Vehicle information collection laser ranging method, equipment and system

Abstract

The present application provides a vehicle information collection laser ranging method, device, and system. The vehicle information collection laser ranging method comprises: detecting the position of the vehicle body; performing laser ranging on the vehicle body from top to bottom; starting to decrease distance A in a loop after detecting that the distance is less than a distance threshold for the first time, and then decreasing distance B after detecting that the distance is less than the distance threshold for the second time; and outputting laser ranging data. The vehicle information collection laser ranging method of the present application performs laser ranging on the vehicle body from top to bottom, starting to decrease distance A in a loop after detecting that the distance is less than the distance threshold for the first time, and then decreasing distance B after detecting that the distance is less than the distance threshold for the second time. Based on the vehicle body structure, the roof, windows, and doors are sequentially detected to locate flat and regular areas on the vehicle body, and the laser ranging data is output, thereby improving the accuracy of laser ranging.

Description

Technical Field

[0001] The present application belongs to the field of vehicle inspection technology, and more specifically, relates to a vehicle information collection laser ranging method, equipment and system. Background Art

[0002] In the one-stop customs clearance lanes at domestic checkpoints and other places, after the vehicle stops and receives the vehicle stop signal sent by the lane control platform, the driver can sit in the car and roll down the window to accept inspection by the inspection equipment according to the inspection requirements. For example, the inspection equipment is extended to the vicinity of the window through the drive unit to collect the driver's face, iris and other biometric features, or scan the driver's license, passport, pass, ID card and other documents presented by the driver.

[0003] In order to prevent the inspection equipment from touching the vehicle body, while requiring the vehicle to be within the effective inspection distance of the inspection equipment, precise distance measurement is required. In the existing technology, the distance of the vehicle is measured by laser ranging. Laser ranging measures the distance by the reflection time of light and the intensity of the received reflected light. However, due to the unevenness of the vehicle body and the dark surface that absorbs light, the vehicle distance detection results are inaccurate. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a vehicle information collection laser ranging method, device and system to solve the technical problem of inaccurate detection results in the process of vehicle body laser ranging in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is to provide a vehicle information collection laser ranging method, including:

[0006] Detect vehicle position;

[0007] Carry out laser ranging of the vehicle body from top to bottom;

[0008] After the first detection that the distance is less than the distance threshold, the system starts to decrease the distance A in a loop until the second detection that the distance is less than the distance threshold and then decreases the distance B;

[0009] Output laser ranging data.

[0010] Preferably, after outputting the laser ranging data, the method further includes the following steps:

[0011] Sort the continuously acquired laser ranging data according to the output time;

[0012] Input the sorted laser ranging data into the recursive sampling window;

[0013] Remove several maximum and minimum values ​​within the recursive sampling window;

[0014] Performing average filtering on the remaining laser ranging data within the recursive sampling window;

[0015] Output filtered laser ranging data.

[0016] Preferably, after outputting the filtered laser ranging data, the method further includes the following steps:

[0017] Determine whether the change of two adjacent filtered laser ranging data exceeds the fluctuation threshold, and if so, issue an alarm signal.

[0018] Preferably, detecting the vehicle body position includes the steps of:

[0019] Detect the position of the front and rear of the vehicle and determine the middle position of the vehicle body;

[0020] Estimate the front door position based on the vehicle body center position and the vehicle body wheelbase L;

[0021] The position where the laser ranging of the vehicle body is performed from top to bottom is the front door position.

[0022] Preferably, the method for obtaining the vehicle wheelbase L comprises the steps of:

[0023] Two ground pressure sensing devices are set in the lane with a front-to-rear interval of D;

[0024] A time interval Δt1 is detected when the front wheel and rear wheel of the vehicle pass through any one of the ground pressure sensing devices, and a time interval Δt2 is detected when the front wheel or rear wheel of the vehicle passes through two ground pressure sensing devices;

[0025] The formula for calculating the vehicle wheelbase L is:

[0026]

[0027] Preferably, after the first detection that the distance is less than the distance threshold, the process starts to cyclically descend the distance A, and until the second detection that the distance is less than the distance threshold, the process further includes the following steps:

[0028] The degree of opening of the window is determined based on the number of cycles of the cyclic descending distance A.

[0029] Preferably, the method for performing laser ranging includes:

[0030] Sending an incident laser group signal;

[0031] Receive reflected laser group signals and obtain reflection angles;

[0032] Output laser ranging results according to the reflection angle.

[0033] Preferably, the step of outputting the laser ranging result according to the reflection angle includes:

[0034] Obtain a distance data set corresponding to the reflection angles of all light points in the reflected laser group at each moment;

[0035] Perform a logical "AND" operation on the distance dataset X obtained at the current moment and the distance dataset Y obtained at the previous moment to obtain a common dataset Z;

[0036] The mean of the common data set Z is taken as the laser ranging result.

[0037] The present application also provides a vehicle information collection and ranging device for implementing the vehicle information collection laser ranging method described above, the vehicle information collection and ranging device comprising:

[0038] A vehicle body position detection device, used to detect the vehicle body position;

[0039] A laser ranging device and a driving unit, wherein the driving unit is used to drive the laser ranging device to perform laser ranging on the vehicle body from top to bottom;

[0040] The control unit is used to receive detection data from the laser ranging device and control the movement of the driving unit, as well as output laser ranging data.

[0041] The present application also provides a vehicle information collection system, including a vehicle information inspection device and the vehicle information collection and ranging device as described above, wherein the vehicle information collection and ranging device is used to measure the distance of the vehicle body, and the vehicle information inspection device is used to collect vehicle information.

[0042] Compared with the existing technology, the vehicle information collection laser ranging method provided in this application performs laser ranging on the vehicle body from top to bottom. After the distance is detected to be less than the distance threshold for the first time, it starts to cyclically decrease the distance A until the distance is detected to be less than the distance threshold for the second time and then decreases the distance B. Based on the vehicle body structure, the roof, windows and doors are detected in sequence to locate the flat and regular areas on the vehicle body, and the laser ranging data is output, thereby improving the accuracy of laser ranging.

[0043] Compared with the prior art, the vehicle information collection and ranging device provided in this application can realize the vehicle information collection laser ranging method as described above, and thus has the same beneficial effects as the vehicle information collection laser ranging method.

[0044] Compared with the prior art, the vehicle information collection system provided by the present application can improve the accuracy of vehicle body distance measurement and the information collection efficiency of vehicle information inspection equipment by setting the vehicle information collection and ranging equipment as described above, while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 A schematic diagram of the process of the vehicle information collection laser ranging method provided in an embodiment of the present application;

[0047] Figure 2 Based on Figure 1 Schematic diagram of the application scenario of the method in

[0048] Figure 3 Based on Figure 1 Schematic diagram of the process of filtering continuously acquired laser ranging data using the method in FIG.

[0049] Figure 4 Based on Figure 1 Schematic diagram of a scenario in which the method in the present invention measures the wheelbase by using a ground pressure sensing device;

[0050] Figure 5 Based on Figure 1 Schematic diagram of the optical path for obtaining the reflection angle by using the laser ranging method;

[0051] Figure 6 Based on Figure 1 Schematic diagram of the data processing process of outputting laser ranging results according to the reflection angle in the method;

[0052] Figure 7 A schematic diagram of a vehicle information collection and ranging device provided in an embodiment of the present application;

[0053] Figure 8 A schematic diagram of a vehicle information collection system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0055] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0056] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0058] Please also refer to Figures 1 to 2 The vehicle information collection laser ranging method provided in the embodiment of the present application is now described. The vehicle information collection laser ranging method includes:

[0059] Step S1, detecting the vehicle position;

[0060] Step S2, performing laser ranging on the vehicle body from top to bottom;

[0061] Step S3, after detecting that the distance is less than the distance threshold for the first time, the distance A is decreased cyclically until the distance is decreased to the distance B after detecting that the distance is less than the distance threshold for the second time;

[0062] Step S4: output laser ranging data.

[0063] It is understandable that in one-stop customs lanes at domestic checkpoints and other locations, after a vehicle has come to a complete stop and receives a signal from the lane control platform, the driver can sit inside and, according to inspection requirements, roll down the window to allow inspection equipment to inspect the vehicle. For example, the inspection equipment can extend its drive unit near the vehicle window to collect biometric features such as the driver's face and iris, or scan the driver's presented driver's license, passport, pass, ID card, or other documents. To ensure that the inspection equipment does not touch the vehicle while maintaining the vehicle within the effective inspection range of the inspection equipment, it is necessary to accurately measure the distance to the vehicle, accommodating the unevenness of the vehicle body.

[0064] After investigating and testing different types of commonly used civilian vehicles, it was found that only the area 10cm-30cm below the window is a relatively flat and regular surface that can achieve mirror reflection. The ranging accuracy is high, and it can better reflect the position of the side of the vehicle body. It is suitable for more than 95% of commonly used civilian vehicles.

[0065] Therefore, in step S1 of the present application, the position of the vehicle body can be detected by the vehicle detection equipment set in the lane. After the vehicle body is in place, step S2 of the present application is executed, and a laser ranging device is used to perform laser ranging on the vehicle body from top to bottom. When the height of the laser ranging device is greater than the roof height H1 of the vehicle, its ranging result is large or there is no feedback result due to the large distance. When the height of the laser ranging device drops to below the roof height H1, the vehicle body is detected, and the detection distance will drop sharply at this time.

[0066] Thus, in step S3 of the present application, when the height of the laser ranging device drops to the roof height H1, the detection distance is less than the distance threshold, and then the laser ranging device starts to drop a distance A. At this time, if the position of the laser ranging device is between H2-H3, since the window position is between H2-H3, after the window glass is lowered, the laser ranging device cannot detect the vehicle body, and then the laser ranging device continues to drop a distance A; until the laser ranging device drops to a height lower than the lower edge of the window H3, the laser ranging device detects the vehicle door, and the laser ranging device detects for the second time that the distance to the vehicle body is less than the distance threshold, and then after the laser ranging device drops a distance B, it reaches near the height H of the flat area on the door.

[0067] Finally, in step S4 of the present application, the laser ranging device measures the distance of the flat area on the vehicle door, so that accurate laser ranging data can be obtained.

[0068] Compared with the existing technology, the vehicle information collection laser ranging method provided in this application performs laser ranging on the vehicle body from top to bottom. After the distance is detected to be less than the distance threshold for the first time, it starts to cyclically decrease the distance A until the distance is detected to be less than the distance threshold for the second time and then decreases the distance B. Based on the vehicle body structure, the roof, windows and doors are detected in sequence to locate the flat and regular areas on the vehicle body, and the laser ranging data is output, thereby improving the accuracy of laser ranging.

[0069] In another embodiment of this application, please refer to Figure 3 After step S4, after outputting the laser ranging data, the method further includes the following steps:

[0070] Sort the continuously acquired laser ranging data according to the output time;

[0071] Input the sorted laser ranging data into the recursive sampling window;

[0072] Remove several maximum and minimum values ​​within the recursive sampling window;

[0073] Performing average filtering on the remaining laser ranging data within the recursive sampling window;

[0074] Output filtered laser ranging data.

[0075] Understandably, the accuracy of laser ranging is also affected by the color of the vehicle. Dark surfaces, due to their significant light absorption, can cause the laser sensor to capture significantly erroneous distance values. Furthermore, when the vehicle's generator is running, the vehicle itself experiences high-frequency vibrations. This exponentially exacerbates the fluctuations in the laser beam, which is affected by both dark absorption and vehicle vibration. The characteristics of the measured signal change over time, and conventional filters may not achieve the desired filtering effect. However, due to the high-frequency nature of laser ranging, removing some high-error data has a minimal impact on real-time detection. Therefore, this embodiment first removes several maxima and minima within a recursive sampling window, removing detection data affected by both dark absorption and vehicle vibration. The remaining laser ranging data within the sampling window is data affected only by dark absorption or vehicle vibration, or unaffected. Average filtering is then performed on this remaining laser ranging data within the recursive sampling window to produce filtered laser ranging data. This further improves the accuracy of laser ranging, while maintaining satisfactory real-time performance.

[0076] Furthermore, after outputting the filtered laser ranging data, the following steps are also included:

[0077] Determine whether the change of two adjacent filtered laser ranging data exceeds the fluctuation threshold, and if so, issue an alarm signal.

[0078] It is understandable that if the change in two adjacent filtered laser ranging data exceeds the fluctuation threshold, it means that the vehicle has moved or the owner has opened the door. Both situations will cause damage to the inspection equipment, and the owner will be notified by issuing an alarm signal and the inspection equipment will be quickly retracted.

[0079] In another embodiment of this application, please refer to Figure 4 In step S1, detecting the vehicle position includes the following steps:

[0080] Detect the position of the front and rear of the vehicle and determine the middle position of the vehicle body;

[0081] Estimate the front door position based on the vehicle body center position and the vehicle body wheelbase L;

[0082] The position where the laser ranging of the vehicle body is performed from top to bottom is the front door position.

[0083] It is understandable that the infrared sensors on both sides of the existing lane can determine the position of the front and rear of the vehicle to determine the middle position of the vehicle body. Usually, the middle position of the vehicle body of a common civilian vehicle is the junction of the front door and the rear door. Therefore, based on the middle position of the vehicle body, move approximately The distance is just right between the front door and the front window and steering wheel.

[0084] For further information, please also refer to Figure 4 The method for obtaining the vehicle wheelbase L comprises the following steps:

[0085] Two ground pressure sensing devices are set in the lane with a front-to-rear interval of D;

[0086] A time interval Δt1 is detected when the front wheel and rear wheel of the vehicle pass through any one of the ground pressure sensing devices, and a time interval Δt2 is detected when the front wheel or rear wheel of the vehicle passes through two ground pressure sensing devices;

[0087] The formula for calculating the vehicle wheelbase L is:

[0088]

[0089] It is understood that when a vehicle passes two ground pressure sensing devices in succession, the front and rear wheels of the vehicle will successively pass the two ground pressure sensing devices set in the lane. Each ground pressure sensing device can record the time when it is first pressed by the wheel and the time when it is pressed by the wheel again. Therefore, the time interval Δt1 and the time interval Δt2 can be obtained. The distance D between the two ground pressure sensing devices is obtained through pre-measurement. Therefore, the vehicle speed V can be estimated first, where According to the time interval Δt1 when the front wheel and the rear wheel pass through any ground pressure sensor at a speed V, the distance between the front wheel and the rear wheel, that is, the wheelbase L of the vehicle body, can be calculated. In this way, the vehicle wheelbase L can be calculated by sensing the passing time of the vehicle's front and rear wheels through two ground pressure sensing devices, so as to accurately estimate the position of the front door, which is applicable to different models of commonly used civilian vehicles.

[0090] In another embodiment of the present application, in step S3, after the first detection that the distance is less than the distance threshold, the cycle begins to descend by distance A, and until the second detection that the distance is less than the distance threshold, before descending by distance B, the following steps are further included:

[0091] The degree of opening of the window is determined based on the number of cycles of the cyclic descending distance A.

[0092] It can be understood that if the number of cycles of descending distance A is 1, that is, the laser ranging device descends distance A once, it indicates that the window is not open. If the cycle threshold is 3, that is, the laser ranging device descends distance A three times, it indicates that the window is not fully open. In this way, the number of cycles of descending distance A can be used to determine the condition of the window, avoiding the inspection device from touching the window due to the window not being opened, thereby improving safety.

[0093] In another embodiment of this application, please refer to Figure 5 In step S2, the laser ranging method includes:

[0094] Sending an incident laser group signal;

[0095] Receive reflected laser group signals and obtain reflection angles;

[0096] Output laser ranging results according to the reflection angle.

[0097] It's understandable that since the incident laser group's emitting end, the reflecting surface, and the reflected laser group's receiving end form a triangle, when the positions of the incident laser group's emitting end and the reflected laser group's receiving end are fixed, the farther the reflecting surface is, the smaller the reflection angle is, and the closer the reflecting surface is, the larger the reflection angle is. Conventional laser ranging measures distance based on the reflection time of light and the intensity of the received reflected light. High-gloss surfaces, irregular concave-convex surfaces, and dark surfaces can significantly affect laser distance measurement. Therefore, measuring distance by obtaining the reflection angle can avoid errors caused by reflection from high-gloss surfaces, light absorption from irregular concave-convex surfaces, and dark surfaces, thereby improving the accuracy and applicability of laser ranging.

[0098] For further information, please also refer to Figure 6 In step S2, the step of outputting the laser ranging result according to the reflection angle includes:

[0099] Obtain a distance data set corresponding to the reflection angles of all light points in the reflected laser group at each moment;

[0100] Perform a logical "AND" operation on the distance dataset X obtained at the current moment and the distance dataset Y obtained at the previous moment to obtain a common dataset Z;

[0101] The mean of the common data set Z is taken as the laser ranging result.

[0102] It's understandable that the incident laser signal emitted during each ranging measurement can typically include fifty or sixty light points. Due to the effects of uneven reflective surfaces, local highlights, dark absorption, and vehicle vibration, some light points can experience significant fluctuations. Consequently, only a few light points remain unaffected by these fluctuations, and these unaffected light points maintain consistent reflection angles at consecutive moments. Traditional laser ranging uses the average of the distance datasets of all light points received during a given measurement as the current ranging result. This method offers some filtering effectiveness, but is still subject to fluctuations. In contrast, this embodiment performs a logical "AND" operation on the distance dataset X obtained at the current moment and the distance dataset Y obtained at the previous moment. This effectively filters out the light points affected by fluctuations and retains the data of the few unaffected light points, resulting in a common dataset Z. The average of this common dataset Z is used as the laser ranging result. This improves the filtering effectiveness of laser ranging.

[0103] See also Figure 7 The present application also provides a vehicle information collection and ranging device for implementing the vehicle information collection laser ranging method described above, wherein the vehicle information collection and ranging device comprises:

[0104] A vehicle body position detection device, used to detect the position of the vehicle body;

[0105] A laser ranging device and a driving unit, wherein the driving unit is used to drive the laser ranging device to perform laser ranging on the vehicle body from top to bottom;

[0106] The control unit is used to receive detection data from the laser ranging device and control the movement of the driving unit, as well as output laser ranging data.

[0107] Compared with the prior art, the vehicle information collection and ranging device provided in this application can realize the vehicle information collection laser ranging method as described above, and thus has the same beneficial effects as the vehicle information collection laser ranging method.

[0108] See also Figure 8 The present application also provides a vehicle information collection system, including a vehicle information inspection device and the vehicle information collection and ranging device as described above, wherein the vehicle information collection and ranging device is used to measure the distance of the vehicle body, and the vehicle information inspection device is used to collect vehicle information.

[0109] Compared with the prior art, the vehicle information collection system provided by the present application can improve the accuracy of vehicle body distance measurement and the information collection efficiency of the vehicle information inspection equipment by setting the vehicle information collection and ranging equipment, while ensuring safety.

[0110] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A vehicle information collection laser ranging method, characterized in that: include: Detect vehicle position; Carry out laser ranging of the vehicle body from top to bottom; The method for performing laser ranging comprises: Sending an incident laser group signal; Receive reflected laser group signals and obtain reflection angles; Output laser ranging results according to the reflection angle; The steps of outputting the laser ranging result according to the reflection angle include: Obtain a distance data set corresponding to the reflection angles of all light points in the reflected laser group at each moment; Perform a logical "AND" operation on the distance dataset X obtained at the current moment and the distance dataset Y obtained at the previous moment to obtain a common dataset Z; The mean of the common data set Z is used as the laser ranging result; After the first detection that the distance is less than the distance threshold, the system starts to decrease the distance A in a loop until the second detection that the distance is less than the distance threshold and then decreases the distance B; Output laser ranging data.

2. The vehicle information collection laser ranging method according to claim 1, characterized in that: After outputting the laser ranging data, the following steps are also included: Sort the continuously acquired laser ranging data according to the output time; Input the sorted laser ranging data into the recursive sampling window; Remove several maximum and minimum values ​​within the recursive sampling window; Performing average filtering on the remaining laser ranging data within the recursive sampling window; Output filtered laser ranging data.

3. The vehicle information collection laser ranging method according to claim 2, characterized in that: After outputting the filtered laser ranging data, the following steps are also included: Determine whether the change of two adjacent filtered laser ranging data exceeds the fluctuation threshold, and if so, issue an alarm signal.

4. The vehicle information collection laser ranging method according to claim 1, characterized in that: Detecting the vehicle position includes the following steps: Detect the position of the front and rear of the vehicle and determine the middle position of the vehicle body; Estimate the front door position based on the vehicle body center position and the vehicle body wheelbase L; The position where the laser ranging of the vehicle body is performed from top to bottom is the front door position.

5. The vehicle information collection laser ranging method according to claim 4, characterized in that: The method for obtaining the vehicle wheelbase L comprises the following steps: Two ground pressure sensing devices are set in the lane with a front-to-rear interval of D; A time interval Δt1 is detected when the front wheel and rear wheel of the vehicle pass through any one of the ground pressure sensing devices, and a time interval Δt2 is detected when the front wheel or rear wheel of the vehicle passes through two ground pressure sensing devices; The formula for calculating the vehicle wheelbase L is: 。 6. The vehicle information collection laser ranging method according to claim 1, characterized in that: After the first detection that the distance is less than the distance threshold, the process starts to cyclically descend distance A, and continues until the second detection that the distance is less than the distance threshold, and before descending distance B, the process further includes the following steps: The degree of opening of the window is determined based on the number of cycles of the cyclic descending distance A.

7. A vehicle information collection and ranging device, used to implement the vehicle information collection laser ranging method according to any one of claims 1 to 6, characterized in that: include: A vehicle body position detection device, used to detect the position of the vehicle body; A laser ranging device and a driving unit, wherein the driving unit is used to drive the laser ranging device to perform laser ranging on the vehicle body from top to bottom; The control unit is used to receive detection data from the laser ranging device and control the movement of the driving unit, as well as output laser ranging data.

8. A vehicle information collection system, characterized in that: It comprises a vehicle information checking device and a vehicle information collecting and ranging device as claimed in claim 7, wherein the vehicle information collecting and ranging device is used to measure the distance of the vehicle body, and the vehicle information checking device is used to collect vehicle information.

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