CN103730011A - Vehicle type recognition detection method and system based on laser - Google Patents
Vehicle type recognition detection method and system based on laser Download PDFInfo
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- CN103730011A CN103730011A CN201210384872.3A CN201210384872A CN103730011A CN 103730011 A CN103730011 A CN 103730011A CN 201210384872 A CN201210384872 A CN 201210384872A CN 103730011 A CN103730011 A CN 103730011A
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Abstract
The invention provides a vehicle type recognition detection method and system based on a laser. The vehicle type recognition detection method comprises the following steps that 1, the laser measures and calculates the largest height value of a vehicle; 2, the laser compares the largest height value of the vehicle with a limit height value set in the laser; 3, the laser measures and calculates the largest length value of the vehicle and the change rate of a vehicle frame of the vehicle, compares the largest length value of the vehicle and the change rate of the vehicle frame of the vehicle with radial type standard data, and sends a comparison result to a control host; 4, the control host judges whether a vehicle image collected by a collection device is stored or not according to the comparison result of the vehicle. The types of vehicles are recognized through a vehicle type laser detector, the response speed is very high, and the accuracy rate of detection is largely improved.
Description
Technical field
The present invention relates to intelligent transport technology field, relate in particular to a kind of vehicle recognition detection method and system based on laser instrument.
Background technology
Along with economical and social development, it is more crowded that modern city becomes, and traffic problems cause extensive concern, and the quickening of the rhythm of life makes people expect to have more good traffic.
In prior art, the identification of vehicle is adopted the detection mode of radar:
Millimetre-wave radar by analyze different tracks for the power of different frequency section change, realize the function that multilane information detects.The common mode that millimeter wave is identified mainly contains: radar Doppler, and high range resolution radar, FSR radar, or radar Doppler and high-resolution radar are thought to combination, high range resolution radar is higher to bandwidth requirement, has often limited his use; FSR distance by radar is differentiated rate variance, and operating angle is little, therefore requires target and distance by radar very near; Radar Doppler target detection is highly sensitive, on the basis of accurately detecting at vehicle, recognizer is extracted Doppler frequency spectrum feature, the effective profile of reacting vehicle, but the mode response speed that radar Doppler detects is slow, and can only judge vehicle by the length of car, and substantially can only judge cart or dolly, can not accomplish the identification of the type of real vehicle.
Summary of the invention
The object of the invention is to design a kind of novel vehicle recognition detection method and system based on laser instrument, can identify fast and accurately vehicle by detecting length, height and the car housing rate of change of vehicle.
To achieve these goals, the technical solution used in the present invention is as follows:
A vehicle recognition detection method based on laser instrument, comprises the following steps:
S1, the maximum height value of vehicle is measured and calculated to laser instrument;
S2, described laser instrument contrasts the constrain height value of setting in the maximum height value of the described vehicle collecting and described laser instrument, if described maximum height value surpasses described constrain height value, described laser instrument sends trigger pip to main control system, described main control system is controlled the image that image capture device gathers described vehicle, described iconology collecting device sends to described main control system by the image of described vehicle, carries out S3; If the maximum height value of described vehicle is no more than described setting height value, do not gather the image of described vehicle, re-execute S1;
S3, the extreme length value of described vehicle and the car frame rate of change of described vehicle are measured and calculated to described laser instrument, and respectively the car frame rate of change of the extreme length value of described vehicle and described vehicle and radial pattern normal data are compared, comparison result is sent to described main control system;
S4, described main control system judges whether to store the image of the described vehicle that described collecting device gathers according to the comparison result of described vehicle, if the comparison result of described vehicle meets vehicle radial pattern normal data, described main control system is stored the image of the described vehicle of described image capture device collection; If the comparison result of described vehicle does not meet described vehicle radial pattern normal data, described main control system is not stored the image of the described vehicle of described image capture device collection.
Preferably, the laser beam of described laser instrument transmitting is two bundles.
Preferably, the computing method of the maximum height value of described vehicle are specially: the setting height(from bottom) of establishing laser instrument is Ha, the length of two bundle laser from laser instrument to ground is respectively L1 and L2, L1 laser beam is L3 to the length of described surface of vehicle, L4 is the length that another beam of laser arrives car surface, and the maximum height value H of described vehicle is:
H＝(Ha/L1)*(L1-L3)
Or H=(Ha/L2) * (L2-L4).
Preferably, the computing method of the maximum height value H of described vehicle are specially: the angle of L1 laser beam angle and laser instrument vertical plane is θ, and the angle of L2 laser beam angle and laser instrument vertical plane is angle β,
θ＝arccos(Ha/L1)
β＝arccos(Ha/L2)；
If the former route spacing of L1 laser beam from described surface of vehicle to ground is from being La, the highest vertical height H1 of described vehicle is:
La＝L1-L3
H1＝cosθ*La；
If the former route spacing of L2 laser beam from described surface of vehicle to ground is from being Lb, the highest vertical height H2 of described vehicle is:
Lb＝L2-L4
H2＝cosβ*Lb；
The maximum height value H of described vehicle is: H=H1=H2.
Preferably, the length of described L1, L2, L3 and L4 is specially: C*T/2;
Wherein, C is the aerial velocity of propagation of light, and T is described laser instrument Emission Lasers and the time interval that receives laser.
Preferably, the computing method of the average length value of described vehicle are specially: described vehicle is T2-T1 by the time of L1 laser beam, and described Vehicle length value is L=V* (T2-T1)+A; Described vehicle is T2 '-T1 ' by the time of L2 laser beam, and described Vehicle length value is L '=V* (T2 '-T1 ')+A;
The average Vehicle length of described vehicle is (L+L ')/2;
Wherein, V is Vehicle Speed, and A is for revising constant.
Preferably, the car frame rate of change of described vehicle is specially: the car frame rate of change of determining described vehicle according to laser beam measuring the height that calculates the described vehicle of gained.
To achieve these goals, the present invention has also adopted an other technical scheme as follows:
A kind of vehicle recognition detection system based on laser instrument, comprise laser instrument for testing and calculate vehicle maximum height value, extreme length value and car frame rate of change, for the image capture device of collection vehicle information with for controlling the main control system of image capture device, described main control system respectively with described laser instrument and the communication connection of described image capture device.
Preferably, described laser instrument is near infrared laser.
Preferably, the laser beam wavelength of described laser instrument transmitting is 905nm.
As can be seen from the above technical solutions, beneficial effect of the present invention can be summarized as follows:
The present invention identifies vehicle by special-purpose vehicle laser detector, and response speed is very fast, and the accuracy rate detecting improves greatly; And can comprise the housing rate of change of length, height and the car of car by many-sided comprehensive detection judgement vehicle, can accurately identify vehicle is compact car, minibus, truck or passenger vehicle or bus.
Accompanying drawing explanation
Fig. 1 is vehicle overhaul flow chart of the present invention;
Fig. 2 is vehicle height value test schematic diagram of the present invention;
Fig. 3 is vehicle height value test schematic diagram of the present invention;
Fig. 4 is the position relationship schematic diagram of the present invention's two bundle laser beam;
Fig. 5 is that vehicle height value of the present invention and vehicle are restrainted the time relationship schematic diagram of laser beam by two;
Fig. 6 be in vehicle actual moving process of the present invention vehicle height value and vehicle by the time relationship schematic diagram of two bundle laser beam;
Fig. 7 is car frame change rate curve schematic diagram of the present invention;
Fig. 8 is the car frame change rate curve schematic diagram of different vehicle of the present invention;
Fig. 9 is model data of the present invention storehouse classification schematic diagram;
Figure 10 is vehicle detection system structural representation of the present invention.
Embodiment
In order to make technical matters solved by the invention, technical scheme and beneficial effect clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.
The invention provides a kind of vehicle recognition detection method and system based on laser instrument, for accurately identifying type of vehicle.
Refer to Fig. 1, the vehicle recognition detection method based on laser instrument in the embodiment of the present invention, comprising:
S1, the maximum height value of vehicle is measured and calculated to laser instrument;
S2, described laser instrument contrasts the constrain height value of setting in the maximum height value of the described vehicle collecting and described laser instrument, if described maximum height value surpasses described constrain height value, described laser instrument sends trigger pip to main control system, described main control system is controlled the image that image capture device gathers described vehicle, described iconology collecting device sends to described main control system by the image of described vehicle, carries out S3; If the maximum height value of described vehicle is no more than described setting height value, do not gather the image of described vehicle, re-execute S1;
S3, the extreme length value of described vehicle and the car frame rate of change of described vehicle are measured and calculated to described laser instrument, and respectively the car frame rate of change of the extreme length value of described vehicle and described vehicle and radial pattern normal data are compared, comparison result is sent to described main control system;
S4, described main control system judges whether to store the image of the described vehicle that described collecting device gathers according to the comparison result of described vehicle, if the comparison result of described vehicle meets vehicle radial pattern normal data, described main control system is stored the image of the described vehicle of described image capture device collection; If the comparison result of described vehicle does not meet described vehicle radial pattern normal data, described main control system is not stored the image of the described vehicle of described image capture device collection.
Refer to Fig. 2 and Fig. 3, the method that in the present invention, the maximum height by vehicle was measured and calculated to laser instrument is specially:
If the setting height(from bottom) of laser instrument is Ha, the length of two bundle laser from laser instrument to ground is respectively L1 and L2, and the angle of L1 laser beam angle and laser instrument vertical plane is θ, and the angle of L2 laser beam angle and laser instrument vertical plane is angle β,
θ＝arccos(Ha/L1)
β＝arccos(Ha/L2)；
If L1 laser beam is L3 to the length of described surface of vehicle, the former route spacing of L1 laser beam from described surface of vehicle to ground is from being La, and the highest vertical height H1 of described vehicle is:
La＝L1-L3
H1＝cosθ*La；
If L4 is the length that another beam of laser arrives car surface, the former route spacing of L2 laser beam from described surface of vehicle to ground is from being Lb, and the highest vertical height H2 of described vehicle is:
Lb＝L2-L4
H2＝cosβ*Lb；
The maximum height value H of described vehicle is:
H＝(Ha/L1)*(L1-L3)
Or H=(Ha/L2) * (L2-L4);
The maximum height value H of described vehicle is: H=H1=H2;
H1 and H2 are the height value of the peak by vehicle.
The length value of described L1, L2, L3 and L4 is specially: C*T/2;
Wherein, C is the aerial velocity of propagation of light, and T is described laser instrument Emission Lasers and the time interval that receives laser.
Refer to Fig. 4 and Fig. 5, the computing method of the length value of vehicle of the present invention are specially: described vehicle is T2-T1 by the time of L1 laser beam, and described Vehicle length value is L=V* (T2-T1)+A; Described vehicle is T2 '-T1 ' by the time of L2 laser beam, and described Vehicle length value is L '=V* (T2 '-T1 ')+A;
The average Vehicle length of described vehicle is (L+L ')/2;
Wherein, V is Vehicle Speed, and A is for revising constant.
The circular of the travel speed of described vehicle is:
When having car through out-of-date, can successively trigger L1 laser beam and L2 laser beam, every triggering beam of laser, the inner meeting of speed measuring module T1 writing time, T2 in laser instrument.
From Fig. 4 and Fig. 5, vehicle is T2-T1 through the W distance time used, with this, can obtain the speed V=W/ (T2-T1) of vehicle when by monitored area W.
Although, monitoring section shorter (5 meters of left and right), vehicle speed of a motor vehicle in monitoring section changes not too large, yet hot-short is when testing the speed region internal speed-changing motion, one group of speed obtaining is entirely accurate not, in order to improve rate accuracy, speed measuring module is to ask in the following manner average velocity in real work:
Refer to Fig. 6, in the testing the speed of reality, laser can be got one group of time and ask speed a: VA=W/ (TA2-TA1) when each time apart from saltus step, VB=W/ (TB2-TB1), VC=W/ (TC2-TC1), VD=W/ (TD2-TD1), VE=W/ (TE2-TE1), VF=W/ (TF2-TF1).Like this, average velocity V=(VA+VB+VC+VD+VE+VF)/6.
At general dolly, when testing the speed region, probably can calculate six groups of speed, obtain mean value just high a lot of than the precision of one group of speed.
Referring to the car frame rate of change of vehicle described in Fig. 7 is specially: the car frame rate of change of determining described vehicle according to laser beam measuring the height that calculates the described vehicle of gained.
Referring to Fig. 8, is the car frame rate of change schematic diagram of different vehicle of the present invention.
Refer to Fig. 9, a kind of vehicle recognition detection system based on laser instrument of the present invention, comprise laser instrument for testing and calculate vehicle maximum height value, extreme length value and car frame rate of change, for the image capture device of collection vehicle information with for controlling the main control system of image capture device, described main control system respectively with described laser instrument and the communication connection of described image capture device.
Described laser instrument is near infrared laser.
The laser beam of described laser instrument transmitting is two bundles.
The laser beam wavelength of described laser instrument transmitting is 905nm.
Refer to Figure 10, laser treatment module, according to the data that collect, accumulates the radial pattern data sampler of various type of vehicle, thereby obtains the radial pattern data standard storehouse of four class vehicles.Vehicle identification is to compare rear acquisition according to the radial sample of Real-time Collection and the sample standard storehouse set up.
According to different overall height and the judgement of database, laser can be divided into vehicle following four classes:
1, a class vehicle: compact car, overall height, lower than 3 meters, can be measured obvious two sections of overall height, and overall height curve is unsmooth, and radial pattern data and station wagon java standard library are similar;
2, two class vehicles: middle bus, overall height, lower than 3 meters, only has obvious one section of overall height, i.e. overall height curve smoothing, radial pattern data and middle bus java standard library are similar;
3, three class vehicles: motorbus or bus, overall height is higher than 3 meters, and higher than the overall height curve smoothing outside 3 meters, radial pattern data and motorbus java standard library are similar;
4, four class vehicles: truck, overall height is higher than 3 meters, unsmooth higher than the overall height curve outside 3 meters, and radial pattern data and truck java standard library are similar.
More than by the detailed description of concrete and preferred embodiment the present invention; but those skilled in the art should be understood that; the present invention is not limited to the above embodiment; within the spirit and principles in the present invention all; any modification of doing, be equal to replacement etc., within protection scope of the present invention all should be included in.
Claims (10)
1. the vehicle recognition detection method based on laser instrument, is characterized in that, comprising:
S1, the maximum height value of vehicle is measured and calculated to laser instrument;
S2, described laser instrument contrasts the constrain height value of setting in the maximum height value of the described vehicle collecting and described laser instrument, if described maximum height value surpasses described constrain height value, described laser instrument sends trigger pip to main control system, described main control system is controlled the image that image capture device gathers described vehicle, described image capture device sends to described main control system by the image of described vehicle, carries out S3; If the maximum height value of described vehicle is no more than described setting height value, do not gather the image of described vehicle, re-execute S1;
S3, the extreme length value of described vehicle and the car frame rate of change of described vehicle are measured and calculated to described laser instrument, and respectively the car frame rate of change of the extreme length value of described vehicle and described vehicle and radial pattern normal data are compared, comparison result is sent to described main control system;
S4, described main control system judges whether to store the image of the described vehicle that described collecting device gathers according to the comparison result of described vehicle, if the comparison result of described vehicle meets vehicle radial pattern normal data, described main control system is stored the image of the described vehicle of described image capture device collection; If the comparison result of described vehicle does not meet described vehicle radial pattern normal data, described main control system is not stored the image of the described vehicle of described image capture device collection.
2. the vehicle recognition detection method based on laser instrument according to claim 1, is characterized in that, the laser beam of described laser instrument transmitting is two bundles.
3. the vehicle recognition detection method based on laser instrument according to claim 2, is characterized in that, the computing method of the maximum height value of described vehicle are specially:
If the setting height(from bottom) of laser instrument is Ha, the length of two bundle laser from laser instrument to ground is respectively L1 and L2, and L1 laser beam is L3 to the length of described surface of vehicle, and L4 is the length that another beam of laser arrives car surface, and the maximum height value H of described vehicle is:
H＝(Ha/L1)*(L1-L3)
Or H=(Ha/L2) * (L2-L4).
4. the vehicle recognition detection method based on laser instrument according to claim 3, is characterized in that, the computing method of the maximum height value H of described vehicle are specially:
The angle of L1 laser beam angle and laser instrument vertical plane is θ, and the angle of L2 laser beam angle and laser instrument vertical plane is angle β,
θ＝arccos(Ha/L1)
β＝arccos(Ha/L2)；
If the former route spacing of L1 laser beam from described surface of vehicle to ground is from being La, the highest vertical height H1 of described vehicle is:
La＝L1-L3
H1＝cosθ*La；
If the former route spacing of L2 laser beam from described surface of vehicle to ground is from being Lb, the highest vertical height H2 of described vehicle is:
Lb＝L2-L4
H2＝cosβ*Lb；
The maximum height value H of described vehicle is: H=H1=H2.
5. the vehicle recognition detection method based on laser instrument according to claim 3, is characterized in that, the length of described L1, L2, L3 and L4 is specially: C*T/2;
Wherein, C is the aerial velocity of propagation of light, and T is described laser instrument Emission Lasers and the time interval that receives laser.
6. the vehicle recognition detection method based on laser instrument according to claim 1, it is characterized in that, the computing method of the average length value of described vehicle are specially: described vehicle is T2-T1 by the time of L1 laser beam, and described Vehicle length value is L=V* (T2-T1)+A; Described vehicle is T2 '-T1 ' by the time of L2 laser beam, and described Vehicle length value is L '=V* (T2 '-T1 ')+A;
The average Vehicle length of described vehicle is (L+L ')/2;
Wherein, V is Vehicle Speed, and A is for revising constant.
7. the vehicle recognition detection method based on laser instrument according to claim 1, is characterized in that, the car frame rate of change of described vehicle is specially: the car frame rate of change of determining described vehicle according to laser beam measuring the height that calculates the described vehicle of gained.
8. the vehicle recognition detection system based on laser instrument, it is characterized in that, comprise laser instrument for testing and calculate vehicle maximum height value, extreme length value and car frame rate of change, for the image capture device of collection vehicle information with for controlling the main control system of image capture device, described main control system respectively with described laser instrument and the communication connection of described image capture device.
9. the vehicle recognition detection system based on laser instrument according to claim 8, is characterized in that, described laser instrument is near infrared laser.
10. the vehicle recognition detection system based on laser instrument according to claim 8, is characterized in that, the laser beam wavelength of described laser instrument transmitting is 905nm.
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Cited By (3)
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| CN105608907A (en) * | 2016-03-11 | 2016-05-25 | 昆山市工研院智能制造技术有限公司 | Vehicle detection system |
| CN107967804A (en) * | 2017-12-04 | 2018-04-27 | 北京理工大学 | A kind of more rotors carry the vehicle cab recognition and vehicle speed measurement device and method of laser radar |
| CN113124777A (en) * | 2021-04-20 | 2021-07-16 | 辽宁因泰立电子信息有限公司 | Vehicle size determination method, device and system and storage medium |
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