CN109557549A - A kind of Vehicle length measurement method based on laser radar - Google Patents
A kind of Vehicle length measurement method based on laser radar Download PDFInfo
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- CN109557549A CN109557549A CN201910100441.1A CN201910100441A CN109557549A CN 109557549 A CN109557549 A CN 109557549A CN 201910100441 A CN201910100441 A CN 201910100441A CN 109557549 A CN109557549 A CN 109557549A
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
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- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention proposes a kind of Vehicle length measurement method based on laser radar.The method calculates vehicle gabarit length and is not necessarily to remain a constant speed traveling in inspection vehicle, for travel speed also without deliberately requiring.Environmental suitability and high reliablity.The measurement error of Vehicle length can be greatly reduced, reinspection number is reduced, to mitigate testing staff's work load the time required to reducing vehicle detection, improves detection efficiency.
Description
The present invention relates to the automatic detection field of vehicle gabarit, specifically a kind of Vehicle length measurement side based on laser radar
Method.
Background technique
System of the most of measuring station using the automatic measurement vehicle gabarit based on light curtain at present, and light curtain method
There are its intrinsic defect, such as its stringent Vehicle Speed requirement, only when vehicle is at the uniform velocity kept straight on 3-5 (km/h),
This method can be only achieved the measurement precision of national standard.
Currently being related to Vehicle length measurement method has: and patent of invention (application number: 201610595422.7, title: outside vehicle
Wide size light curtain measuring device and method), the length of vehicle is measured by linear measure longimetry light curtain receiver;Patent of invention (application
Number: 201610248454.X, a kind of title: light veil type vehicle external profile size detecting device), advanced according to collected vehicle
Speed, the wheelbase of different moments, the height of car of different moments and different moments vehicle width, calculate obtain vehicle length
Degree;Patent of invention (application number: 201310306743.7, a kind of title: contour dimension fast automatic detecting dress of moving vehicle
Set) using detection place two sides laser light curtain to the length for carrying out rough estimate vehicle;Zhou little Bo etc. is (outside a kind of novel vehicle
Design [J] the instrumental technique and sensor of wide size detecting system, 2014 (4): 102-105) it is measured using laser-correlation light curtain
The length of vehicle;(CAN bus based infrared light curtain formula vehicle overall dimension automatic measuring instrument researches and develops [J] automobile to Peng Yuhua etc.
Technology, 2018 (3): 60-62) using CAN bus based infrared light curtain to Vehicle length fast, accurately automatic measurement;?
Text can etc. (highway transport vehicle, which loads geometric dimension, to transfinite identification [J] Journal of northeast Forestry university, 2009,37 (4): 108-
111) Vehicle length is measured using light curtain and optoelectronic switch;(vehicle overall dimension detection system designs the Shijiazhuang [D] to Li Dongxing
Railway university, 2014) projection measurement principle is utilized, three-dimensional source of parallel light is constructed by light curtain sensor, by detecting vehicle pair
Collimated light beam blocks to measure the contour dimensions such as the length of vehicle.These methods are primarily present following problem:
1) in reality measurement, often because vehicle has senile abrasion in use, inspector, which is unfamiliar with, to be examined
Vehicle driving operation etc. is various objective and artificial origin, is unable to reach above-mentioned driving requirements.Vehicle gabarit length parameter is caused to need
Recheck even artificial detection.Not only detection efficiency is reduced, but also wastes the time of car owner and testing staff.
2) place for carrying out the detection of vehicle gabarit is often in outdoor or semi-enclosed environment, and light curtain is by weather
Etc. reasons influence, equipment failure rate is higher, and spoilage is also higher.
Summary of the invention
For the deficiency of existing vehicle gabarit length measurement method, the present invention proposes that a kind of vehicle based on laser radar is long
Spend measurement method.
The present invention includes the following steps:
A kind of Vehicle length measurement method based on laser radar, which comprises the steps of:
Step 1: obtaining left and right radar points cloud data frame, the note left and right radar point cloud data of t moment is respectively LPt={ (xi,
yi) | i=0,1 ..., d-1, RPt={ (xi,yi) | i=0,1 ..., m-1 }, wherein (xi,yi) indicate in point cloud data
Coordinate points, d indicate the coordinate points number for including in the left radar data frame of t moment, include in the m expression right radar data frame of t moment
Coordinate points number;
Step 2: since initial frame, according to judge vehicle it is initial/terminate frame method and analyze left and right radar points cloud number frame by frame
According to, find the target frame met the requirements at first, determine the frame be vehicle drive into the moment, be denoted as tIN;
Step 3: from tINFrame starts, according to judge vehicle it is initial/terminate frame method and analyze left and right radar points cloud number frame by frame
According to, find the target frame met the requirements at first, determine the frame be vehicle be driven out to the moment, be denoted as tOUT;
Step 4: according to tOUTThe point cloud data of -1 frame calculates Vehicle length, specifically: by tOUTCorresponding cloud number of -1 frame
According to being denoted as FPO={ (xi,yi) | i=0,1,2..., k-1 }, k tOUTThe corresponding coordinate points number of -1 frame;Reject FPOIn meet yi
< hf1&&yi> hf2Coordinate points, wherein hf1Indicate tOUTUpper threshold in -1 frame in coordinate points Y direction, hf1It indicates
tOUTBottom threshold in -1 frame in coordinate points Y direction;Then Vehicle length L is calculated according to formula (1)Car:
LCar=L-s (1)
Wherein, the horizontal distance of laser radar sensor and the left and right laser radar sensor plane of scanning motion, s are before L is indicated
FPOThe abscissa minimum value of middle all the points;
A kind of Vehicle length measurement method based on laser radar, it is characterised in that: one of step 2,3 are sentenced
Disconnected vehicle is initial/and terminating frame method, detailed process is as follows:
Step 2.1: rejecting LPtWith RPtIn meet yi< h0Point, wherein h0Indicate coordinate points Y-axis side in point cloud data frame
Upward threshold value;Merge LP after unified coordinate systemtWith RPtIt is denoted as Pt, i.e. Pt=LPt∪RPt;
Step 2.2: object is calculated in detection zone in left and right laser radar scanning plane according to formula (2)
Width wt,
wt=xmax-xmin (2)
When meeting wt> w0, then t is that vehicle drives into or be driven out to the detection zone moment, wherein w0Indicate object minimum widith threshold
Value.
The present invention has the advantages that 1) this method calculates vehicle gabarit length and is not necessarily to protect in inspection vehicle compared with light curtain method
It holds and drives at a constant speed, for travel speed also without deliberately requiring.And the measurement accuracy of laser radar is higher than the measurement accuracy of light curtain;2)
Environmental suitability and reliability are even more to be much higher than light curtain;3) measurement error of Vehicle length can be greatly reduced, reinspection is reduced
Number improves detection efficiency to mitigate testing staff's work load the time required to reducing vehicle detection.With good reality
With value and promotion prospect.
Detailed description of the invention
Fig. 1 is the schematic diagram of laser radar apparatus installation site;
Fig. 2 is that vehicle enters vehicle commander measured zone moment t0When, the schematic diagram in inspection vehicle driving position;
Fig. 3 is that vehicle commander measures finish time t1When, the schematic diagram in inspection vehicle driving position;
Fig. 4 is the coordinate value of the partial dot from the frame point cloud data that laser radar obtains;
In figure: the left laser radar sensor of 1-, the right laser radar sensor of 2-, laser radar sensor before 3-, 4- detection
Laser radar sensor mounting height h before lane length L, 5-, 9- detect lane length L, 10- tested vehicle length LCar, 14-
Lane length L is detected, horizontal distance S, 16- the tested vehicle length of laser radar sensor and tested vehicle leading edge before 15-
LCar。
Specific embodiment
Below with reference to specific example, to illustrate a kind of implementation of the Vehicle length measurement method based on laser radar of the present invention
Mode.
A kind of Vehicle length measurement method based on laser radar, specifically comprises the following steps:
Step 1: obtaining corresponding left and right radar points cloud data frame of each moment, remember the left and right radar point cloud data of t moment
Respectively LPt={ (xi,yi) | i=0,1 ..., d-1, RPt={ (xi,yi) | i=0,1 ..., m-1 }, wherein (xi,yi) table
Show the coordinate points in point cloud data, d indicates the coordinate points number for including in the left radar data frame of t moment, and m indicates the right thunder of t moment
Up to the coordinate points number for including in data frame;
Step 2: since initial frame, according to judge vehicle it is initial/terminate frame method and analyze left and right radar points cloud number frame by frame
According to, find the target frame met the requirements at first, determine the frame be vehicle drive into the moment, be denoted as tIN;
Step 3: from tINFrame starts, according to judge vehicle it is initial/terminate frame method and analyze left and right radar points cloud number frame by frame
According to, find the target frame met the requirements at first, determine the frame be vehicle be driven out to the moment, be denoted as tOUT;
Step 4: according to tOUTThe point cloud data of -1 frame calculates Vehicle length;Specific steps are as follows: by tOUTThe corresponding point of -1 frame
Cloud data are denoted as FPO={ (xi,yi) | i=0,1,2 ..., k-1 }, k tOUTThe corresponding coordinate points number of -1 frame;Reject FPOIn it is full
Sufficient yi< hf1&&yi> hf2Coordinate points, wherein hf1Indicate tOUTUpper threshold in -1 frame in coordinate points Y direction, hf1Table
Show tOUTBottom threshold in -1 frame in coordinate points Y direction;Then Vehicle length L is calculated according to formula (1)Car:
LCar=L-s (1)
Wherein, the horizontal distance of laser radar sensor and the left and right laser radar sensor plane of scanning motion, s are before L is indicated
FPOThe abscissa minimum value of middle all the points;In this example, hf1=200mm, hf2=4000mm, L=23670mm, s=
15661mm。
Wherein one of step 2,3 judge vehicle it is initial/terminating frame method, detailed process is as follows:
Step 2.1: rejecting LPtWith RPtIn meet yi< h0Point, wherein h0Indicate coordinate points Y-axis side in point cloud data frame
Upward threshold value;Merge LP after unified coordinate systemtWith RPtIt is denoted as Pt, i.e. Pt=LPt∪RPt;In this example, h0=200mm;
Step 2.2: object is calculated in detection zone in left and right laser radar scanning plane according to formula (2)
Width wt, when meeting wt> w0, then t is that vehicle drives into or be driven out to the detection zone moment, wherein w0Indicate object minimum widith threshold
Value;In this example, w0=1000mm
wt=xmax-xmin (2)
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention is also and in this field skill
Art personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
Claims (2)
1. a kind of Vehicle length measurement method based on laser radar, which comprises the steps of:
Step 1: obtaining left and right radar points cloud data frame, the note left and right radar point cloud data of t moment is respectively LPt={ (xi,yi)|
I=0,1 ..., d-1, RPt={ (xi,yi) | i=0,1 ..., m-1 }, wherein (xi,yi) indicate point cloud data in coordinate
Point, d indicate the coordinate points number for including in the left radar data frame of t moment, and m indicates the seat for including in the right radar data frame of t moment
Punctuate number;
Step 2: since initial frame, according to judge vehicle it is initial/terminate frame method and analyze left and right radar point cloud data frame by frame,
The target frame met the requirements at first is found, determines that the frame is that vehicle drives into the moment, is denoted as tIN;
Step 3: from tINFrame starts, according to judge vehicle it is initial/terminate frame method and analyze left and right radar point cloud data frame by frame, look for
To the target frame met the requirements at first, determines that the frame is that vehicle is driven out to the moment, be denoted as tOUT;
Step 4: according to tOUTThe point cloud data of -1 frame calculates Vehicle length, specifically: by tOUTThe corresponding point cloud data note of -1 frame
For FPO={ (xi,yi) | i=0,1,2..., k-1 }, k tOUTThe corresponding coordinate points number of -1 frame;Reject FPOIn meet yi<
hf1&&yi> hf2Coordinate points, wherein hf1Indicate tOUTUpper threshold in -1 frame in coordinate points Y direction, hf1Indicate tOUT-1
Bottom threshold in frame in coordinate points Y direction;Then Vehicle length L is calculated according to formula (1)Car:
LCar=L-s (1)
Wherein, the horizontal distance of laser radar sensor and the left and right laser radar sensor plane of scanning motion, s FP before L is indicatedOIn
The abscissa minimum value of all the points.
2. a kind of Vehicle length measurement method based on laser radar according to claim 1, which is characterized in that the step
One of rapid 2,3 judge vehicle it is initial/terminating frame method, detailed process is as follows:
Step 2.1: rejecting LPtWith RPtIn meet yi< h0Point, wherein h0It indicates in point cloud data frame in coordinate points Y direction
Threshold value;Merge LP after unified coordinate systemtWith RPtIt is denoted as Pt, i.e. Pt=LPt∪RPt;
Step 2.2: width of the object in left and right laser radar scanning plane in detection zone is calculated according to formula (2)
wt,
wt=xmax-xmin (2)
When meeting wt> w0, then t is that vehicle drives into or be driven out to the detection zone moment, wherein w0Indicate object minimum widith threshold value.
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110246335A (en) * | 2019-05-29 | 2019-09-17 | 中山安信通机器人制造有限公司 | The identifying system and its recognition methods of vehicle dynamic outline |
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CN101937084A (en) * | 2010-08-25 | 2011-01-05 | 上海慧昌智能交通***有限公司 | Low-cost traffic information detecting radar device and detecting method thereof |
CN103901427A (en) * | 2014-04-02 | 2014-07-02 | 北京川速微波科技有限公司 | Speed measuring radar multi-target tracking method and device |
CN103954222A (en) * | 2014-04-29 | 2014-07-30 | 南京理工大学 | Vehicle outline and wheel base automatic measuring system and measuring algorithm |
CN104655249A (en) * | 2015-03-16 | 2015-05-27 | 武汉大学 | System and method for automatically measuring dimension and weight of road vehicle |
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2019
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101937084A (en) * | 2010-08-25 | 2011-01-05 | 上海慧昌智能交通***有限公司 | Low-cost traffic information detecting radar device and detecting method thereof |
CN103901427A (en) * | 2014-04-02 | 2014-07-02 | 北京川速微波科技有限公司 | Speed measuring radar multi-target tracking method and device |
CN103954222A (en) * | 2014-04-29 | 2014-07-30 | 南京理工大学 | Vehicle outline and wheel base automatic measuring system and measuring algorithm |
CN104655249A (en) * | 2015-03-16 | 2015-05-27 | 武汉大学 | System and method for automatically measuring dimension and weight of road vehicle |
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Application publication date: 20190402 |