CN108375771A - A kind of two-dimensional laser radar railway obstacle detection system and its detection method - Google Patents
A kind of two-dimensional laser radar railway obstacle detection system and its detection method Download PDFInfo
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- CN108375771A CN108375771A CN201810062835.8A CN201810062835A CN108375771A CN 108375771 A CN108375771 A CN 108375771A CN 201810062835 A CN201810062835 A CN 201810062835A CN 108375771 A CN108375771 A CN 108375771A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The invention discloses a kind of two-dimensional laser radar railway obstacle detection systems in railway obstacle detection technology field, including adjusting platform, the top left side of the adjustment platform is equipped with control arithmetic unit and warning device, the control arithmetic unit is located at the left side of warning device, it is connected by screw two-dimensional laser radar at the top center of the adjustment platform, a kind of detection method of two-dimensional laser radar railway obstacle detection system, the detection method of the two-dimensional laser radar railway obstacle detection system are as follows：S1：The adjustment of two-dimensional laser radar is in being parallel to rail level；S2：Demarcate radar two-dimensional plane coordinate system；S3：Set protection zone；S5：Barrier judgment confirms that this programme can filter out interference, and realization is round-the-clock, is detected under the conditions of various, improves the safety of railway.
Description
Technical field
The present invention relates to railway obstacle detection technology field, specially a kind of two-dimensional laser radar railway detection of obstacles
System and its detection method.
Background technology
Falling rocks or pedestrian leave large article behind on rail level frequent occurrence along dangerous mountain railway, seriously affect train row
Vehicle safety, existing video monitoring is affected by environment greatly, defence area type vibration optical cable construction is of high cost and is more easily damaged, for this purpose,
We have proposed a kind of two-dimensional laser radar railway obstacle detection system and its detection methods.
Invention content
The purpose of the present invention is to provide a kind of two-dimensional laser radar railway obstacle detection system and its detection method, with
Solve existing video monitoring mentioned above in the background art big, defence area type vibration optical cable construction affected by environment it is of high cost and
The problem of being more easily damaged.
To achieve the above object, the present invention provides the following technical solutions：A kind of two-dimensional laser radar railway detection of obstacles
The top left side of system, including adjustment platform, the adjustment platform is equipped with control arithmetic unit and warning device, the control fortune
The left side that device is located at warning device is calculated, two-dimensional laser radar has been connected by screw at the top center of the adjustment platform.
Preferably, the adjustment platform includes erecting bed and four groups of adjustable legs, and four groups of adjustable legs pass through spiral shell
Bottom four corners of the nail mounted on erecting bed.
A kind of detection method of two-dimensional laser radar railway obstacle detection system, the two-dimensional laser radar railway barrier
The detection method of detecting system is as follows：
S1：The adjustment of two-dimensional laser radar is in being parallel to rail level：
The scan line of two-dimensional laser radar is invisible, can not be by human eye to two-dimensional laser radar when being adjusted
Scan line is observed, it is difficult to get height of the two-dimensional laser radar to scanning element, still, the light path of laser scanning is one
Optical plane, so, if a plane, parallel across three an equal amount of triangle bodies, the face of face two-dimensional laser radar is mutual
It is parallel, and when different string pendulum is put, the length in the face cut out should be equal in magnitude；
This system uses standard triangle body adjusting method, the triangle body of same size to be put into rail, face two-dimensional laser radar
Face keeping parallelism；
Two-dimensional laser radar scanning is extracted to the marginal point of triangular facet, two-dimensional laser radar angular resolution is neglected and draws
The error risen, then can calculate the length scale of each triangular facet, if left hand edge point coordinates is (xl, yl), right hand edge point
Coordinate is that (xr, yr) then length L is：
During adjusting two-dimensional laser radar, the length of three triangular facets is calculated in real time, when error is less than threshold value, then
Radar is adjusted to and rail cover level；
S2：Demarcate radar two-dimensional plane coordinate system：
Along the railway, best object of reference is two parallel rails, so it is parallel that radar fix system is rotated to x-axis
In rail direction, and y-axis, perpendicular to rail, coordinate origin is radar center, and coordinate system is named as orbital coordinate system, and radar
Centered on coordinate, 0 ° of radiation direction of radar emission is x-axis, and 90 be the coordinate system of y-axis be radar fix system；
Centered on origin, the formula around z-axis rotation angle θ is：
Wherein, x ' and y ' are radar fix system coordinate, and x and y are orbital coordinate system coordinate, there are three unknown number in equation,
As soon as and there are two equations for point, as long as so there are two putting that selected angle θ can be calculated, further calculate out each point
Orbital coordinate system coordinate value；
When calibration, two objects are put on the track close to two-dimensional laser radar, are calculated scanning and are arrived object
Central point calculates rotation angle as calibration point；
S3：Set protection zone：
S31：The protection zone plan of establishment：General protection zone is in the outside certain distance of two tracks；
Wherein, it is protection zone within two groups of two-wire items in outside, and rail is parallel lines, apart from two-dimensional laser radar
An object of reference is put on track nearby, if object of reference is (x, y) from the coordinate in orbital coordinate system, on protection zone
Position be X=x, Y1=y-offest (interior survey) and Y2=y+d+offset (outside)；
S32：Protection zone calculates：Since lidar measurement is distance value ρ, from angle start=0 degree is started, to connecing
Angle end=180 degree is received, is incremented by with angular resolution α, then measured value in total is always：
The angle of certain point is θi=start+i* α；
In order to reduce calculation amount, does not spend and calculate the rectangular co-ordinate each put, and with polar coordinates (ρi, θi) indicate, it calculates every
Intersection value (the ρ of a light and protection zone boundary linei1, ρi2), ρi1For near side (ns) intersection point, ρi2For the intersection point with distal edge, if in θi
Place, ρiMore than ρi1And it is less than ρi2Then the point is in protection zone, otherwise outside protection zone, calculates n boundary value in this way, then measures
Each value and corresponding 2 distance values in protection zone compare data, then each point are may determine that whether in protection zone, with protection zone
The calculation formula on boundary is：
ρij=Y/sin (θi) wherein j be 1 and 2, for it is interior survey and outer lateral extent；
S4：The cluster of point：
Two-dimensional laser radar is parallel to orbit plane scanning, and only scanning distance is poor between different barriers, it is assumed that phase
The distance of adjacent 2 points is ρiAnd ρj, | ρi–ρj|<ε, wherein ε are range difference threshold value, then 2 points are classified as 2 classes respectively；
The point cloud data of the single cluster each scanned is known as point cloud frame Frame, and the attribute of Frame is：
Points：Point cloud in cluster；
LeftPos：Frame leftmost edges position, by the distance ρ on the left sidelAnd θlComposition；
RigthPos：Marginal position on the right of Frame, by the distance ρ on the left siderAnd θrComposition；
Middle：Frame central point clouds position；By intermediate distance ρm=(ρl+ρr)/2 and θm=(θl+θr)/2 form；
Length：The length of Frame is calculated by the position of left and right 2, and formula is：
S5：Barrier judgment confirms：
S51：Frame is clustered out by a cloud if it is determined that inside protection zone, then is barrier block to be confirmed,
If it is same object, sequence of points cloud Frame is added in block, and the judgement of same object is given below by forth below
Attribute：
Frames：The frame sequence that same object is added；
LeftPos：Object leftmost edge position calculates average value by the LeftPos for the Frame being newly joined；
RigthPos：Marginal position on the right of object calculates average value by the RigthPos for the Frame being newly joined；
Middle：Object newest dot center's point cloud position；Equal to the Middle for the Frame being newly joined；
Length：The length of object；Average value is calculated by the Length for the Frame being newly joined；
Speed：The speed of object；Due to the influence of radar data interference, calculated using rolling average speed；
Direction：The direction of motion of object, is indicated with angle；
S52：The frame sequence of same object judges, when the Frame of cluster is in protection zone, if having existed block,
Judge whether this Frame belongs to one in these block, belong to, be added in the block, otherwise generate one it is new
Block, decision logic are；
Since block has certain speed, considers uniform motion, interval time is multiplied by with the Speed of block, it is expected that
Walking position, is compared with the position of this position and present frame, then may determine that whether present frame belongs to the block, step
For：
(1) it calculates and it is expected walking position, current location is first transformed into rectangular co-ordinate, i.e. (x, y)=(ρmcosθm, ρmsinθm)
(wherein ρmAnd θmFor intermediate point polar coordinate position), it is assumed that present frame and block are eventually adding frame time difference as t, then range ability is：
S=Speed*t；Finally according to the direction of motion, movement position (x to the end is obtainedc,yc)=(x+s*cos (Direction), y+s*
Sin (Direction)), it is transformed into polar coordinate system
(2) it calculates present frame and block moves to the range difference D of positiondiff, using Euclidean distance；
(3) degree in close relations, consider present frame and block length factor, comprehensive distance difference obtain one it is in close relations
Degree scoring score, formula are：
Score=(1-0.8* (Ddiff/Dc))(1–0.2*abs(Lf-Lb)/Lb)
Wherein：Dc is normaliztion constant, can rule of thumb value.LfFor current frame length, LbFor object length, abs
() is to take absolute value；
(4) judge whether present frame belongs to block standards：score>0.8 present frame can be integrated into the object, if
It is more than 0.8 to have multiple objects, then is added to largest score block；
S53：Barrier determines alarm, and when block speed is more than 0.1km/h, block can move out defence area,
It is all not alarm, and when block stops, it is more than certain time (this programme 15s can be changed), then is confirmed as barrier,
Then it is alarmed by warning device；
S54：Barrier alarm release judges do not have to be added newly when a barrier is more than certain radar data sequence
Frame (is set as 1000 frames) here, then it is assumed that this barrier is removed, alarm release.
Compared with prior art, the beneficial effects of the invention are as follows：The two-dimensional laser radar railway obstacle detection system energy
Interference is filtered out, realization is round-the-clock, is detected under the conditions of various, improves the safety of railway.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the Principles of Regulation figure of two-dimensional laser radar of the present invention；
Fig. 3 is the setting figure of protection zone of the present invention.
In figure：1 adjustment platform, 2 control arithmetic units, 3 warning devices, 4 two-dimensional laser radars.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：A kind of two-dimensional laser radar railway obstacle detection system,
Including adjusting platform 1, the top left side of the adjustment platform 1 is equipped with control arithmetic unit 2 and warning device 3, the control fortune
The left side that device 2 is located at warning device 3 is calculated, two-dimensional laser radar has been connected by screw at the top center of the adjustment platform 1
4, the adjustment platform 1 includes erecting bed and four groups of adjustable legs, and four groups of adjustable legs are mounted on installation by screw
The bottom four corners of platform.
Laser radar using flight time range measurement principle come detect front obstacle and calculate barrier size and away from
From measurement transmitting light beam and the time difference Δ t from blocking surfaces the reflected beams are multiplied with light velocity c, take the half of product, just
Obtain radar to barrier distance, wherein the light velocity：C=3 × 108M/s, then the distance d of barrier to laser radar be：D=
c×Δt/2。
A kind of detection method of two-dimensional laser radar railway obstacle detection system, the two-dimensional laser radar railway barrier
The detection method of detecting system is as follows：
S1：The adjustment of two-dimensional laser radar 4 is in being parallel to rail level：
The scan line of two-dimensional laser radar 4 is invisible, can not be by human eye to two-dimensional laser radar 4 when being adjusted
Scan line be observed, it is difficult to get height of the two-dimensional laser radar 4 to scanning element, still, the light path of laser scanning is
One optical plane, so, if a plane parallel across three an equal amount of triangle bodies, face two-dimensional laser radar 4
Face is parallel to each other, and when different string pendulum is put, and the length in the face cut out should be equal in magnitude；
This system uses standard triangle body adjusting method, the triangle body of same size to be put into rail, face two-dimensional laser radar 4
Face keeping parallelism (as shown in Figure 2)；
It extracts two-dimensional laser radar 4 and scans the marginal point for arriving triangular facet, neglect 4 angular resolution of two-dimensional laser radar
Caused error can then calculate the length scale of each triangular facet, if left hand edge point coordinates is (xl, yl), right hand edge
Point coordinates is that (xr, yr) then length L is：
During adjusting two-dimensional laser radar 4, the length of three triangular facets is calculated in real time, when error is less than threshold value,
Then radar is adjusted to and rail cover level；
S2：Demarcate radar two-dimensional plane coordinate system：
Along the railway, best object of reference is two parallel rails, so it is parallel that radar fix system is rotated to x-axis
In rail direction, and y-axis, perpendicular to rail, coordinate origin is radar center, and coordinate system is named as orbital coordinate system, and radar
Centered on coordinate, 0 ° of radiation direction of radar emission is x-axis, and 90 be the coordinate system of y-axis be radar fix system；
Centered on origin, the formula around z-axis rotation angle θ is：
Wherein, x ' and y ' are radar fix system coordinate, and x and y are orbital coordinate system coordinate, there are three unknown number in equation,
As soon as and there are two equations for point, as long as so there are two putting that selected angle θ can be calculated, further calculate out each point
Orbital coordinate system coordinate value；
When calibration, two objects are put on the track close to two-dimensional laser radar 4, are calculated scanning and are arrived object
Central point calculates rotation angle as calibration point；
S3：Set protection zone：
S31：The protection zone plan of establishment：General protection zone in the outside certain distance of two tracks (such as Fig. 3 institutes
Show)；
Wherein, it is protection zone within two groups of two-wire items in outside, and rail is parallel lines, apart from two-dimensional laser radar
An object of reference is put on 4 track nearby, if object of reference is (x, y) from the coordinate in orbital coordinate system, in protection zone
On position be X=x, Y1=y-offest (interior survey) and Y2=y+d+offset (outside)；
S32：Protection zone calculates：Since lidar measurement is distance value ρ, from angle start=0 degree is started, to connecing
Angle end=180 degree is received, is incremented by with angular resolution α, then measured value in total is always：
The angle of certain point is θi=start+i* α；
In order to reduce calculation amount, does not spend and calculate the rectangular co-ordinate each put, and with polar coordinates (ρi, θi) indicate, it calculates every
Intersection value (the ρ of a light and protection zone boundary linei1, ρi2), ρi1For near side (ns) intersection point, ρi2For the intersection point with distal edge, if in θi
Place, ρiMore than ρi1And it is less than ρi2Then the point is in protection zone, otherwise outside protection zone, calculates n boundary value in this way, then measures
Each value and corresponding 2 distance values in protection zone compare data, then each point are may determine that whether in protection zone, with protection zone
The calculation formula on boundary is：
ρij=Y/sin (θi) wherein j be 1 and 2, for it is interior survey and outer lateral extent；
S4：The cluster of point：
Two-dimensional laser radar 4 is parallel to orbit plane scanning, and only scanning distance is poor between different barriers, it is assumed that phase
The distance of adjacent 2 points is ρiAnd ρj, | ρi–ρj|<ε, wherein ε are range difference threshold value, then 2 points are classified as 2 classes respectively；
The point cloud data of the single cluster each scanned is known as point cloud frame Frame, and the attribute of Frame is：
Points：Point cloud in cluster；
LeftPos：Frame leftmost edges position, by the distance ρ on the left sidelAnd θlComposition；
RigthPos：Marginal position on the right of Frame, by the distance ρ on the left siderAnd θrComposition；
Middle：Frame central point clouds position；By intermediate distance ρm=(ρl+ρr)/2 and θm=(θl+θr)/2 form；
Length：The length of Frame is calculated by the position of left and right 2, and formula is：
S5：Barrier judgment confirms：
S51：Frame is clustered out by a cloud if it is determined that inside protection zone, then is barrier block to be confirmed,
If it is same object, sequence of points cloud Frame is added in block, and the judgement of same object is given below by forth below
Attribute：
Frames：The frame sequence that same object is added；
LeftPos：Object leftmost edge position calculates average value by the LeftPos for the Frame being newly joined；
RigthPos：Marginal position on the right of object calculates average value by the RigthPos for the Frame being newly joined；
Middle：Object newest dot center's point cloud position；Equal to the Middle for the Frame being newly joined；
Length：The length of object；Average value is calculated by the Length for the Frame being newly joined；
Speed：The speed of object；Due to the influence of radar data interference, calculated using rolling average speed；
Direction：The direction of motion of object, is indicated with angle；
S52：The frame sequence of same object judges, when the Frame of cluster is in protection zone, if having existed block,
Judge whether this Frame belongs to one in these block, belong to, be added in the block, otherwise generate one it is new
Block, decision logic are；
Since block has certain speed, considers uniform motion, interval time is multiplied by with the Speed of block, it is expected that
Walking position, is compared with the position of this position and present frame, then may determine that whether present frame belongs to the block, step
For：
(1) it calculates and it is expected walking position, current location is first transformed into rectangular co-ordinate, i.e. (x, y)=(ρmcosθm, ρmsinθm)
(wherein ρmAnd θmFor intermediate point polar coordinate position), it is assumed that present frame and block are eventually adding frame time difference as t, then range ability is：
S=Speed*t；Finally according to the direction of motion, movement position (x to the end is obtainedc,yc)=(x+s*cos (Direction), y+
S*sin (Direction)), it is transformed into polar coordinate system
(2) it calculates present frame and block moves to the range difference D of positiondiff, using Euclidean distance；
(3) degree in close relations, consider present frame and block length factor, comprehensive distance difference obtain one it is in close relations
Degree scoring score, formula are：
Score=(1-0.8* (Ddiff/Dc))(1–0.2*abs(Lf-Lb)/Lb)
Wherein：Dc is normaliztion constant, can rule of thumb value.LfFor current frame length, LbFor object length, abs
() is to take absolute value；
(4) judge whether present frame belongs to block standards：score>0.8 present frame can be integrated into the object, if
It is more than 0.8 to have multiple objects, then is added to largest score block；
S53：Barrier determines alarm, and when block speed is more than 0.1km/h, block can move out defence area,
It is all not alarm, and when block stops, it is more than certain time (this programme 15s can be changed), then is confirmed as barrier,
Then it is alarmed by warning device 3；
S54：Barrier alarm release judges do not have to be added newly when a barrier is more than certain radar data sequence
Frame (is set as 1000 frames) here, then it is assumed that this barrier is removed, alarm release.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (3)
1. a kind of two-dimensional laser radar railway obstacle detection system, including adjustment platform (1), it is characterised in that：The adjustment
The top left side of platform (1) is equipped with control arithmetic unit (2) and warning device (3), and the control arithmetic unit (2) is located at alarm and fills
The left side of (3) is set, two-dimensional laser radar (4) has been connected by screw at the top center of the adjustment platform (1).
2. a kind of two-dimensional laser radar railway obstacle detection system according to claim 1, it is characterised in that：The tune
Leveling platform (1) includes erecting bed and four groups of adjustable legs, and four groups of adjustable legs are mounted on the bottom of erecting bed by screw
Portion quadrangle.
3. a kind of detection method of two-dimensional laser radar railway obstacle detection system, it is characterised in that：The two-dimensional laser radar
The detection method of railway obstacle detection system is as follows：
S1：Two-dimensional laser radar (4) adjustment is in being parallel to rail level：
The scan line of two-dimensional laser radar (4) is invisible, can not be by human eye to two-dimensional laser radar (4) when being adjusted
Scan line be observed, it is difficult to get height of the two-dimensional laser radar (4) to scanning element, still, the light path of laser scanning
For an optical plane, so, if a plane is parallel across three an equal amount of triangle bodies, face two-dimensional laser radar
(4) face is parallel to each other, and when different string pendulum is put, and the length in the face cut out should be equal in magnitude；
This system uses standard triangle body adjusting method, the triangle body of same size to be put into rail, face two-dimensional laser radar (4)
Face keeping parallelism；
It extracts two-dimensional laser radar (4) and scans the marginal point for arriving triangular facet, neglect two-dimensional laser radar (4) angular resolution
Caused error can then calculate the length scale of each triangular facet, if left hand edge point coordinates is (xl, yl), right hand edge
Point coordinates is that (xr, yr) then length L is：
During adjusting two-dimensional laser radar (4), the length of three triangular facets is calculated in real time, when error is less than threshold value, then
Radar is adjusted to and rail cover level；
S2：Demarcate radar two-dimensional plane coordinate system：
Along the railway, best object of reference is two parallel rails, so radar fix system, which is rotated to x-axis, is parallel to iron
Rail direction, and y-axis, perpendicular to rail, coordinate origin is radar center, coordinate system are named as orbital coordinate system, and radar fix
Centered on, 0 ° of radiation direction of radar emission is x-axis, and 90 be the coordinate system of y-axis be radar fix system；
Centered on origin, the formula around z-axis rotation angle θ is：
Wherein, x ' and y ' are radar fix system coordinate, and x and y are orbital coordinate system coordinate, there are three unknown number in equation, and one
There are two equations for a point, so can calculate selected angle θ as long as there are two point, further calculate out the track of each point
Coordinate system coordinate value；
When calibration, two objects are put on the track close to two-dimensional laser radar (4), are calculated in scanning to object
Heart point calculates rotation angle as calibration point；
S3：Set protection zone：
S31：The protection zone plan of establishment：General protection zone is in the outside certain distance of two tracks；
Wherein, it is protection zone within two groups of two-wire items in outside, and rail is parallel lines, apart from two-dimensional laser radar (4)
An object of reference is put on track nearby, if object of reference is (x, y) from the coordinate in orbital coordinate system, on protection zone
Position be X=x, Y1=y-offest (interior survey) and Y2=y+d+offset (outside)；
S32：Protection zone calculates：Since lidar measurement is distance value ρ, from angle start=0 degree is started, acceptance angle is arrived
End=180 degree is spent, is incremented by with angular resolution α, then measured value in total is always：
The angle of certain point is θi=start+i* α；
In order to reduce calculation amount, does not spend and calculate the rectangular co-ordinate each put, and with polar coordinates (ρi, θi) indicate, calculate each light
Intersection value (the ρ of line and protection zone boundary linei1, ρi2), ρi1For near side (ns) intersection point, ρi2For the intersection point with distal edge, if in θiPlace,
ρiMore than ρi1And it is less than ρi2Then the point is in protection zone, otherwise outside protection zone, calculates n boundary value in this way, then measures number
It is compared according to each value and corresponding 2 distance values in protection zone, then each point is may determine that whether in protection zone, with protection zone side
The calculation formula on boundary is：
ρij=Y/sin (θi) wherein j be 1 and 2, for it is interior survey and outer lateral extent；
S4：The cluster of point：
Two-dimensional laser radar (4) is parallel to orbit plane scanning, and only scanning distance is poor between different barriers, it is assumed that adjacent
The distance of 2 points is ρiAnd ρj, | ρi–ρj|<ε, wherein ε are range difference threshold value, then 2 points are classified as 2 classes respectively；
The point cloud data of the single cluster each scanned is known as point cloud frame Frame, and the attribute of Frame is：
Points：Point cloud in cluster；
LeftPos：Frame leftmost edges position, by the distance ρ on the left sidelAnd θlComposition；
RigthPos：Marginal position on the right of Frame, by the distance ρ on the left siderAnd θrComposition；
Middle：Frame central point clouds position；By intermediate distance ρm=(ρl+ρr)/2 and θm=(θl+θr)/2 form；
Length：The length of Frame is calculated by the position of left and right 2, and formula is：
S5：Barrier judgment confirms：
S51：Frame is clustered out by a cloud if it is determined that inside protection zone, then is barrier block to be confirmed, if
For same object, then sequence of points cloud Frame is added in block, and category is given below by forth below in the judgement of same object
Property：
Frames：The frame sequence that same object is added；
LeftPos：Object leftmost edge position calculates average value by the LeftPos for the Frame being newly joined；
RigthPos：Marginal position on the right of object calculates average value by the RigthPos for the Frame being newly joined；
Middle：Object newest dot center's point cloud position；Equal to the Middle for the Frame being newly joined；
Length：The length of object；Average value is calculated by the Length for the Frame being newly joined；
Speed：The speed of object；Due to the influence of radar data interference, calculated using rolling average speed；
Direction：The direction of motion of object, is indicated with angle；
S52：The frame sequence of same object judges, when the Frame of cluster is in protection zone, if having existed block, judges
Whether this Frame belongs to one in these block, belongs to, and is added in the block, otherwise generate one it is new
Block, decision logic are；
Since block has certain speed, consider uniform motion, interval time is multiplied by with the Speed of block, obtains it is expected walking
Position, is compared with the position of this position and present frame, then may determine that whether present frame belongs to the block, and step is：
(1) it calculates and it is expected walking position, current location is first transformed into rectangular co-ordinate, i.e. (x, y)=(ρmcosθm, ρmsinθm)
(wherein ρmAnd θmFor intermediate point polar coordinate position), it is assumed that it is t that present frame and block, which are eventually adding frame time difference, then range ability
For：S=Speed*t；Finally according to the direction of motion, movement position (x to the end is obtainedc,yc)=(x+s*cos (Direction), y+
S*sin (Direction)), it is transformed into polar coordinate system
(2) it calculates present frame and block moves to the range difference D of positiondiff, using Euclidean distance；
(3) degree in close relations considers that the length factor of present frame and block, comprehensive distance difference obtain a degree in close relations and comment
Point score, formula are：
Score=(1-0.8* (Ddiff/Dc))(1–0.2*abs(Lf-Lb)/Lb)
Wherein：Dc is normaliztion constant, can rule of thumb value.LfFor current frame length, LbFor object length, abs () is
It takes absolute value；
(4) judge whether present frame belongs to block standards：score>0.8 present frame can be integrated into the object, if there is more
A object is more than 0.8, then is added to largest score block；
S53：Barrier determines alarm, and when block speed is more than 0.1km/h, block can move out defence area, own
It does not alarm, and when block stops, it is more than certain time (this programme 15s can be changed), then is confirmed as barrier, then
It is alarmed by warning device (3)；
S54：Barrier alarm release judges do not have to be added newly when a barrier is more than certain radar data sequence
Frame (is set as 1000 frames) here, then it is assumed that this barrier is removed, alarm release.
Priority Applications (1)
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