CN109584573A - The identifying system and method for hazardous vehicles in tunnel - Google Patents
The identifying system and method for hazardous vehicles in tunnel Download PDFInfo
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- CN109584573A CN109584573A CN201811564191.9A CN201811564191A CN109584573A CN 109584573 A CN109584573 A CN 109584573A CN 201811564191 A CN201811564191 A CN 201811564191A CN 109584573 A CN109584573 A CN 109584573A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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Abstract
The embodiment of the present invention provides the identifying system and method for hazardous vehicles in a kind of tunnel, which includes: at least two laser radar units, video capture unit and data processing unit；Laser radar unit, camera snap unit, information alert unit are connect with data processing unit respectively；Laser radar unit is stated camera snap unit and is successively arranged on tunnel inner wall along vehicle heading respectively；Laser radar unit, for acquiring vehicle data information；Data processing unit, if vehicle is hazardous vehicles, sends to camera snap unit for identifying whether vehicle is hazardous vehicles according to vehicle data information and captures instruction；Camera snap unit, for instructing the picture for capturing vehicle according to candid photograph, to obtain vehicle snapshot information；Data processing unit is also used to the type according to belonging to the hazardous vehicles identified, hazard types and vehicle snapshot information architecture vehicle identification result information.Hazardous vehicles can be recognized accurately.
Description
Technical field
The present embodiments relate to a kind of identifying systems of hazardous vehicles in field of intelligent transportation technology more particularly to tunnel
And method.
Background technique
With rapid economic development, volume of transport is increased sharply, and harmful influence haulage vehicle is explosive, inflammable, toxic etc. due to its
Characteristic is highly valued in the safety management and operation in tunnel, and ultra-wide, and the vehicle of superelevation or hypervelocity is in tunnel expert
It sails, also threatens the safety in tunnel.These vehicles constitute the hazardous vehicles in tunnel.Therefore the operation of vehicle in tunnel is monitored
Situation is the most important thing of management tunnel safe operation.
In the prior art, it is mainly the method for video monitoring to the recognition methods of the hazardous vehicles in tunnel, passes through video
Shoot whether the keyword messages identification vehicle such as license board information and " dangerous goods " of vehicle is hazardous vehicles.
Cause license plate or keyword that can not have in the case where blocking the recognition methods of hazardous vehicles in the prior art
Effect identifies hazardous vehicles, causes the detection of hazardous vehicles to omit, and then hazardous vehicles cannot be recognized accurately.
Summary of the invention
The embodiment of the present invention provides the identifying system and method for hazardous vehicles in a kind of tunnel, and this method solve existing skills
Cause license plate or keyword that can not effectively identify danger in the case where blocking the recognition methods of hazardous vehicles in art
Vehicle causes the detection of hazardous vehicles to omit, and then the technical issues of hazardous vehicles cannot be recognized accurately.
In a first aspect, the embodiment of the present invention provides hazardous vehicles identifying system in a kind of tunnel, comprising:
At least two laser radar units, video capture unit and data processing unit；
The laser radar unit, the camera snap unit are connect with the data processing unit respectively；
The laser radar unit, the camera snap unit are successively arranged in tunnel along vehicle heading respectively
On wall；
The laser radar unit, for acquiring vehicle data information；
The data processing unit, for identifying whether the vehicle is hazardous vehicles according to the vehicle data information,
If the vehicle is hazardous vehicles, is sent to camera snap unit and capture instruction；
The camera snap unit, for instructing the picture for capturing vehicle according to described capture, to obtain vehicle snapshot
Information；
The data processing unit, is also used to the type according to belonging to the hazardous vehicles identified, hazard types and described
Vehicle snapshot information architecture vehicle identification result information.
Further, system as described above, further includes: information alert unit；
The information alert unit is connect with the data processing unit；
The tunnel in front of the camera snap unit is arranged in along the vehicle heading for the information alert unit
On the outside of on inner wall or tunnel；
The data processing unit is also used to the vehicle identification result information being sent to information alert unit；
The information alert unit, for being prompted and/or being alerted according to the vehicle identification result information.
Further, system as described above, the laser radar unit are two, and the setting of first laser radar cell exists
The other side of the tunnel inner wall is arranged in the side of the tunnel inner wall, second laser radar cell；
The first laser radar cell, the second laser radar cell mounting height be not less than preset height threshold
Value, the scanning surface of at least one laser radar unit and the angle of vehicle heading are in preset vertical angular range；It is described
At a distance from the scanning surface of first laser radar and the intersection on road surface, with the scanning surface of the second laser radar and the intersection on road surface
Greater than pre-set length threshold；
The first laser radar, any one that the second laser radar is following kind of laser radar:
Single line laser radar, multi-line laser radar, three-dimensional laser radar；
The first laser radar cell, for acquiring the first data information of vehicle, first data information includes:
First side data information and the first top data information；
The second laser radar cell, for acquiring the second data information of vehicle, second data information includes:
Second side data information and the second top data information.
Further, system as described above, the camera snap unit are swept with the first laser radar cell
The distance for retouching face is pre-determined distance.
Further, system as described above, the information alert unit are advices plate and/or voice announcer.
Second aspect, the embodiment of the present invention provide hazardous vehicles recognition methods in a kind of tunnel, comprising:
Each laser radar unit acquires vehicle data information；
Data processing unit identifies whether the vehicle is hazardous vehicles according to the vehicle data information, if the vehicle
For hazardous vehicles, is then sent to camera snap unit and capture instruction；
The camera snap unit is according to the picture captured instruction and capture vehicle, to obtain vehicle snapshot information；
The data processing unit is according to the type of the vehicle identified, hazard types and the vehicle snapshot information architecture
Vehicle identification result information.
Further, method as described above, type of the data processing unit according to the vehicle identified, dangerous class
After type and the vehicle snapshot information architecture vehicle identification result information, further includes:
The vehicle identification result information is sent to information alert unit by the data processing unit；
The information alert unit is prompted and/or is alerted according to the vehicle identification result information.
Further, method as described above, each laser radar unit acquires vehicle data information, specific to wrap
It includes:
First laser radar cell acquires the first data information of vehicle, and first data information includes: first side
Data information and the first top data information；
Second laser radar cell acquires the second data information of vehicle, and second data information includes: second side
Data information and the second top data information.
Further, method as described above, the data processing unit is according to vehicle data information identification
Whether vehicle is hazardous vehicles, if the vehicle is hazardous vehicles, sends to camera snap unit and captures instruction, specific to wrap
It includes:
The data processing unit according to first data information and second data judge the vehicle whether with
Other vehicles are parallel or whether the vehicle blocks；
If it is not, then the data processing unit according to first data information calculates fisrt feature data, and according to institute
It states the second data information and calculates second feature data, according to the fisrt feature data and second feature data determination
The type of vehicle；
If so, data information calculating pair of the data processing unit according to the laser radar unit close to vehicle side
The characteristic answered determines the type of the vehicle according to the corresponding characteristic；
The data processing unit is according to the type of the vehicle, first data information and second data information
Judge the vehicle whether superelevation, ultra-wide and hypervelocity；
If the type of the vehicle is pot type harmful influence vehicle and/or superelevation and/or ultra-wide, and/or hypervelocity, then to institute
It states camera snap unit and sends candid photograph instruction；
Wherein, the fisrt feature information is the radian and/or curvature feature of automobile body side and the vehicle top
Portion's cargo first import and export feature；The second feature information is the radian and/or curvature feature of the automobile body other side, and
The second import and export feature of the vehicle roof cargo.
Further, method as described above, the camera snap unit instruct candid photograph vehicle according to described capture
Picture is specifically included with obtaining vehicle snapshot information:
The camera snap unit is according to the picture captured instruction and capture the vehicle；
To in the picture of the vehicle license plate number and license plate color identify；
By the picture of the vehicle, the license plate number and the license plate color are determined as vehicle snapshot information.
The information alert unit is prompted and/or is alerted according to the vehicle identification result information, is specifically included:
Type belonging to the hazardous vehicles that the information alert unit will identify that, hazard types and the license plate number pass through
Advices plate and/or voice announcer carry out prompt and/warning.
The embodiment of the present invention provides the identifying system and method for hazardous vehicles in a kind of tunnel, which includes: at least two
A laser radar unit, video capture unit and data processing unit；Laser radar unit, camera snap unit, information
Prompt unit is connect with data processing unit respectively；Laser radar unit states camera snap unit respectively along vehicle driving side
It is arranged on tunnel inner wall to successive；Laser radar unit, for acquiring vehicle data information；Data processing unit is used for root
Whether it is hazardous vehicles according to vehicle data information identification vehicle, if vehicle is hazardous vehicles, is sent to camera snap unit
Capture instruction；Camera snap unit, for instructing the picture for capturing vehicle according to candid photograph, to obtain vehicle snapshot information；Number
According to processing unit, it is also used to the type according to belonging to the hazardous vehicles identified, hazard types and vehicle snapshot information architecture vehicle
Recognition result information.The validity feature of hazardous vehicles can be extracted and hazardous vehicles are effectively identified, effectively avoided
Since license plate or blocking for keyword cannot identify hazardous vehicles, hazardous vehicles can be recognized accurately.
It should be appreciated that content described in foregoing invention content part is not intended to limit the pass of the embodiment of the present invention
Key or important feature, the range being also not intended to limit the invention.Other feature of the invention will become to hold by description below
It is readily understood.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
The first structure diagram of hazardous vehicles identifying system in the tunnel that Fig. 1 provides for the embodiment of the present invention one；
Second structural schematic diagram of hazardous vehicles identifying system in the tunnel that Fig. 2 provides for the embodiment of the present invention one；
Fig. 3 is the first structure diagram of hazardous vehicles identifying system in tunnel provided by Embodiment 2 of the present invention；
Fig. 4 is the second structural schematic diagram of hazardous vehicles identifying system in tunnel provided by Embodiment 2 of the present invention；
The flow chart of hazardous vehicles recognition methods in the tunnel that Fig. 5 provides for the embodiment of the present invention three；
The flow chart of hazardous vehicles recognition methods in the tunnel that Fig. 6 provides for the embodiment of the present invention four.
Appended drawing reference
111- first laser radar cell 112- second laser radar cell 113- third laser radar unit 12- number
According to processing unit 13- camera snap unit 14- information alert unit
Specific embodiment
Embodiment of the present invention will be described in more detail below with reference to accompanying drawings.Although being shown in attached drawing of the invention certain
Embodiment, it should be understood that, the present invention can be realized by various forms, and should not be construed as being limited to this
In the embodiment that illustrates, providing these embodiments on the contrary is in order to more thorough and be fully understood by the present invention.It should be understood that
It is that being given for example only property of accompanying drawings and embodiments effect of the invention is not intended to limit protection scope of the present invention.
The specification and claims of the embodiment of the present invention and the term " first " in above-mentioned attached drawing, " second ", "
Three ", the (if present)s such as " 4th " are to be used to distinguish similar objects, without for describing specific sequence or successive time
Sequence.It should be understood that the data used in this way are interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein as can
The enough sequence implementation with other than those of illustrating or describe herein.In addition, term " includes " and " having " and they
Any deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, being
System, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or
For the intrinsic other step or units of these process, methods, product or equipment.
Various embodiments of the present invention are introduced with reference to the accompanying drawings of the specification.
Embodiment one
The first structure diagram of hazardous vehicles identifying system, Fig. 2 are in the tunnel that Fig. 1 provides for the embodiment of the present invention one
Second structural schematic diagram of hazardous vehicles identifying system in the tunnel that the embodiment of the present invention one provides, wherein Fig. 1 is the present embodiment
In tunnel in hazardous vehicles identifying system each unit positional structure schematic diagram, Fig. 2 is danger in tunnel in the present embodiment
The attachment structure schematic diagram of each unit in dangerous vehicle identification system.As depicted in figs. 1 and 2, it endangers in tunnel provided in this embodiment
Dangerous vehicle identification system includes: at least two laser radar units, camera snap unit 13 and data processing unit 12.Scheming
In 2, example goes out three laser radar units, respectively first laser radar cell 111, second laser radar cell 112 and
Three laser radar units 113.
Wherein, each laser radar unit can be single line laser radar, multi-line laser radar or three-dimensional laser radar, sheet
This is not construed as limiting in embodiment.
In Fig. 1, when each laser radar unit is scanned vehicle, scanning surface, in Fig. 1, each laser are formed
The plane that dotted line below radar cell is constituted indicates scanning surface.It, can when being configured at least two laser radar units
At least one laser radar unit is arranged in the side of tunnel inner wall, to acquire the vehicle data information and vehicle roof of the side
Data information.At least one laser radar unit is arranged in the other side of tunnel inner wall, to acquire the vehicle data of the other side
The data information of information and vehicle roof.In the present embodiment, at least two laser radar units can be along vehicle heading elder generation
After be arranged.Such as in Fig. 1, three laser radar units are successively arranged, first laser radar cell 111 and third laser radar list
Member 113 is smaller along the spacing of vehicle heading, such as can be 0.1~1 meter.Third laser radar unit 113 and second laser
Radar cell 112 is larger along the spacing of vehicle heading, such as can be 3~10 meters.
In the present embodiment, as shown in Figure 1, laser radar unit, camera snap unit 13 is respectively along vehicle heading
Successively it is arranged on tunnel inner wall.
Specifically, in the present embodiment, camera snap unit 13 is arranged along vehicle heading in each laser radar list
Member front, camera snap unit 13 can with each laser radar unit be respectively separated along vehicle heading it is corresponding pre-
If distance, i.e., camera snap unit 13 is corresponding pre-determined distance at a distance from the scanning surface of each laser radar unit.
In the present embodiment, as shown in Fig. 2, laser radar unit, camera snap unit 13 respectively with data processing unit
12 connections.
In the present embodiment, laser radar unit, for acquiring vehicle data information.Data processing unit 12 is used for basis
Vehicle data information identifies whether vehicle is hazardous vehicles, if vehicle is hazardous vehicles, sends to camera snap unit 13
Capture instruction.Camera snap unit 13, for instructing the picture for capturing vehicle according to candid photograph, to obtain vehicle snapshot information.
Data processing unit 12 is also used to the type according to belonging to the hazardous vehicles identified, hazard types and vehicle snapshot information structure
Build vehicle identification result information.
Specifically, in the present embodiment, each laser radar unit acquires vehicle data information, and data processing unit 12 receives
The vehicle data information of each laser radar acquisition, side profile feature and the top of vehicle can be calculated according to vehicle data information
Contour feature, the type of vehicle is determined according to side profile feature and top profile feature, judges vehicle according to the type of vehicle
Whether it is hazardous vehicles, and calculates the width of vehicle according to vehicle data information, height and speed, according to the every kind of vehicle prestored
Whether the length of reasonable vehicle, width and the velocity estimated vehicle are ultra-wide, superelevation, the vehicle of hypervelocity, if type of vehicle is
Hazard types and/or vehicle super-high and/or vehicle ultra-wide and/or overspeed of vehicle, it is determined that vehicle is hazardous vehicles, then to
Camera, which is captured to send, captures instruction, and camera snap unit 13 instructs the picture for capturing vehicle according to candid photograph, and identifies vehicle
License plate number and license plate color, composition vehicle snapshot information be sent to data processing unit 12, data processing unit 12 is according to knowledge
Not Chu hazardous vehicles type, the license plate number of hazard types and vehicle constructs final vehicle identification result information.It can should
Vehicle identification result information is sent to background server, so that background server records vehicle identification result information, is
Subsequent punishment provides foundation, or the vehicle identification result information is sent to information alert unit, by information alert unit
It is prompted to driver.
Hazardous vehicles identifying system in tunnel provided in this embodiment, comprising: at least two laser radar units, video camera
Snap unit and data processing unit 12；Laser radar unit, camera snap unit 13 connect with data processing unit 12 respectively
It connects；Laser radar unit, camera snap unit 13 are successively arranged on tunnel inner wall along vehicle heading respectively；Laser thunder
Up to unit, for acquiring vehicle data information；Data processing unit 12, for according to vehicle data information identify vehicle whether be
Hazardous vehicles send to camera snap unit 13 if vehicle is hazardous vehicles and capture instruction；Camera snap unit 13,
For instructing the picture for capturing vehicle according to candid photograph, to obtain vehicle snapshot information；Data processing unit 12, is also used to according to knowledge
Not Chu hazardous vehicles belonging to type, hazard types and vehicle snapshot information architecture vehicle identification result information.It can extract
The validity feature of hazardous vehicles and hazardous vehicles are effectively identified out, effectively avoids blocking not due to license plate or keyword
Hazardous vehicles can be identified, hazardous vehicles can be recognized accurately.
Embodiment two
Fig. 3 is the first structure diagram of hazardous vehicles identifying system in tunnel provided by Embodiment 2 of the present invention, and Fig. 4 is
Second structural schematic diagram of hazardous vehicles identifying system in tunnel provided by Embodiment 2 of the present invention, wherein Fig. 3 is the present embodiment
In tunnel in hazardous vehicles identifying system each unit positional structure schematic diagram, Fig. 4 is danger in tunnel in the present embodiment
The attachment structure schematic diagram of each unit in dangerous vehicle identification system.As shown in Figure 3 and Figure 4, it endangers in tunnel provided in this embodiment
Dangerous vehicle identification system is in the tunnel that the embodiment of the present invention one provides on the basis of hazardous vehicles identifying system, to endangering in tunnel
Dangerous vehicle identification system is further refined, then in tunnel provided in this embodiment hazardous vehicles identifying system further include with
Lower technical solution.
Further, in this embodiment hazardous vehicles identifying system in tunnel further include: information alert unit 14.
Wherein, information alert unit 14 is connect with data processing unit 12.Information alert unit 14 is along vehicle heading
It is arranged on the tunnel inner wall in 13 front of camera snap unit or on the outside of tunnel.
In the present embodiment, data processing unit 12 is also used to vehicle identification result information being sent to information alert unit
14.Information alert unit 14, for being prompted and/or being alerted according to vehicle identification result information.
Preferably, in the present embodiment, information alert unit 14 is advices plate and/or voice announcer.By information alert list
Member 14 is along the tunnel inner wall that 13 front of camera snap unit is arranged in vehicle heading or on the outside of tunnel.It such as can be by information
Prompt unit 14 is arranged in from tunnel exit or 20-100 meters of entrance of place, or is mounted on the side of tunnel inner wall, is imaging
The front of head snap unit 13, it is spaced apart with camera snap unit 13.
Wherein, vehicle identification result includes: type, hazard types and license plate number belonging to the hazardous vehicles that identify.Danger
Type belonging to dangerous vehicle such as can be pot type harmful influence vehicle.The hazard types of vehicle include any of the following or a variety of:
Pot type harmful influence vehicle, superelevation, ultra-wide, hypervelocity.
Specifically, in the present embodiment, type belonging to the hazardous vehicles that data processing unit 12 will identify that, hazard types
And license plate number is sent to information alert unit 14, information alert unit 14 can be by advices plate by the affiliated type of vehicle, dangerous class
Type and license plate number are shown, to remind driver and/or alert.Or information alert unit 14 can pass through voice broadcast
Device broadcasts type belonging to vehicle, hazard types and license plate number, to remind driver and/or alert.Or letter
Breath prompt unit 14 can be prompted and/or be alerted by advices plate and speech player simultaneously.
Hazardous vehicles identifying system in tunnel provided in this embodiment, further includes: information alert unit 14；Information alert list
Member 14 is connect with data processing unit 12；Information alert unit 14 is arranged before camera snap unit 13 along vehicle heading
On the tunnel inner wall of side or on the outside of tunnel；Data processing unit 12, is also used to vehicle identification result information being sent to information and mentions
Show unit 14；Information alert unit 14, for being prompted and/or being alerted according to vehicle identification result information.It can be right in real time
Hazardous vehicles are prompted and/or are alerted, and driver can be made to know recognition result in real time, can effectively reduce hazardous vehicles again
By tunnel, conducive to the safety management and operation in tunnel.
Further, in this embodiment laser radar unit is two.Respectively first laser radar cell 111 and
Dual-laser radar cell 112.Wherein, the side of tunnel inner wall, second laser radar list is arranged in first laser radar cell 111
The other side of tunnel inner wall is arranged in member 112.
Wherein, the mounting height of first laser radar cell 111, second laser radar cell 112 is not less than preset height
Threshold value, the scanning surface of at least one laser radar unit and the angle of vehicle heading are in preset vertical angular range；The
It is greater than at a distance from the scanning surface of one laser radar and the intersection on road surface, with the scanning surface of second laser radar and the intersection on road surface pre-
If length threshold.
Specifically, in the present embodiment, first laser radar cell 111, second laser radar cell 112 mounting height not
Lower than preset height threshold value, preset height threshold value can be 5 meters, 7 meters or other suitable numerical value, in the present embodiment not to this
It limits.
Specifically, in the present embodiment, the scanning surface of at least one laser radar unit and the angle of vehicle heading exist
In preset vertical angular range, wherein preset vertical angular range can be for 80 °~100 ° or 85 °~95 ° or other are suitable
Suitable numerical value is not construed as limiting this in the present embodiment.Preferably, the scanning surface and vehicle heading of two laser radar units
Angle in preset vertical angular range.
Specifically, in the present embodiment, the first intersection of the scanning surface of first laser radar cell 111 and road surface formation, second
The distance of the second intersection of the scanning surface of laser radar unit 112 and road surface formation, the first intersection and the second intersection is greater than default length
Spend threshold value.Wherein, pre-set length threshold can be 1 meter, or the numerical value greater than 1 meter, be not construed as limiting in the present embodiment to this.
Preferably, in the present embodiment, first laser radar cell 111, second laser radar cell 112 are following kind of
Any one of laser radar: single line laser radar, multi-line laser radar, three-dimensional laser radar.
Hazardous vehicles identifying system in tunnel provided in this embodiment, laser radar unit are two, first laser radar
The side of tunnel inner wall is arranged in unit 111, and the other side of tunnel inner wall is arranged in second laser radar cell 112；First swashs
Optical radar unit 111, second laser radar cell 112 mounting height be not less than preset height threshold value, at least one laser thunder
Up to the scanning surface of unit and the angle of vehicle heading in preset vertical angular range；First laser radar cell 111
It is greater than default length at a distance from the intersection of scanning surface and road surface, with the scanning surface of second laser radar cell 112 and the intersection on road surface
Threshold value is spent, the interference between laser radar unit can be effectively reduced, and each laser radar unit is enable accurately to obtain pair
The vehicle data information answered.
In practical applications, first laser radar cell 111, for acquiring the first data information of vehicle, the first data
Information includes: first side data information and the first top data information.Second laser radar cell 112, for acquiring vehicle
The second data information, the second data information includes: second side data information and the second top data information.Data processing list
Member 12 according to the first data information and the second data judge vehicle whether with other vehicles parallel or vehicle whether block；If it is not,
Then data processing unit 12 calculates fisrt feature data according to the first data information, and calculates the second spy according to the second data information
Data are levied, the type of vehicle is determined according to fisrt feature data and second feature data；If so, according to close to vehicle side
The data information of laser radar unit calculates corresponding characteristic, and the type of vehicle is determined according to corresponding characteristic；Number
According to processing unit 12 according to the type of vehicle, the first data information and the second data information judge vehicle whether superelevation, ultra-wide and
Hypervelocity；If the type of vehicle is pot type harmful influence vehicle and/or superelevation and/or ultra-wide, and/or hypervelocity, then captured to camera
Unit 13, which is sent, captures instruction.
Wherein, fisrt feature information is the radian and/or curvature feature and vehicle roof cargo the of automobile body side
One inlet and outlet feature；Second feature information is the radian and/or curvature feature and vehicle roof cargo of the automobile body other side
Second import and export feature.
Specifically, in the present embodiment, the first data information is sent to data processing unit by first laser radar cell 111
12, the second data information is sent to data processing unit 12 by second laser radar cell 112, and data processing unit 12 passes through the
One data information and the second data information calculate the left and right vehicle wheel two sides horizontal position nearest relative to first laser radar cell 111
It sets, the horizontal position nearest relative to second laser radar cell 112, according to the distance of two nearest horizontal positions, judgement
Whether vehicle is parallel or whether vehicle blocks with other vehicles；If vehicle and other vehicles are parallel or occlusion, at data
The radian that unit 12 calculates the side of vehicle according to the data information of the laser radar unit close to vehicle side is managed, and/or bent
The inlet and outlet feature of rate feature and vehicle roof cargo determines the affiliated type of vehicle by features described above.If vehicle not with other
Vehicle is parallel or vehicle does not block, then data processing unit 12 calculates preset height range according to the first data information respectively
The radian R1 and/or curvature C1 feature of interior automobile body side calculate vehicle roof cargo first import and export feature S1, according to
Second data information calculates the radian R2 and/or curvature C2 feature of the automobile body other side within the scope of preset height, calculates
Vehicle roof cargo first import and export feature S2 determines the affiliated type of vehicle by these features.
Wherein, when judging the affiliated type of vehicle, pair of these features that will test and each type vehicle prestored
Feature is answered to compare, to determine the affiliated type of vehicle.If vehicle is pot type harmful influence vehicle, motor van etc..
After data processing unit 12 determines type of vehicle, according to the first data information and/or the second data information meter
Calculate the width of vehicle, height and speed, by calculated width, highly with the speed mark with the vehicle of the type prestored respectively
Quasi- width, highly compares with speed, judge the vehicle whether superelevation, ultra-wide and hypervelocity.If the type of vehicle is pot type
Harmful influence vehicle and/or superelevation and/or ultra-wide, and/or hypervelocity then send to camera snap unit 13 and capture instruction, camera shooting
Head snap unit 13 instructs the picture of candid photograph vehicle according to capturing, to obtain vehicle snapshot information.
Specifically, in the present embodiment, in camera snap unit 13 according to the picture for instructing candid photograph vehicle is captured, to obtain
When vehicle snapshot information, camera snap unit 13 instructs the picture of candid photograph vehicle according to capturing；To the vehicle in the picture of vehicle
The trade mark and license plate color are identified；By the picture of vehicle, license plate number and license plate color are determined as vehicle snapshot information.
Preferably, in the present embodiment, camera snap unit 13 is at a distance from the scanning surface of first laser radar cell 111
For pre-determined distance.Wherein, the range of pre-determined distance is 15~30 meters.
Correspondingly, in the present embodiment, information alert unit 14 is prompted and/or is warned according to vehicle identification result information
It accuses, specifically include: type belonging to the hazardous vehicles that information alert unit 14 will identify that, hazard types and license plate number pass through feelings
Report plate and/or voice announcer carry out prompt and/warning.
Hazardous vehicles identifying system in tunnel provided in this embodiment, first laser radar cell 111, for acquiring vehicle
The first data information, the first data information includes: first side data information and the first top data information；Second laser thunder
Up to unit 112, for acquiring the second data information of vehicle, the second data information includes: second side data information and second
Top data information.Data processing unit 12 according to the first data information and the second data judge vehicle whether with other vehicles simultaneously
Whether capable or vehicle blocks；If it is not, then data processing unit 12 according to the first data information calculate fisrt feature data, and according to
Second data information calculates second feature data, and the type of vehicle is determined according to fisrt feature data and second feature data；If
It is corresponding characteristic then to be calculated according to the data information of the laser radar unit close to vehicle side, according to corresponding spy
Sign data determine the type of vehicle；Data processing unit 12 is according to the type of vehicle, the first data information and the second data information
Judge vehicle whether superelevation, ultra-wide and hypervelocity；If the type of vehicle is pot type harmful influence vehicle and/or superelevation and/or ultra-wide,
And/or hypervelocity, then it is sent to camera snap unit 13 and captures instruction；Wherein, fisrt feature information is automobile body side
Radian and/or curvature feature and vehicle roof cargo first import and export feature；Second feature information is the automobile body other side
Radian and/or curvature feature and vehicle roof cargo second import and export feature.When can be parallel in vehicle or blocking
Can recognize that whether vehicle is hazardous vehicles, further improves the accuracy rate of hazardous vehicles identification.
Embodiment three
The flow chart of hazardous vehicles recognition methods in the tunnel that Fig. 5 provides for the embodiment of the present invention three, as shown in figure 5, this
It is dangerous in the tunnel that the executing subject of hazardous vehicles recognition methods provides in the tunnel that embodiment provides for the embodiment of the present invention one
Vehicle identification system, then hazardous vehicles recognition methods includes the following steps in tunnel provided in this embodiment.
Step 501, each laser radar unit acquires vehicle data information.
In the present embodiment, hazardous vehicles identifying system includes at least two laser radar units in tunnel, at least two
When laser radar is configured, the side of tunnel inner wall is arranged at least one laser radar unit, to acquire the vehicle of the side
Data information and vehicle roof data information.At least one laser radar unit is arranged in the other side of tunnel inner wall, to adopt
Collect the vehicle data information of the other side and the data information of vehicle roof.
Wherein, vehicle data information may include: side data information and top data information.
Step 502, data processing unit identifies whether vehicle is hazardous vehicles according to vehicle data information, if vehicle is danger
Dangerous vehicle then sends to camera snap unit and captures instruction.
Specifically, in the present embodiment, the side profile that data processing unit can calculate vehicle according to vehicle data information is special
Top profile of seeking peace feature determines the type of vehicle according to side profile feature and top profile feature.Data processing unit is also
It can be passed in and out according to the radian and/or curvature feature and vehicle roof cargo of the vehicle body side of vehicle data information calculating vehicle
Mouth feature, the class of vehicle is determined according to the radian of vehicle body side and/or curvature feature and vehicle roof import and export of goods feature
Type.
In the present embodiment, data processing unit is not construed as limiting according to the method that vehicle data information determines type of vehicle.
In the present embodiment, after data processing unit identifies type of vehicle, by type of vehicle and the hazardous vehicles prestored
Type compares, if type of vehicle is present in the hazardous vehicles type prestored, it is determined that vehicle is hazardous vehicles.Such as identification
Type of vehicle out is pot type harmful influence vehicle, which is pre-stored in hazardous vehicles type, it is determined that the vehicle
Be hazardous vehicles.
In the present embodiment, after determining type of vehicle, the width of vehicle, height and speed are calculated according to vehicle data information
Degree, according to the length of the vehicle of the every kind of vehicle standard prestored, whether width and the velocity estimated vehicle are ultra-wide, and superelevation surpasses
The vehicle of speed also determines that vehicle is hazardous vehicles if vehicle super-high and/or vehicle ultra-wide and/or overspeed of vehicle.
So hazardous vehicles are the vehicle that type of vehicle is hazard types and/or Overheight Vehicles and/or ultra-wide vehicle,
And/or over-speed vehicles.
Step 503, camera snap unit is according to the picture for instructing candid photograph vehicle is captured, to obtain vehicle snapshot information.
In the present embodiment, if data processing unit identifies that vehicle is hazardous vehicles, communicated with camera snap unit,
It is sent to camera snap unit and captures instruction, camera snap unit captures the picture of vehicle according to instruction is captured, passes through vehicle
Picture can recognize vehicle license plate number and license plate color, to data processing unit send vehicle snapshot information.
Wherein, vehicle snapshot information may include: the picture of vehicle, and the license plate number and license plate color of vehicle can also wrap
Other information of vehicles are included, this is not construed as limiting in the present embodiment.
Step 504, data processing unit is according to the type of the vehicle identified, hazard types and vehicle snapshot information architecture
Vehicle identification result information.
Specifically, in the present embodiment, if data processing unit identifies that vehicle is hazardous vehicles, the danger identified is obtained
Type belonging to dangerous vehicle, hazard types, and vehicle snapshot information is obtained, by these information architecture vehicle identification result informations.
Wherein, hazard types can be pot type harmful influence vehicle and/or superelevation and/or ultra-wide, and/or hypervelocity.
It wherein, may include: type belonging to hazardous vehicles, hazard types, license plate number, vehicle in vehicle identification result information
Board color etc..
Hazardous vehicles recognition methods in tunnel provided in this embodiment acquires vehicle data by each laser radar unit
Information；Data processing unit identifies whether vehicle is hazardous vehicles according to vehicle data information, if vehicle is hazardous vehicles, to
Camera snap unit, which is sent, captures instruction；Camera snap unit instructs the picture of candid photograph vehicle according to capturing, to obtain vehicle
Capture information；Data processing unit is according to the type of the vehicle identified, hazard types and vehicle snapshot information architecture vehicle
Recognition result information.The validity feature of hazardous vehicles can be extracted and hazardous vehicles are effectively identified, effectively avoid by
Hazardous vehicles cannot be identified in license plate or blocking for keyword, hazardous vehicles can be recognized accurately.
Example IV
The flow chart of hazardous vehicles recognition methods in the tunnel that Fig. 6 provides for the embodiment of the present invention four, as shown in fig. 6, this
The executing subject of hazardous vehicles recognition methods is dangerous in tunnel provided by Embodiment 2 of the present invention in the tunnel that embodiment provides
Vehicle identification system, hazardous vehicles recognition methods is in the tunnel that the embodiment of the present invention three provides in tunnel provided in this embodiment
On the basis of hazardous vehicles recognition methods, further refinement to step 501- step 504, and further comprise information alert list
The step of member is prompted and/or alerted according to vehicle identification result information, then hazardous vehicles in tunnel provided in this embodiment
Recognition methods includes the following steps.
Step 601, each laser radar unit acquires vehicle data information.
Further, in this embodiment step 601 includes the following steps.
Step 601a, first laser radar cell acquire the first data information of vehicle, and the first data information includes: first
Side data information and the first top data information.
Step 601b, second laser radar cell acquire the second data information of vehicle, and the second data information includes: second
Side data information and the second top data information.
Specifically, in the present embodiment, including two laser radar units, respectively first laser radar cell and second swash
Optical radar unit.The side of tunnel inner wall is arranged in first laser radar cell, and second laser radar cell is arranged in tunnel
The other side of wall.
When installing first laser radar cell and second laser radar cell, first laser radar cell, second laser
The mounting height of radar cell is not less than preset height threshold value, the scanning surface of at least one laser radar unit and vehicle driving side
To angle in preset vertical angular range；The scanning surface of first laser radar cell and the intersection on road surface, with second laser
The scanning surface of radar cell is greater than pre-set length threshold at a distance from the intersection on road surface.
Wherein, first laser radar cell, any one that second laser radar cell is following kind of laser radar:
Single line laser radar, multi-line laser radar, three-dimensional laser radar.
It should be noted that in the present embodiment, the structure and function of first laser radar cell and second laser radar cell
Can be identical as the structure and function of first laser radar cell and second laser radar cell in the embodiment of the present invention two, herein
No longer repeat one by one.
Step 602, data processing unit according to the first data information and the second data judge vehicle whether with other vehicles
Whether parallel or vehicle blocks, if it is not, 603 are thened follow the steps, it is no to then follow the steps 604.
Further, in this embodiment data processing unit judges that vehicle is according to the first data information and the second data
Whether no parallel with other vehicles or vehicle blocks, and specifically includes:
Data processing unit calculates left and right vehicle wheel two sides relative to first by the first data information and the second data information
The nearest horizontal position of laser radar unit, the horizontal position nearest relative to second laser radar cell, recently according to two
Horizontal position distance, judge whether vehicle parallel or whether vehicle blocks with other vehicles, if two nearest horizontal positions
The distance set is not within the scope of the predetermined width of vehicle, it is determined that vehicle and other vehicles are parallel or occlusion.If two most
The distance of close horizontal position is greater than the maximum width within the scope of predetermined width, it is determined that and vehicle and other vehicles are parallel, if two
The distance of a nearest horizontal position is less than the minimum widith within the scope of predetermined width, it is determined that occlusion.
Step 603, data processing unit calculates fisrt feature data according to the first data information, and is believed according to the second data
Breath calculates second feature data, and the type of vehicle is determined according to fisrt feature data and second feature data.
If vehicle is not parallel and do not block, data processing unit calculates fisrt feature number according to the first data information
According to, and second feature data are calculated according to the second data information.
Wherein, fisrt feature information is the radian and/or curvature feature and vehicle roof cargo the of automobile body side
One inlet and outlet feature；Second feature information is the radian and/or curvature feature and vehicle roof cargo of the automobile body other side
Second import and export feature.
Specifically, in the present embodiment, data processing unit is according to the first side data information meter in the first data information
The radian and/or curvature feature for calculating automobile body side calculate vehicle according to the first top data information in the first data information
Cargo first import and export feature at the top of；Data processing unit is calculated according to the second side data information in the second data information
The radian and/or curvature feature of the automobile body other side calculate vehicle according to the second top data information in the second data information
Cargo second import and export feature at the top of.
Wherein, data processing unit calculates automobile body side according to the first side data information in the first data information
Radian and/or curvature feature and data processing unit vehicle calculated according to the second side data information in the second data information
The radian of the vehicle body other side and/or the method for curvature feature are identical.In the present embodiment, with data processing unit according to the first data
It is illustrated for the radian and/or curvature feature of information calculating automobile body side.
In the present embodiment, data processing unit calculates the radian and/or song of automobile body side according to the first data information
Rate feature includes the following steps.
Step 603a, data processing unit obtain the different data point of each cross-section data according to the first data information.
Further, in this embodiment vehicle passes through the scanning area of first laser radar cell, first laser radar list
Successively the different cross-section data of acquisition vehicle passes to data processing unit to member, and each cross-section data is by different group of data points
At using the intersection point on the vertical and ground of first laser radar cell to ground as origin, with the horizontal width side where scanning surface
Rectangular coordinate system is established using the vertical height direction where scanning surface as Z axis to for X-axis, then each data point indicates on section
For (x, z), x be exactly data point in horizontal width direction with a distance from origin, z is exactly height of the data point in vertical height direction
Degree.
Step 603b calculates the slope at consecutive number strong point in each cross-section data.
Further, in this embodiment data processing unit is since first data point in section to last number
Strong point, searching out the data point that first is greater than the first preset height value is starting point, the number of maximum height value in cross-section data
Strong point is end point, calculates the slope of starting point to consecutive numbers all between end point strong point (x, z), and according to data dot sequency
Form slope vector table.
Wherein, it is not construed as limiting in numerical value the present embodiment of the first preset height value.
Step 603c determines the consecutive numbers strong point for meeting slope variation condition in each cross-section data, calculates continuous data
Point maximum width is poor, maximum height difference, continuous data point quantity, to determine the radian and/or curvature feature in section.
Further, in this embodiment data processing unit calculates in slope vector table meets slope variation condition
Continuous slope section, and then find corresponding consecutive numbers strong point, maximum width difference and the maximum for calculating all consecutive numbers strong points are high
It is poor to spend, and determines continuous data point quantity.Poor, maximum height difference, continuous data points according to the maximum width at consecutive numbers strong point
Measure the radian and/or curvature feature for determining section.
Step 603d determines the radian of automobile body side according to the radian of each cross-section data and/or curvature feature
And/or curvature feature.
Further, in this embodiment data processing transmission unit successively calculates the radian of all cross-section datas of vehicle,
And/or curvature feature, entire automobile body side is determined according to the corresponding radian of each cross-section data and/or curvature feature
Radian and/or curvature feature.
In the present embodiment, data processing unit calculates vehicle top according to the first top data information in the first data information
Portion's cargo first import and export feature and data processing unit are according to the second top data information calculating vehicle in the second data information
The method of cargo second import and export feature is identical at the top of.
Further, in this embodiment data processing unit can be used feature extraction algorithm extract the first few top it is believed that
Feature in breath forms vehicle roof cargo first import and export feature.Data processing unit uses identical feature extraction algorithm
The feature in the second top data information is extracted, vehicle roof cargo second import and export feature is formed.
Further, in this embodiment when determining the type of vehicle according to fisrt feature data and second feature data, it will
The fisrt feature data calculated fisrt feature data corresponding with all types vehicle prestored compare, and special by second
Sign data second feature data corresponding with all types vehicle prestored compare, if fisrt feature data and second feature
Data fisrt feature data corresponding with a certain type of vehicle and second feature Data Matching respectively, it is determined that the vehicle of the identification
Type is matched type of vehicle.
Step 604, data processing unit is calculated according to the data information of the laser radar unit close to vehicle side and is corresponded to
Characteristic, the type of vehicle is determined according to corresponding characteristic.
Further, in this embodiment if vehicle is parallel or occlusion, the laser radar unit far from vehicle side
The vehicle data information of acquisition is inaccurate, so according to the calculating pair of the data information of the laser radar unit close to vehicle side
The characteristic answered determines the type of vehicle according to corresponding characteristic.
Wherein, if the laser radar unit close to vehicle side is first laser radar cell, data processing unit root
Fisrt feature data are calculated according to the first data information, the type of vehicle is determined according to fisrt feature data.If close to vehicle side
Calculating radar cell be second laser radar cell, then data processing unit according to the second data information calculate second feature number
According to determining the type of vehicle according to second feature data.
Step 605, for data processing unit according to the type of vehicle, the first data information and the second data information judge vehicle
Whether superelevation, ultra-wide and hypervelocity.
Further, in this embodiment data processing unit calculates vehicle according to the first data information and the second data information
Height, width and speed.And by the height of the vehicle and the calibrated altitude with the matched vehicle of the type of vehicle that prestores
Compare, judge the vehicle whether superelevation.By the width of the vehicle and the mark with the matched vehicle of the type of vehicle prestored
Quasi- width compares, judge the vehicle whether ultra-wide.By the speed of the vehicle with prestore and the vehicle of the vehicle match
Standard speed compares, and judges whether the vehicle exceeds the speed limit.
Step 606, it if the type of vehicle is pot type harmful influence vehicle and/or superelevation and/or ultra-wide, and/or exceeds the speed limit, then
It is sent to camera snap unit and captures instruction.
Further, in this embodiment if data processing unit be determined as pot type harmful influence vehicle and/or superelevation and/or
Ultra-wide, and/or hypervelocity then illustrate that the vehicle is hazardous vehicles, then send to camera snap unit and capture instruction.
Step 607, camera snap unit is according to the picture for instructing candid photograph vehicle is captured, to obtain vehicle snapshot information.
Further, in this embodiment step 607 includes the following steps.
Step 607a, camera snap unit instruct the picture of candid photograph vehicle according to capturing.
It wherein, include the picture at front part of vehicle or rear portion in the picture of the vehicle of candid photograph, at front part of vehicle or rear portion
It include license plate number in picture.
Step 607b, in the picture of vehicle license plate number and license plate color identify.
Further, in this embodiment being carried out using recognizer to the front picture of vehicle or the rear portion picture of vehicle
Car license recognition identifies license plate number and license plate color.
Step 607c, by the picture of vehicle, license plate number and license plate color are determined as vehicle snapshot information.
Further, in this embodiment obtaining the picture of vehicle, license plate number and license plate color, these information are determined as
Vehicle grabs fearness information.
Step 608, data processing unit is according to the type of the vehicle identified, hazard types and vehicle snapshot information architecture
Vehicle identification result information, and vehicle identification result information is sent to information alert unit.
Wherein, the vehicle identification result information of building includes: the type of vehicle, hazard types, license plate number.
Step 609, information alert unit is prompted and/or is alerted according to vehicle identification result information.
Further, in this embodiment information alert unit is advices plate and/or voice announcer.
Information alert unit receives the vehicle identification result information that data processing unit is sent, and vehicle identification result is led to
Cross advices plate carry out display and/or voice announcer broadcasted, to prompt driver and/or alert.
Hazardous vehicles recognition methods in tunnel provided in this embodiment acquires vehicle data by each laser radar unit
Information, data processing unit judge whether vehicle is parallel or vehicle is with other vehicles according to the first data information and the second data
It is no to block, if it is not, then data processing unit according to the first data information calculates fisrt feature data, and according to the second data information
Second feature data are calculated, the type of vehicle are determined according to fisrt feature data and second feature data, if so, data processing
Unit calculates corresponding characteristic according to the data information of the laser radar unit close to vehicle side, according to corresponding feature
Data determine the type of vehicle, and according to the type of vehicle, the first data information and the second data information judge data processing unit
Vehicle whether superelevation, ultra-wide and hypervelocity, if the type of vehicle is pot type harmful influence vehicle and/or superelevation and/or ultra-wide, and/or
Hypervelocity then sends to camera snap unit and captures instruction, and camera snap unit instructs the picture for capturing vehicle according to candid photograph,
To obtain vehicle snapshot information, data processing unit is according to the type of the vehicle identified, hazard types and vehicle snapshot information
Construct vehicle identification result information, and vehicle identification result information be sent to information alert unit, information alert unit according to
Vehicle identification result information is prompted and/or is alerted, and can be parallel in vehicle or also whether can recognize that vehicle when blocking
For hazardous vehicles, further improve the accuracy rate of hazardous vehicles identification, and can in real time to hazardous vehicles carry out prompt and/
Or warning, driver can be made to know recognition result in real time, hazardous vehicles can be effectively reduced again by tunnel, conducive to tunnel
Safety management and operation.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. hazardous vehicles identifying system in a kind of tunnel characterized by comprising at least two laser radar units, video camera
Snap unit and data processing unit；
The laser radar unit, the camera snap unit are connect with the data processing unit respectively；
Tunnel inner wall is successively arranged in along vehicle heading respectively in the laser radar unit, the camera snap unit
On；
The laser radar unit, for acquiring vehicle data information；
The data processing unit, for identifying whether the vehicle is hazardous vehicles according to the vehicle data information, if institute
Stating vehicle is hazardous vehicles, then sends to camera snap unit and capture instruction；
The camera snap unit, for instructing the picture for capturing vehicle according to described capture, to obtain vehicle snapshot information；
The data processing unit is also used to the type according to belonging to the hazardous vehicles identified, hazard types and the vehicle
Capture information architecture vehicle identification result information.
2. system according to claim 1, which is characterized in that further include: information alert unit；
The information alert unit is connect with the data processing unit；
The tunnel inner wall in front of the camera snap unit is arranged in along the vehicle heading for the information alert unit
On the outside of upper or tunnel；
The data processing unit is also used to the vehicle identification result information being sent to information alert unit；
The information alert unit, for being prompted and/or being alerted according to the vehicle identification result information.
3. system according to claim 1 or 2, which is characterized in that the laser radar unit is two, first laser thunder
The side of the tunnel inner wall is set up to unit, and the other side of the tunnel inner wall is arranged in second laser radar cell；
The first laser radar cell, the second laser radar cell mounting height be not less than preset height threshold value, until
The scanning surface of a few laser radar unit and the angle of vehicle heading are in preset vertical angular range；Described first swashs
The scanning surface of optical radar unit and the intersection on road surface, with the intersection of the scanning surface and road surface of the second laser radar cell away from
From greater than pre-set length threshold；
The first laser radar cell, any one that the second laser radar cell is following kind of laser radar:
Single line laser radar, multi-line laser radar, three-dimensional laser radar；
The first laser radar cell, for acquiring the first data information of vehicle, first data information includes: first
Side data information and the first top data information；
The second laser radar cell, for acquiring the second data information of vehicle, second data information includes: second
Side data information and the second top data information.
4. system according to claim 3, which is characterized in that the camera snap unit and the first laser radar
The distance of the scanning surface of unit is pre-determined distance.
5. system according to claim 2, which is characterized in that the information alert unit is that advices plate and/or voice are broadcast
Report device.
6. hazardous vehicles recognition methods in a kind of tunnel characterized by comprising
Each laser radar unit acquires vehicle data information；
Data processing unit identifies whether the vehicle is hazardous vehicles according to the vehicle data information, if the vehicle is danger
Dangerous vehicle then sends to camera snap unit and captures instruction；
The camera snap unit is according to the picture captured instruction and capture vehicle, to obtain vehicle snapshot information；
The data processing unit is according to the type of the vehicle identified, hazard types and the vehicle snapshot information architecture vehicle
Recognition result information.
7. according to the method described in claim 6, it is characterized in that, the data processing unit is according to the class of the vehicle identified
After type, hazard types and the vehicle snapshot information architecture vehicle identification result information, further includes:
The vehicle identification result information is sent to information alert unit by the data processing unit；
The information alert unit is prompted and/or is alerted according to the vehicle identification result information.
8. method according to claim 6 or 7, which is characterized in that each laser radar unit acquires vehicle data
Information specifically includes:
First laser radar cell acquires the first data information of vehicle, and first data information includes: first side data
Information and the first top data information；
Second laser radar cell acquires the second data information of vehicle, and second data information includes: second side data
Information and the second top data information.
9. according to the method described in claim 8, it is characterized in that, the data processing unit is according to the vehicle data information
Identify whether the vehicle is hazardous vehicles, if the vehicle is hazardous vehicles, sends candid photograph to camera snap unit and refer to
It enables, specifically includes:
The data processing unit according to first data information and second data judge the vehicle whether with other
Vehicle is parallel or whether the vehicle blocks；
If it is not, then the data processing unit according to first data information calculates fisrt feature data, and according to described the
Two data informations calculate second feature data, determine the vehicle according to the fisrt feature data and the second feature data
Type；
If so, the data processing unit is corresponding according to the data information calculating of the laser radar unit close to vehicle side
Characteristic determines the type of the vehicle according to the corresponding characteristic；
According to the type of the vehicle, first data information and second data information judge the data processing unit
The vehicle whether superelevation, ultra-wide and hypervelocity；
If the type of the vehicle is pot type harmful influence vehicle and/or superelevation and/or ultra-wide, and/or hypervelocity, then taken the photograph to described
Instruction is captured as head snap unit is sent；
Wherein, the fisrt feature information is the radian and/or curvature feature of automobile body side and the vehicle roof goods
Object first import and export feature；The second feature information is the radian and/or curvature feature and described of the automobile body other side
The second import and export feature of vehicle roof cargo.
10. the method according to the description of claim 7 is characterized in that the camera snap unit is instructed according to the candid photograph
The picture for capturing vehicle is specifically included with obtaining vehicle snapshot information:
The camera snap unit is according to the picture captured instruction and capture the vehicle；
To in the picture of the vehicle license plate number and license plate color identify；
By the picture of the vehicle, the license plate number and the license plate color are determined as vehicle snapshot information；
The information alert unit is prompted and/or is alerted according to the vehicle identification result information, is specifically included:
Type belonging to the hazardous vehicles that the information alert unit will identify that, hazard types and the license plate number pass through information
Plate and/or voice announcer carry out prompt and/warning.
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