of the vehicle under test; the diameter of each axle of the vehicle under test; and whether each axle of the vehicle under test is a suspended axle. Furthermore, the average speed of the vehicle under test can also be determined based on the side profile information.

[0072] Through this embodiment, by converting the side point cloud data into rectangular coordinate information in a coordinate system with the projection of the transverse scanning component on the ground as the coordinate origin, the convenience of obtaining vehicle information can be improved.

[0073] In an exemplary embodiment, determining vehicle information of a vehicle to be tested based on vehicle weighing detection information and side point cloud information includes:

[0074] S41, determining a time corresponding to a pressure peak of each axle of the vehicle to be tested based on vehicle pressure information of the vehicle to be tested acquired by a weighing sensor, wherein the vehicle weighing detection information includes the vehicle pressure information;

[0075] S42, determining the speed of each axis based on the target distance, the time corresponding to the pressure peak of each axis, and the time when the highest point of each axis passes through the scanning surface of the transverse scanning component;

[0076] S43: Determine the average value of the speed of each axis as the average speed of the vehicle to be tested.

[0077] In this embodiment, the determined vehicle information may include the average speed of the vehicle under test. The average speed of the vehicle under test may be the speed of a particular axle. Considering that the speed of the vehicle under test is not constant, to improve the accuracy of vehicle speed determination, the average speed of each axle may be determined as the average speed of the vehicle under test. For example, for a six-axle vehicle, the average speed of the vehicle under test is the average speed of all six axles.

[0078] In order to determine the speed of each axis, the speed of each axis can be measured separately by a speed sensor to obtain the speed of each axis. In order to reduce the detection cost of the measurement information, in this embodiment, the speed of each axis can be determined based on the vehicle pressure information of the vehicle to be tested obtained by the weighing sensor, and the side point cloud information. This can be done by: determining the moment corresponding to the pressure peak of each axis based on the vehicle pressure information; determining the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component based on the side point cloud information; determining the speed of each axis based on the target distance, the moment corresponding to the pressure peak of each axis, and the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component. The method for determining the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component is similar to that in the aforementioned embodiment and will not be repeated here.

[0079] Here, at the moment corresponding to the pressure peak of each axis, the middle position of the axis is pressed on the middle position of the weighing sensor; at the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component, the middle position of the axis is located within the scanning surface of the transverse scanning component; and since the target distance is half of the target width, from the moment corresponding to the pressure peak of each axis to the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component, the distance moved forward by the vehicle to be tested is half of the target width plus the target distance, that is, twice the target distance. Therefore, based on the target distance and the above two moments, the speed of each axis can be determined.

[0080] For example, vehicle pressure information of the vehicle under test can be obtained when the vehicle under test passes through the narrow strip sensor 303. From the vehicle pressure information, the time Tn when each axle of the vehicle under test begins to pass through the narrow strip sensor 303, the time Tm corresponding to the pressure peak of each axle of the vehicle under test, the time Tl when each axle of the vehicle under test ends to pass through the narrow strip sensor 303, and the number of axles of the vehicle under test can be obtained.

[0081] The speed of each axis of the vehicle to be tested is obtained based on the time Tm corresponding to the pressure peak of each axis of the vehicle to be tested, the time tm when the highest point of each axis of the vehicle to be tested passes through the scanning surface of the scanning laser sensor 302, and the distance L between the scanning surface of the scanning laser sensor 302 and the near end of the narrow strip sensor 303; the speed of each axis is averaged to obtain the average speed of the vehicle.

[0082] Through this embodiment, the speed of each axis is determined according to the vehicle pressure information and the side point cloud information, and the average speed of the vehicle to be tested is obtained based on the speed of each axis, which can reduce the measurement cost of the vehicle speed and improve the accuracy of the vehicle speed detection.

[0083] In an exemplary embodiment, determining vehicle information of a vehicle to be tested based on vehicle weighing detection information and side point cloud information includes:

[0084] S51, converting the side point cloud information into side profile information;

[0085] S52, obtaining single and double tire information of each axle of the vehicle to be tested from the side profile information; and / or,

[0086] S53 , determining single and double tire information of each axle of the vehicle to be tested based on the force-bearing width information of the vehicle to be tested obtained by the weighing sensor, wherein the vehicle weighing detection information includes the force-bearing width information.

[0087] In this embodiment, the determined vehicle information may include axle information related to the vehicle under test. Specifically, axle-related information may include, but is not limited to, at least one of the following: the number of axles of the vehicle under test, the odd / even tire information of each axle of the vehicle under test, the diameter of each axle, and information indicating whether each axle is a suspended axle. Furthermore, the determined vehicle information may include, for example, the average speed of the vehicle under test.

[0088] As an optional implementation, the axle information of the vehicle under test can be determined based on the side point cloud information. The side point cloud information can first be converted into side profile information. The conversion method is similar to that in the aforementioned embodiment and is not further described here. From the converted side profile information, the axle information of the vehicle under test can be obtained, namely, the axle information of at least one of the aforementioned axles.

[0089] In related technologies, axle identifiers are typically used to obtain a vehicle's odd / even tire information. However, these identifiers are often crushed by freight vehicles, resulting in a short service life. In this embodiment, the axle information of the vehicle under test, obtained from side profile information, can include the odd / even tire information for each axle, namely, the first odd / even tire information. Compared to using a dedicated axle identifier, this improves the convenience of obtaining odd / even tire information while reducing information detection costs.

[0090] As another optional embodiment, the axle information of the vehicle to be tested can be determined through the vehicle weighing detection information. Here, the vehicle weighing detection information may include at least one of the vehicle pressure information or the force width information of the vehicle to be tested obtained by the weighing sensor. For example, when the vehicle to be tested passes through the narrow strip sensor 303, the vehicle pressure information and force width information of the vehicle to be tested can be obtained. The axle information of the vehicle to be tested can be determined based on the vehicle pressure information and force width information of the vehicle to be tested. The type of axle information determined is similar to the above and will not be repeated here. Optionally, in order to improve the convenience of obtaining single and double tire information, the single and double tire information of each axle of the vehicle to be tested, that is, the second single and double tire information, can also be determined based on the force width information.

[0091] Here, the force width information is composed of the force width of the weighing sensor at different times. The force width at a certain moment is the sum of the positions on the weighing sensor where the pressure value is greater than a certain threshold. The duration of the force width can reflect the vehicle speed. For example, the force width of the narrow strip sensor 303 at a certain moment is the sum of the positions on the narrow strip sensor 303 where the pressure value is greater than a certain threshold. Figure 9 The diagram is a schematic diagram of the force width generated when a 6-axle vehicle passes through the narrow strip sensor 303. The force width of the first three axes lasts for a long time, indicating that the speed of the vehicle to be tested is slow, and the force width of the last three axes lasts for a short time, indicating that the speed of the vehicle to be tested is fast.

[0092] Based on the force width information, the single and double tire information of each axle of the vehicle to be tested can be determined. The force width corresponding to the double tire is greater than the force width corresponding to the single tire. That is, the single tire has a narrow contact with the ground, so the force width is narrow, and the double tire has a wide contact with the ground, so the force width is wide.

[0093] After determining the second odd / even information, the second odd / even information can be matched with the first odd / even information to obtain the odd / even information for each axle. For a particular axle, if the first odd / even information matches the second odd / even information, either one can be used as the odd / even information for that axle. If the two do not match, the second odd / even information can be used as the odd / even information for that axle. Axes where the first odd / even information does not match the second odd / even information can also be recorded to facilitate tracing of abnormal axles.

[0094] For example, by matching the side profile information with the force-applied width information, information such as the average speed, weight, number of axles, and odd / even tire information of the vehicle under test can be obtained. If the vehicle under test does not have a suspended axle, the odd / even tire information obtained from the side profile information is consistent with that obtained from the force-applied width information, and either the odd / even tire information obtained from the side profile information or the force-applied width information can be determined as the odd / even tire information of the vehicle under test. If the vehicle under test has a suspended axle, since the suspended axle is not in contact with the ground, the odd / even tire information obtained from the side profile information is inconsistent with that obtained from the force-applied width information. In this case, the presence of a suspended axle can be determined, and the odd / even tire information obtained from the force-applied width information can be determined as the odd / even tire information of the vehicle under test.

[0095] Through this embodiment, the single and double tire information of the vehicle is verified by using the side profile information and the force-bearing width information of the vehicle, so that the accuracy of determining the single and double tire information can be improved.

[0096] In an exemplary embodiment, determining vehicle information of a vehicle to be tested based on vehicle weighing detection information and side point cloud information includes:

[0097] S61, converting the side point cloud information into side profile information;

[0098] S62, obtaining a first axle number of the vehicle to be tested from the side profile information;

[0099] S63, determining the second axle number of the vehicle to be tested based on the vehicle pressure information of the vehicle to be tested acquired by the weighing sensor, wherein the vehicle weighing detection information includes the vehicle pressure information;

[0100] S64: When the first axle number and the second axle number are inconsistent, determining whether the vehicle to be tested has a suspended axle.

[0101] In this embodiment, the determined vehicle information of the vehicle to be tested may include the number of axles of the vehicle to be tested. There may be multiple ways to determine the number of axles of the vehicle to be tested. For example, the side point cloud information may be converted into side profile information in a similar manner as described above, and the first axle number of the vehicle to be tested may be obtained from the side profile information. For another example, the second axle number of the vehicle to be tested may be determined based on the vehicle pressure information of the vehicle to be tested obtained by the weighing sensor. Here, since there is a certain interval between the times when different axles are pressed on the weighing sensor, the vehicle pressure information may reflect the number of axles of the vehicle to be tested. For example, Figure 4 As shown, the 6-axle vehicle forms 6 interval pressure curves, corresponding to each axle.

[0102] Optionally, the number of the third axle of the vehicle to be tested can be determined based on the force width information. Since the time when different axles press on the weighing sensor has a certain interval, the number of axles of the vehicle to be tested can be determined based on the number of consecutive time periods of the force width. For example, Figure 9 As shown, the 6-axle vehicle forms 6 spaced force-width curves, corresponding to each axle.

[0103] After determining the second number of axles (and / or the third number of axles), the second number of axles (and / or the third number of axles) can be matched with the first number of axles to obtain the number of vehicle axles of the vehicle to be tested. When the vehicle to be tested does not have a suspended axle, the first number of axles is consistent with the second number of axles (and / or the third number of axles), and any one of the first number of axles and the second number of axles (and / or the third number of axles) can be determined as the number of vehicle axles of the vehicle to be tested; when the vehicle to be tested has a suspended axle, since the suspended axle is not in contact with the ground, no pressure is generated on the weighing sensor, so the first number of axles is inconsistent with the second number of axles (and / or the third number of axles). In the case where the first number of axles is inconsistent with the second number of axles (and / or the third number of axles), it can be determined that the vehicle to be tested has a suspended axle, the second number of axles (or the third number of axles) can be determined as the number of vehicle axles of the vehicle to be tested, and the difference between the first number of axles and the second number of axles (or the third number of axles) can be determined as the number of suspended axles of the vehicle to be tested.

[0104] Alternatively, since suspended axles are essentially ground-independent and therefore have a small or even no ground contact length, it's possible to determine whether each axle is a suspended axle from the side profile. However, due to factors like image distortion, this identification accuracy is low. The pressure information generated by the axle directly reflects whether the axle is grounded. Therefore, determining the number of vehicle axles (e.g., the second and third axles) and suspended axle information based on vehicle weighing information offers greater accuracy.

[0105] Through this embodiment, the number of axles of the vehicle is verified by using the side profile information and vehicle pressure information of the vehicle to be tested, so that the accuracy of determining the number of axles of the vehicle can be improved.

[0106] The vehicle information detection method in the embodiment of the present application is explained below with reference to an optional example. In this optional example, the transverse scanning component is a scanning laser sensor, and the weighing sensor is a single-row narrow strip sensor.

[0107] This optional example provides a weighing system with long service life, short construction period and low cost. The layout of the weighing system can be as follows: Figure 3 Based on the weighing system, the process of the vehicle information detection method in this optional example may include the following steps:

[0108] Step 1: Obtain side point cloud information obtained by a scanning laser sensor performing a lateral scan on the vehicle to be tested, and convert the side point cloud information into side profile information.

[0109] Step 2: Obtain vehicle force information and force width information obtained by detecting the vehicle to be tested using a single row of narrow strip sensors.

[0110] Step 3: Calculate the weight of the vehicle to be tested and the average speed of the vehicle based on the side profile information and the vehicle force information.

[0111] Step 4: Match the side profile information with the vehicle force information and force width information to obtain information such as the number of axles, single and double tire information, tire diameter, and whether it contains a suspended axle.

[0112] Through this optional example, the weighing system uses a combination of a single-row narrow-strip sensor and a scanning laser sensor to obtain information such as the weight, number of axles, single and double tire information, tire diameter, speed, and whether it contains a suspended axle of the vehicle to be tested. It has a long service life, a short construction period, and low cost, thereby solving the problems of short service life, long construction period, and high cost in the existing technology.

[0113] 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.

[0114] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory, Read-Only Memory) / RAM (Random Access Memory, Random Access Memory), a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present application.

[0115] 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:

[0116] A weighing sensor is set on the target lane;

[0117] A transverse scanning component, wherein a target distance between the transverse scanning component and the load cell in the driving direction is half a target width of the load cell in the driving direction of the target lane;

[0118] The data processor 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 side point cloud information obtained by the side scanning component when the vehicle to be tested is horizontally scanned; and determine the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information.

[0119] It should be noted that the data processor may be a component on a server or processing device that executes the aforementioned acquisition of side point cloud information, vehicle force information, and force-applied width information, such as a processor or controller. The method for determining vehicle information from side point cloud information, vehicle force information, and force-applied width information is similar to that in the aforementioned embodiment and has already been described, so it will not be repeated here.

[0120] Through the above-mentioned vehicle information detection system, 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, wherein the weighing sensor is set on the target lane; side point cloud information obtained by the lateral scanning component for lateral scanning of the vehicle to be tested is obtained, wherein the target distance between the lateral scanning component and the weighing sensor in the driving direction along the target lane is half of the target width of the weighing sensor along the driving direction; vehicle information of the vehicle to be tested is determined based on the vehicle weighing detection information and the side point cloud information, which solves 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.

[0121] In an exemplary embodiment, the data processor is further used to determine the peak pressure value of each axle of the vehicle to be tested based on the vehicle pressure information of the vehicle to be tested obtained by the weighing sensor, wherein the vehicle weighing detection information includes vehicle pressure information; determine the pressure value in the vehicle pressure information corresponding to the moment when the highest point of each axle passes through the scanning surface of the transverse scanning component to obtain a reference pressure value of each axis; determine the sum of the peak pressure value of each axis and twice the reference pressure value of each axis as the weight of each axle; perform a summation operation on the weight of each axle to obtain the weight of the vehicle to be tested.

[0122] In an exemplary embodiment, the data processor is further configured to convert the side point cloud information into side profile information; and obtain the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component from the side profile information.

[0123] In an exemplary embodiment, the data processor is further used to determine the rectangular coordinate information corresponding to each measuring point based on the scanning angle corresponding to each measuring point in the side point cloud information, the component height of the transverse scanning component, and the distance between each measuring point and the transverse scanning component, wherein the rectangular coordinate information corresponding to each measuring point is the coordinate information of each measuring point in the target coordinate system; determine the side profile information based on the rectangular coordinate information corresponding to each measuring point and the scanning time corresponding to each measuring point; wherein the coordinate origin of the target coordinate system is the projection of the transverse scanning component on the ground, and the three coordinate axes of the target coordinate system include: a first coordinate axis passing through the coordinate origin, perpendicular to the driving direction and parallel to the ground, a second coordinate axis passing through the coordinate origin and perpendicular to the ground, and a third coordinate axis passing through the coordinate origin and parallel to the driving direction.

[0124] In an exemplary embodiment, the data processor is further used to determine the time corresponding to the pressure peak of each axis of the vehicle to be tested based on the vehicle pressure information of the vehicle to be tested obtained by the weighing sensor, wherein the vehicle weighing detection information includes vehicle pressure information; determine the speed of each axis based on the target distance, the time corresponding to the pressure peak of each axis, and the time when the highest point of each axis passes through the scanning surface of the transverse scanning component; and determine the average of the speed of each axis as the average speed of the vehicle to be tested.

[0125] In an exemplary embodiment, the data processor is further used to convert the side point cloud information into side profile information; obtain the single and double tire information of each axle of the vehicle to be tested from the side profile information; and / or determine the single and double tire information of each axle of the vehicle to be tested based on the force width information of the vehicle to be tested obtained by the weighing sensor, wherein the vehicle weighing detection information includes the force width information.

[0126] In an exemplary embodiment, the data processor is further used to convert the side point cloud information into side profile information; obtain the first axle number of the vehicle to be tested from the side profile information; determine the second axle number of the vehicle to be tested based on the vehicle pressure information of the vehicle to be tested obtained by the weighing sensor, wherein the vehicle weighing detection information includes vehicle pressure information; and determine that the vehicle to be tested has a suspended axle when the first axle number and the second axle number are inconsistent.

[0127] 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 1The hardware environment shown can be implemented through software or hardware, wherein the hardware environment includes a network environment.

[0128] According to another aspect of the embodiments of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of any of the above-mentioned vehicle information detection methods in the embodiments of the present application.

[0129] Optionally, in this embodiment, the above-mentioned storage medium may be located on at least one network device among the multiple network devices in the network shown in the above-mentioned embodiment.

[0130] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps:

[0131] S1, obtaining vehicle weighing detection information obtained by the weighing sensor when the vehicle to be tested passes through the weighing sensor, wherein the weighing sensor is set on the target lane;

[0132] S2, obtaining side point cloud information obtained by a lateral scanning component performing a lateral scan on the vehicle to be tested, wherein a target distance between the lateral scanning component and the weighing sensor in the driving direction along the target lane is half a target width of the weighing sensor in the driving direction;

[0133] S3, determining the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information.

[0134] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0135] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0136] According to another aspect of an embodiment of the present application, an electronic device for implementing the above-mentioned vehicle information detection method is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0137] Figure 10 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Figure 10 As shown, it includes a processor 1002, a communication interface 1004, a memory 1006 and a communication bus 1008, wherein the processor 1002, the communication interface 1004 and the memory 1006 communicate with each other through the communication bus 1008, wherein,

[0138] Memory 1006, used to store computer programs;

[0139] The processor 1002 is configured to execute the computer program stored in the memory 1006 to implement the following steps:

[0140] S1, obtaining vehicle weighing detection information obtained by the weighing sensor when the vehicle to be tested passes through the weighing sensor, wherein the weighing sensor is set on the target lane;

[0141] S2, obtaining side point cloud information obtained by a lateral scanning component performing a lateral scan on the vehicle to be tested, wherein a target distance between the lateral scanning component and the weighing sensor in the driving direction along the target lane is half a target width of the weighing sensor in the driving direction;

[0142] S3, determining the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information.

[0143] Optionally, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 10 The communication interface is used for communication between the electronic device and other devices.

[0144] The memory may include RAM, or may include non-volatile memory, such as at least one disk memory. Alternatively, the memory may also be at least one storage device located away from the aforementioned processor.

[0145] The above-mentioned processor can be a general-purpose processor, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0146] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0147] It can be understood by those skilled in the art that Figure 10 The structure shown is for illustration only. The device for implementing the above-mentioned vehicle information detection method may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Figure 10 It does not limit the structure of the above electronic device. For example, the electronic device may also include Figure 10 More or fewer components (such as network interfaces, display devices, etc.) shown in, or with Figure 10 Different configurations shown.

[0148] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0149] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0150] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above-mentioned computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application.

[0151] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0152] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0153] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the purpose of the solution provided in this embodiment.

[0154] In addition, the functional units in the various embodiments of the present application may be integrated into a processing unit, or each unit may exist physically separately, or at least two units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional units.

[0155] 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 a weighing sensor, vehicle weighing detection information obtained by the weighing sensor detecting the vehicle to be tested is obtained, wherein the weighing sensor is arranged on a target lane; Acquiring side point cloud information obtained by a transverse scanning component performing a transverse scan on the vehicle to be tested, wherein a target distance between the transverse scanning component and the weighing sensor in a driving direction along the target lane is half a target width of the weighing sensor in the driving direction; Determining vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information; Wherein, determining the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information includes: determining the pressure peak of each axle of the vehicle to be tested based on the vehicle pressure information of the vehicle to be tested obtained by the weighing sensor, wherein the vehicle weighing detection information includes the vehicle pressure information; determining the pressure value in the vehicle pressure information corresponding to the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component to obtain the reference pressure value of each axis; determining the sum of the pressure peak of each axis and twice the reference pressure value of each axis as the weight of each axle; 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 method further comprises: Converting the side point cloud information into side profile information; The moment when the highest point of each axis passes through the scanning surface of the transverse scanning component is obtained from the side profile information.

3. The method according to claim 2, characterized in that The converting the side point cloud information into side profile information comprises: Determining rectangular coordinate information corresponding to each measurement point based on a scanning angle corresponding to each measurement point in the side point cloud information, a component height of the transverse scanning component, and a distance between each measurement point and the transverse scanning component, wherein the rectangular coordinate information corresponding to each measurement point is coordinate information of each measurement point in a target coordinate system; determining the side profile information according to the rectangular coordinate information corresponding to each measurement point and the scanning time corresponding to each measurement point; Among them, the coordinate origin of the target coordinate system is the projection of the horizontal scanning component on the ground, and the three coordinate axes of the target coordinate system include: a first coordinate axis passing through the coordinate origin, perpendicular to the driving direction and parallel to the ground, a second coordinate axis passing through the coordinate origin and perpendicular to the ground, and a third coordinate axis passing through the coordinate origin and parallel to the driving direction.

4. The method according to claim 1, wherein The determining of the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information includes: Determining, based on the vehicle pressure information of the vehicle to be tested acquired by the weighing sensor, a time corresponding to a pressure peak of each axle of the vehicle to be tested, wherein the vehicle weighing detection information includes the vehicle pressure information; determining the speed of each axis based on the target distance, the time corresponding to the peak pressure of each axis, and the time when the highest point of each axis passes through the scanning surface of the transverse scanning component; The average value of the speed of each axis is determined as the average speed of the vehicle to be tested.

5. The method according to any one of claims 1 to 4, characterized in that The determining of the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information includes: Converting the side point cloud information into side profile information; acquiring single and double tire information of each axle of the vehicle to be tested from the side profile information; and / or, The single and double tire information of each axle of the vehicle to be tested is determined according to the force-bearing width information of the vehicle to be tested acquired by the weighing sensor, wherein the vehicle weighing detection information includes the force-bearing width information.

6. The method according to any one of claims 1 to 4, characterized in that The determining of the vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information includes: Converting the side point cloud information into side profile information; Acquire a first axle number of the vehicle to be tested from the side profile information; determining the second axle number of the vehicle to be tested according to the vehicle pressure information of the vehicle to be tested acquired by the weighing sensor, wherein the vehicle weighing detection information includes the vehicle pressure information; When the first number of axles is inconsistent with the second number of axles, it is determined that the vehicle to be tested has a suspended axle.

7. A vehicle information detection system, characterized in that: include: A weighing sensor is provided on the target lane; a transverse scanning component, wherein a target distance between the transverse scanning component and the weighing sensor in the driving direction along the target lane is half a target width of the weighing sensor in the driving direction; a data processor configured to obtain vehicle weighing detection information obtained by the weighing sensor when the vehicle to be tested passes through the weighing sensor; obtain side point cloud information obtained by the lateral scanning component when the vehicle to be tested is laterally scanned; and determine vehicle information of the vehicle to be tested based on the vehicle weighing detection information and the side point cloud information; Wherein, the data processor is further used to determine the peak pressure value of each axle of the vehicle to be tested based on the vehicle pressure information of the vehicle to be tested obtained by the weighing sensor, wherein the vehicle weighing detection information includes the vehicle pressure information; determine the pressure value in the vehicle pressure information corresponding to the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component, and obtain the reference pressure value of each axis; determine the sum of the peak pressure value of each axis and twice the reference pressure value of each axis as the weight of each axle; perform a summation operation on the weight of each axle to obtain the weight of the vehicle to be tested.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

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