Multimode vehicle detection enhancement method
By combining geomagnetic, radar and visible light detection in smart parking systems, the problems of misjudgment and failure in the prior art are solved, and more accurate vehicle detection is achieved, especially in complex environments and stability and Improved accuracy.
Patent Information
- Application Number
- CN202411374720.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2024-12-27
AI Technical Summary
In the existing smart parking system, geomagnetic and radar equipment is prone to misjudgment and failure in the face of non-motor vehicles, strong electromagnetic interference, rain and snow weather, etc., resulting in inaccurate vehicle detection and lack of effective solutions in the existing technology.
Using multi-mode vehicle detector, combined with geomagnetic sensors, radar ranging modules and visible light assisted detection, multi-mode detection in interference mode and normal mode is achieved by setting preset conditions and parameter thresholds, and comprehensive scoring is performed using radar and light trigger data. and summarize, output accurate vehicle detection results.
Effectively filter out the influence of debris such as branches, improve the accuracy of radar vehicle-free judgment, reduce misjudgment, improve vehicle detection accuracy and personnel work efficiency, overcome the problems of false alarms and misjudgment in the existing technology, especially in In the case of rainy and snowy weather and strong electric interference.
Smart Images
Figure CN119207119A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a working method of a geomagnetic vehicle detector under the combined application of multiple sensors in the field of intelligent transportation and smart parking, and in particular to a multi-mode vehicle detection enhancement method based on geomagnetism, radar and visible light. Background Art
[0002] 1. At present, in the smart parking projects based on dual-mode or multi-mode geomagnetic equipment, due to the temporary placement of non-motor vehicles such as two-wheeled vehicles, bicycles and other objects at a position relatively close to the geomagnetic field, the geomagnetic field and radar are triggered, and reflective objects such as branches and leaves above the parking space are mistakenly regarded as parked vehicles. This often occurs, which requires manpower to correct; 2. The existing radar ranging module has no universal solution for the technical judgment of whether the parking space is clear and there are no vehicles. All manufacturers are crossing the river by feeling the stones and the coping methods are also varied. Especially in rainy and snowy weather, there are many cases where radar no car and radar failure are confused with each other and misjudgment is frequent; 3. Once the existing products encounter high-voltage transformers and rows of power lines around the parking space, strong electromagnetic interference will cause the product to malfunction, and frequent geomagnetic triggering and frequent activation of high-power consumption components such as radar will cause the product to malfunction. 4. When the geomagnetic equipment has been installed and deployed in the center of the parking space and can effectively cover normal parking, there are often false reports of cars in parking spaces without cars in broad daylight, which also consumes manpower to correct; 5. In the existing public technical solutions, geomagnetism and light sensing are only used as power-saving means to trigger, and the status of the parking space depends on the subsequent radar detection results. The ground sensing coil is only used to replace the radar when it fails. The key problem is that the ground sensing coil is not a sure thing. It is well known that its accuracy is similar to that of geomagnetism. If the product is applied to non-font parking spaces side by side with close left and right connections between cars, its effect in rainy and snowy weather can be imagined; These more prominent problems listed above need new solutions to overcome and solve them. Summary of the invention
[0003] The technical problem to be solved by the present invention is to avoid the shortcomings of the above-mentioned prior art and propose a multi-mode vehicle detection enhancement method, which is applied to a multi-mode vehicle detector; the multi-mode vehicle detector at least includes: a geomagnetic sensor chip, a radar ranging module, and a visible light auxiliary detection circuit; the method includes: Set the geomagnetic disturbance preset condition E, multi-mode detection preset condition F, and light trigger preset condition G; set the radar vehicle presence or absence and failure thresholds and parameter preset values R based on the distance and its energy value; set the visible light vehicle presence or absence and failure thresholds and parameter preset values L based on the brightness change; perform reset and initialization work, and collect the energy value of the radar when there is no car in the empty parking space as the radar vehicle-free energy value center; then, collect geomagnetic data regularly according to the period T1 and collect visible light data regularly according to the period n*T1 (n is a positive integer); If the magnetic field fluctuation changes meet the preset condition E of geomagnetic disturbance, the interference mode is entered: radar ranging data is collected immediately at a period T2 timing, or when the preset light triggering condition G is met, multi-mode detection and scoring are summarized, so as to output a comprehensive detection result; the multi-mode detection and scoring summary in the interference mode is based on the failure of geomagnetic vehicle or no vehicle detection, and on the premise of maintaining the first visible light vehicle detection result and the corresponding score, according to the preset value R, the radar vehicle or no vehicle and failure analysis of the collected radar ranging data are performed, and then the score and multi-mode summary are performed, and the comprehensive vehicle or no vehicle detection result output is obtained accordingly; If the magnetic field fluctuation does not meet the preset condition E of geomagnetic disturbance, the normal mode is entered: if the magnetic field fluctuation is small or unchanged, and meets the light triggering preset condition G, radar ranging data is collected, multi-mode detection and scoring summary are performed, and thus a comprehensive detection result is output; if the magnetic field fluctuation meets the preset condition F of multi-mode detection, visible light data and radar ranging data are collected, multi-mode detection and scoring summary are performed, and thus a comprehensive detection result is output; the multi-mode detection and scoring summary in normal mode is based on the premise that the geomagnetic vehicle or no car detection is valid and has corresponding scores, and according to the preset value R and the preset value L, the collected radar ranging data and visible light data are respectively subjected to radar, visible light vehicle or no car and failure analysis, and then scored and multi-mode summarized respectively, and the comprehensive vehicle or no car detection result output is obtained accordingly.
[0004] Optionally, the radar with car, without car and failure analysis is based on one or more groups of distance values and energy values contained in the radar ranging data, the energy value being used to characterize the amount of energy reflected from the corresponding distance target; according to the application scenario, the radar with car distance value range and the lowest available energy value within the range can be preset as the radar with car energy value threshold, and the radar without car distance value range and its corresponding radar without car energy value range can also be set; in addition, only other distance targets greater than the maximum distance value of the radar with car are collected and processed as radar without car; only distance targets less than the minimum distance value of the radar with car and greater than the maximum distance value of the radar without car, as well as those within the radar without car distance range but with energy values not within the said no-car energy value range, are processed as radar failure; involving multiple target distance values with different definitions, the distance value corresponding to the highest energy value is used as the definition basis.
[0005] Optionally, the radar car-free energy value range is an energy value range framed by the radar car-free energy value center as the center point and the preset center point positive and negative deviation as the limit; when the radar car-free energy value center is put into use in the product, while the comprehensive car-free detection result is output, the radar car-free energy value just collected can be used for smoothing calculation to update the radar car-free energy value center, so that it can be automatically updated and adjusted to adapt to environmental changes; the positive and negative deviation of the center point must be pre-calibrated according to the shell material and the installation position of the radar ranging module and its surrounding structure.
[0006] Optionally, the light triggering preset condition G is divided into three cases. One is based on the single-point intensity value. When the top visible light data is collected at a regular interval, once the first highest, second highest or third highest brightness visible light data is obtained, but the current condition is the comprehensive vehicle, the light triggering is enabled; the second is based on the case where the brightness change amplitude of the two previous and subsequent top visible light data is greater than a preset threshold, the light triggering is enabled; the third is to collect the top and side visible light data at the same time, and if the brightness change of the two is greater than the preset threshold, the light triggering is enabled.
[0007] Optionally, the visible light data of the first highest, second highest or third highest brightness can be set as visible light without a car and have their own pre-designed scores.
[0008] Optionally, the visible light car presence or no car and failure analysis is based on whether the brightness change of two consecutive top-direction visible light data is greater than a preset threshold. If so, the top-direction visible light becomes brighter, indicating that a car has left, and the top-direction visible light becomes darker, indicating that a car has arrived. The visible light car presence or no car are each provided with three change amplitude thresholds: large, medium and small, and correspond to different scores respectively. If the brightness change of two consecutive top-direction visible light data is less than the small change amplitude threshold, it means that the visible light car presence or no car detection has failed, or the previous visible light car presence detection result and score are maintained.
[0009] Optionally, the prior visible light vehicle detection result and score retention can be determined by judging whether the brightness change of the top and side visible light data is greater than a preset threshold.
[0010] Optionally, the preset condition E for geomagnetic disturbance is to count the number of geomagnetic fluctuation changes within a preset fixed period to see whether it is greater than a preset interference threshold. If it is greater than or equal to, the preset condition E is met; if it is less than, it is not met.
[0011] Optionally, the multi-mode vehicle detector can add more types of sensors to further improve the overall detection efficiency according to the existing method of vehicle presence and failure analysis and scoring and multi-mode aggregation.
[0012] Compared with the prior art, the multi-mode vehicle detection enhancement method of the present invention has the following technical effects: 1. By making full use of the distance value and energy value information in the radar ranging data, non-motor vehicle targets are excluded from the preset radar vehicle distance range, and the influence of debris above or around the geomagnetic field such as branches and leaves on the product detection performance is effectively filtered out; 2. The radar vehicle-free discrimination method proposed by the present invention directly reveals the core of the problem and is simple and practical without complex calculations. The radar vehicle-free energy value center can be automatically adjusted, and the product can adapt to various environmental changes; 3. In response to the problem of magnetic field interference, the present invention proposes a package solution of radar timed scanning, keeping the prior visible light vehicle detection results and corresponding scoring, and light triggering in parallel, which overcomes a long-standing and difficult problem in the industry; 4. In response to the common problem of parking spaces being reported as occupied when there are no cars but the space is bright, the present invention proposes a unique solution of using a single point strong light value to trigger multi-mode detection, seizing every favorable opportunity to quickly and effectively check for hidden dangers, further reducing errors, and also improving personnel work efficiency; 5. In response to the problem of misjudgment caused by a single reliance on parking space status, the present invention proposes a solution of multi-mode detection, scoring and summary, and comprehensive output. Through the analysis of the presence and absence of cars and failures, in-depth data mining of complementary parties is carried out, breaking the technical bottleneck artificially created by generalizing from a single dimension, and at the same time improving the work flow of the existing streamlined multi-mode vehicle detector, building on the past and ushering in the future, and taking multiple measures to jointly enhance and improve the vehicle detection effect. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a flow chart of the working method of an existing simplified multi-mode vehicle detector; Figure 2 It is a flow chart of a multi-mode vehicle detection enhancement method of the present invention. DETAILED DESCRIPTION
[0014] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the "scoring" (a method of quantifying indicators) and "score summary" (a summary in a statistical sense) frequently mentioned in the present invention will be described below using the most easy-to-understand daily scoring method and then calculating the total score (linear superposition) to clearly and completely describe the technical solutions in the embodiments of the present application. It should be understood that this is only for the purpose of easier understanding and is not used to limit the scope of protection of the present application.
[0015] like Figure 1As shown, it is a traditional workflow of a streamlined multi-mode vehicle detector. The related method has obvious effect on the treatment of conventional parking problems. However, in the process of in-depth promotion of the project, a series of unconventional problems that give headaches to the operating unit, such as strong electrical interference causing product failure, non-motor vehicles being falsely triggered as vehicles, open and empty parking spaces being falsely reported as "vehicles", and frequent misjudgments of rainy and snowy weather, have not been seen in the corresponding treatment methods and supporting solutions, and there are very few public technical solutions for reference. Therefore, the present invention proposes a multi-mode vehicle detection enhancement method for the related problems exposed by the long-term operation of the project, such as Figure 2 As shown, specifically: The method of the present invention can be applied to a multi-mode vehicle detector; the multi-mode vehicle detector comprises at least: a geomagnetic sensor chip, a radar ranging module, and a visible light auxiliary detection circuit; the method comprises: Set the geomagnetic disturbance preset condition E, multi-mode detection preset condition F, and light trigger preset condition G; set the radar vehicle presence or absence and failure thresholds and parameter preset values R based on the distance and its energy value; set the visible light vehicle presence or absence and failure thresholds and parameter preset values L based on the brightness change; perform reset and initialization work, and collect the energy value of the radar when there is no car in the empty parking space as the radar vehicle-free energy value center; then, collect geomagnetic data regularly according to the period T1 and collect visible light data regularly according to the period n*T1 (n is a positive integer); If the magnetic field fluctuation changes meet the preset condition E of geomagnetic disturbance, the interference mode is entered: radar ranging data is collected immediately at a period T2 timing, or when the preset light triggering condition G is met, multi-mode detection and scoring are summarized, so as to output a comprehensive detection result; the multi-mode detection and scoring summary in the interference mode is based on the failure of geomagnetic vehicle or no vehicle detection, and on the premise of maintaining the first visible light vehicle detection result and the corresponding score, according to the preset value R, the radar vehicle or no vehicle and failure analysis of the collected radar ranging data are performed, and then the score and multi-mode summary are performed, and the comprehensive vehicle or no vehicle detection result output is obtained accordingly; If the magnetic field fluctuation does not meet the preset condition E of geomagnetic disturbance, the normal mode is entered: if the magnetic field fluctuation is small or unchanged, and meets the light triggering preset condition G, radar ranging data is collected, multi-mode detection and scoring summary are performed, and thus a comprehensive detection result is output; if the magnetic field fluctuation meets the preset condition F of multi-mode detection, visible light data and radar ranging data are collected, multi-mode detection and scoring summary are performed, and thus a comprehensive detection result is output; the multi-mode detection and scoring summary in normal mode is based on the premise that the geomagnetic vehicle or no car detection is valid and has corresponding scores, and according to the preset value R and the preset value L, the collected radar ranging data and visible light data are respectively subjected to radar, visible light vehicle or no car and failure analysis, and then scored and multi-mode summarized respectively, and the comprehensive vehicle or no car detection result output is obtained accordingly.
[0016] Preferably, the above T1 is once per second, n is 20, and T2 is once per 60 seconds.
[0017] Preferably, the radar presence, absence and failure analysis is based on one or more groups of distance values and energy values contained in the radar ranging data, the energy value being used to characterize the amount of energy reflected from the target at the corresponding distance; according to the urban roadside parking application scenario, the preset radar presence distance value range is 15cm-180cm, and the energy value threshold is 2; the radar presence score in this embodiment is 25 points; at the same time, the radar absence distance value range is set to 0-5cm; when performing the aforementioned reset and initialization work, if an energy value within the distance range of 0-5cm is sampled, such as 12, the value can be assigned to the radar absence energy value center as the initial value for subsequent smoothing calculations, and the positive and negative deviations of the center point have been pre-calibrated according to the installation position of the radar ranging module and its surrounding structure before leaving the factory, such as 5; the radar absence score in this embodiment is -26.
[0018] During daily radar data collection, if only targets with distances greater than the maximum radar vehicle distance value of 180cm are collected, the radar is treated as vehicle-free and scored -26; if only targets with distances less than the minimum radar vehicle distance value of 15cm and greater than the maximum radar vehicle-free distance value of 5cm are collected, and targets within the radar vehicle-free distance range of 0-5cm but whose energy values are not within the range of 7-17 vehicle-free energy values centered on 12, the radar is treated as failed, that is, scored 0; if multiple target distance values with different definitions are involved, the distance value corresponding to the highest energy value is used as the definition basis, for example, if two sets of data with a distance of 185cm and an energy value of 13 and a distance of 50cm and an energy value of 3 are collected, 185cm is used as the definition basis (because its energy value 13 is greater than the target with a distance of 50cm corresponding to the energy value 3, it can be determined as vehicle-free by the radar).
[0019] In the embodiment of the present invention, each time when the comprehensive vehicle-free detection result is output, it is determined whether the distance range of the previously collected radar data is within 0-5cm. If so, its corresponding energy value is used to participate in the radar vehicle-free energy value center smoothing operation. For the sake of simplicity, multi-point averaging can be used, so that the radar vehicle-free energy value center can be dynamically updated, thereby being able to adapt to future environmental changes.
[0020] Preferably, the preset condition E for geomagnetic disturbance is to count the number of geomagnetic fluctuation changes per minute to see whether it is greater than a preset interference threshold. In the embodiment of the present invention, it is preset to 40. If it is greater than or equal to, the preset condition E is met, and if it is less than, it is not met.
[0021] Preferably, the light triggering preset condition G is divided into three cases. One is based on the single-point strong light value. When the top visible light data with a range of 0-16 is collected at a regular interval, once the first highest 16, the second highest 15 or the third highest 14 brightness visible light data is obtained, but the current condition is the comprehensive vehicle presence, the light triggering is enabled; the second is based on the case where the brightness change amplitude of the two previous and subsequent top visible light data is greater than the preset threshold value 3, the light triggering is enabled; the third is to collect the top and side visible light data at the same time. If the maximum brightness of the side visible light is greater than the top visible light brightness and is greater than or equal to the preset threshold value 2, it indicates that there is vehicle coverage and the light triggering can be enabled, or the previous visible light vehicle detection result and score are maintained.
[0022] Preferably, the visible light data of the first highest 16, the second highest 15 or the third highest 14 brightness can be set to visible light without a car, and the corresponding pre-design divisions are -40, -21, and -6.
[0023] Preferably, the visible light car presence, car absence and failure analysis is based on whether the brightness change of the two previous and subsequent top visible light data is greater than a preset threshold. If so, the top visible light becomes brighter, indicating that the car has left, and the top visible light becomes darker, indicating that the car has arrived. The visible light car presence or no car is respectively provided with three large, medium and small change amplitude thresholds, namely 7, 5, and 3. The car presence scores correspond to 15, 10, 5, and the car absence scores correspond to -15, -10, and -5. If the brightness change of the two previous and subsequent top visible light data is less than the small change amplitude threshold of 3, depending on the specific situation, it can be processed as a failure of the visible light car presence or no car detection and a score of 0, or it can be processed as the previous visible light car presence detection result and the score is maintained.
[0024] Based on the above-mentioned preferences, the present invention has two embodiments. Embodiment 1 adopts traditional geomagnetism + radar + top visible light, while Embodiment 2 adds a sound sensor, namely a microphone, and adds two photosensitive devices for collecting lateral visible light data. The added sensors are integrated into use in accordance with the existing methods of the above-mentioned vehicle presence and failure analysis and subsequent scoring and multi-mode aggregation to further improve the comprehensive detection efficiency.
[0025] Example 1: Traditional geomagnetic + radar + top visible light multi-mode vehicle detector This embodiment shows in detail the specific solution process of the following related problems using the solution of the present invention: Strong electric interference problem: At this time, the geomagnetic failure score is 0; the radar is started once every 60 seconds, and then the multi-mode detection score is summarized and output once, and the top visible light data is collected every 20 seconds. If there is a situation that meets the light trigger preset condition G, the radar detection score is also started once; if there is a real car entering the berth, the radar visible light is normal, and the score summary must be greater than 0; if the radar failure score is 0 but the visible light detects a car normally, the score summary must be greater than 0, and the present invention uses the previous visible light car detection result and score retention in the interference mode. Even if the vehicle has been parked without actual entry or exit, the previously retained score is also a positive number, so the score summary must be greater than 0; if the radar is normal but the visible light fails without any change or the result deviates from the radar, since the radar score is originally larger than the visible light, it does not affect the correctness of the result; similarly, if there is a real car leaving the berth, the same calculation and processing method is used; it is worth noting that the above-mentioned previous visible light car detection result and score retention will be released when the visible light no car judgment occurs; The problem of non-motor vehicles being falsely triggered as vehicles: At this time, the geomagnetism is normal, and the mean square error calculation is performed on the geomagnetic data and the background magnetic field value. If the result is 0, -32 points are taken, and then the larger the result, the larger the score (maximum 20 points); if there are debris staying around the berth geomagnetism, the maximum score that can be obtained from the geomagnetism is 20, and the leaves and branches above the geomagnetism exceed the height of 180cm, so the radar has no vehicle, and the score is -26, and the summary score is -6, and the comprehensive no vehicle output. Even if the debris also causes the visible light to produce a vehicle and gets 5 points, it does not change the comprehensive no vehicle result. Unless there is a visible light vehicle with 10 or 15 points, it is possible to "misjudge" and output the comprehensive vehicle result; The problem of "cars" in open and empty parking spaces: At this time, the multi-mode geomagnetic system is installed in the center of the parking space, which basically covers all motor vehicles (except for special-shaped vehicles). When the geomagnetic system is normal, the total score of "cars" must be greater than 0. The sources of these scores are: one is that the geomagnetic radar with cars fails, and the other is that both the geomagnetic system and the radar have cars. The general on-site processing methods are that the personnel reset the equipment, and the personnel move away and remove the debris. If the existing solution only relies on the change of visible light brightness twice before and after being greater than the preset amplitude, the multi-mode detection is started through light triggering. It is difficult to achieve comprehensive vehicle-free output in the subsequent measurement, because the change of natural light is basically slow change rather than drastic change like the vehicle entering or leaving; if the single-point strong light value processing scheme proposed by the present invention is used, the first highest brightness is the visible light vehicle-free score -40, after the light is triggered, if the geomagnetic score is 20 and the radar vehicle score is 25, the summary score of 5 maintains that the vehicle cannot be cleared, but it is more than enough to clear the first situation; the second highest brightness is the same, and the third highest brightness can only clear the vehicle false alarm when the geomagnetic vehicle score is low and the radar fails; Misjudgment problem in rainy and snowy weather: the core of this type of problem is still the problem of radar failure. In the case where the radar failure score is 0, the present invention uses geomagnetism and visible light to participate in the comprehensive judgment. In most cases, the two are consistent with the presence of a car or the absence of a car, and the result is naturally correct. In very rare cases, there is a deviation, geomagnetism has a car 20, and visible light has no car -15; geomagnetism has no car -32, and visible light has a car 15. In general, the scoring arrangement will be more inclined to geomagnetism. The method of the present invention can greatly reduce the unnecessary errors caused by the one-size-fits-all reliance on ground sensing coils for the parking space status of certain schemes when the radar fails.
[0026] Embodiment 2: Geomagnetism + radar + top and side visible light + microphone multi-mode vehicle detector This embodiment is to add a sound sensor, i.e., a microphone, to the above-mentioned embodiment 1, and use it according to the existing methods and means of vehicle presence, vehicle absence, and failure analysis and then scoring and multi-mode aggregation described in detail above; the added sensor is now described in detail as follows: According to the parking characteristics of the parking space, when the vehicle enters and stops steadily and thus meets the above-mentioned multi-mode detection preset condition F, it is easy to collect the vehicle engine sound. These vehicle feature information is helpful for judging the parking space. For this reason, the microphone vehicle threshold and its score can be preset, such as 8; on the other hand, when the vehicle leaves the parking space, the vehicle leaves and causes magnetic field fluctuations, and then meets the multi-mode detection preset condition F, the vehicle is often no longer in the parking space. At this time, it is difficult for the microphone to detect the engine sound and can only output an invalid microphone detection result with a score of 0; the newly added microphone will definitely add icing on the cake and further improve the comprehensive detection efficiency when assisting in solving the related problems in Example 1, which will not be repeated here; A new photosensitive device capable of providing lateral visible light data is newly provided, which is used to make analysis and judgment immediately after completing the collection of top-direction and then continuing to collect lateral visible light data. If the maximum brightness of the lateral visible light is greater than the brightness of the top-direction visible light and is greater than or equal to the preset threshold value 2, it indicates that there is vehicle coverage and light triggering can be enabled, or the previous visible light vehicle detection result and score continue to be maintained, otherwise it will no longer be maintained and it will be judged as visible light failure and the score will be 0. The advantage of this is that the visible light failure or maintenance judgment problem can be handled faster, more accurately and more timely, without having to wait for the visible light to be free of vehicles before the relevant maintenance can be ended as in Example 1.
[0027] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.
Claims
1. A multi-mode vehicle detection enhancement method, applied to a multi-mode vehicle detector, characterized in that: The multi-mode vehicle detector comprises at least: a geomagnetic sensor chip, a radar ranging module, and a visible light auxiliary detection circuit; the method comprises: Set the geomagnetic disturbance preset condition E, multi-mode detection preset condition F, and light trigger preset condition G; set the radar vehicle presence or absence and failure thresholds and parameter preset values R based on the distance and its energy value; set the visible light vehicle presence or absence and failure thresholds and parameter preset values L based on the brightness change; perform reset and initialization work, and collect the energy value of the radar when there is no car in the empty parking space as the radar vehicle-free energy value center; then, collect geomagnetic data regularly according to the period T1 and collect visible light data regularly according to the period n*T1 (n is a positive integer); If the magnetic field fluctuation changes meet the preset condition E of geomagnetic disturbance, the interference mode is entered: radar ranging data is collected immediately at a period T2 timing, or when the preset light triggering condition G is met, multi-mode detection and scoring are summarized, so as to output a comprehensive detection result; the multi-mode detection and scoring summary in the interference mode is based on the failure of geomagnetic vehicle or no vehicle detection, and on the premise of maintaining the first visible light vehicle detection result and the corresponding score, according to the preset value R, the radar vehicle or no vehicle and failure analysis of the collected radar ranging data are performed, and then the score and multi-mode summary are performed, and the comprehensive vehicle or no vehicle detection result output is obtained accordingly; If the magnetic field fluctuation does not meet the preset condition E of geomagnetic disturbance, the normal mode is entered: if the magnetic field fluctuation is small or unchanged, and meets the light triggering preset condition G, radar ranging data is collected, multi-mode detection and scoring summary are performed, and thus a comprehensive detection result is output; if the magnetic field fluctuation meets the preset condition F of multi-mode detection, visible light data and radar ranging data are collected, multi-mode detection and scoring summary are performed, and thus a comprehensive detection result is output; the multi-mode detection and scoring summary in normal mode is based on the premise that the geomagnetic vehicle or no car detection is valid and has corresponding scores, and according to the preset value R and the preset value L, the collected radar ranging data and visible light data are respectively subjected to radar, visible light vehicle or no car and failure analysis, and then scored and multi-mode summarized respectively, and the comprehensive vehicle or no car detection result output is obtained accordingly.
2. A multi-mode vehicle detection enhancement method as claimed in claim 1, characterized in that: The radar with car, without car and failure analysis is based on one or more groups of distance values and their energy values contained in the radar ranging data, and the energy value is used to characterize the energy reflected back from the corresponding distance target; according to the application scenario, the radar with car distance value range and the lowest energy value available in the range can be preset as the radar with car energy value threshold, and the radar without car distance value range and its corresponding radar without car energy value range can also be set; in addition, only other distance targets greater than the maximum distance value of the radar with car are collected and processed as radar without car; only the distance targets less than the minimum distance value of the radar with car and greater than the maximum distance value of the radar without car, as well as those within the radar without car distance range but with energy values not within the said no car energy value range are collected and processed as radar failure; Involving multiple target distance values with different definitions, the distance value corresponding to the highest energy value is used as the basis for definition.
3. A multi-mode vehicle detection enhancement method as claimed in claim 2, characterized in that: The radar car-free energy value range is an energy value range framed by the radar car-free energy value center as the center point and the preset center point positive and negative deviation as the limit; when the radar car-free energy value center is put into use in the product, while the comprehensive car-free detection result is output, the radar car-free energy value just collected can be used for smoothing calculation to update the radar car-free energy value center, so that it can be automatically updated and adjusted to adapt to environmental changes; the positive and negative deviation of the center point must be pre-calibrated according to the shell material and the installation position of the radar ranging module and its surrounding structure.
4. A multi-mode vehicle detection enhancement method as claimed in claim 1, characterized in that: The light triggering preset condition G is divided into three situations. One is based on the single-point strong light value. When the top visible light data is collected at a regular interval, once the first highest, second highest or third highest brightness visible light data is obtained, but the current situation is the comprehensive vehicle, the light triggering is enabled; the second is based on the light triggering being enabled when the brightness change amplitude of the two previous and subsequent top visible light data is greater than the preset threshold; the third is to collect the top and side visible light data at the same time. If the brightness change of the two is greater than the preset threshold, the light triggering is enabled.
5. A multi-mode vehicle detection enhancement method as claimed in claim 4, characterized in that: The first highest, second highest or third highest brightness visible light data can be set as visible light free and have respective pre-designed scores.
6. A multi-mode vehicle detection enhancement method as claimed in claim 1, characterized in that: The visible light car presence or absence and failure analysis is based on whether the brightness change of the two previous and subsequent top-direction visible light data is greater than a preset threshold. If so, the top-direction visible light becomes brighter, indicating that a car has left, and the top-direction visible light becomes darker, indicating that a car has arrived. The visible light car presence or absence each has three change amplitude thresholds: large, medium, and small, and corresponds to different scores respectively. If the brightness change of the two previous and subsequent top-direction visible light data is less than the small change amplitude threshold, the visible light car presence or absence detection fails, or the previous visible light car presence detection result and score are maintained.
7. A multi-mode vehicle detection enhancement method as claimed in claim 6, characterized in that: The prior visible light vehicle detection result and score retention can be determined by judging whether the brightness change of the top and side visible light data is greater than a preset threshold.
8. A multi-mode vehicle detection enhancement method as claimed in claim 1, characterized in that: The preset condition E for geomagnetic disturbance is to count the number of geomagnetic fluctuation changes within a preset fixed period to see whether it is greater than a preset interference threshold. If it is greater than or equal to, the preset condition E is met, otherwise it is not met.
9. A multi-mode vehicle detection enhancement method as claimed in claim 1, characterized in that: The multi-mode vehicle detector can add more types of sensors to further improve the comprehensive detection efficiency according to the existing methods of vehicle presence and failure analysis and scoring and multi-mode aggregation.