CN115909758A - Vehicle detection method and device based on laser radar, equipment and storage medium - Google Patents
Vehicle detection method and device based on laser radar, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a vehicle detection method and device based on a laser radar, equipment and a storage medium, wherein the vehicle detection method based on the laser radar is applied to a vehicle detection device arranged in a detection area, the vehicle detection device comprises the laser radar, the area scanned by the laser radar is the detection area, and the method specifically comprises the following steps: scanning a target to be detected in the detection area by using a laser radar to obtain a first target object set in the detection area, and screening the first target object set by using preset attribute parameters and motion parameters of a standard vehicle to obtain a target vehicle set; the method comprises the steps of judging whether vehicles violate rules or not according to the motion parameters of all target vehicles in a target vehicle set, and triggering an alarm mode if the vehicles violate rules or rules.
Description
Technical Field
The invention relates to the technical field of traffic intelligent vehicle monitoring, in particular to a vehicle detection method, a device, equipment and a storage medium based on a laser radar.
Background
Illegal behaviors of vehicles in the passing process are one of important reasons for causing traffic accidents, so that the monitoring of driving by utilizing traffic intellectualization is widely applied.
At present, most of the applications use image recognition technology to perform recognition detection on the target in the detection area, but: the image recognition technology has high requirements on weather and light, depends on sunshine, has weak capacity of judging the space position of a moving target, and cannot normally recognize the space position under the condition of lacking of necessary equipment, so that the prior art has the problems that the accuracy of vehicle detection is not high on a traffic road, and the illegal vehicle cannot be recognized and alarmed when the illegal vehicle behavior of the vehicle is detected.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle detection method, a vehicle detection device, a vehicle detection apparatus, and a storage medium based on a laser radar, so as to solve the problems that the accuracy of determining the spatial position of the vehicle is not high, and the illegal vehicles cannot be identified and distinguished.
In order to achieve the above object, a first aspect of the present application provides a vehicle detection method based on a laser radar, where the method is applied to a vehicle detection device disposed in a detection area, the vehicle detection device includes a laser radar, and an area scanned by the laser radar is the detection area, and the method includes:
scanning a target to be detected in the detection area by using the laser radar to obtain a first target object set in the detection area, wherein the first target object set comprises a first target object suspected of being a vehicle and a person in the detection area;
screening the first target object set by using the attribute parameters and the motion parameters of the preset standard vehicle to obtain a target vehicle set;
judging whether a vehicle violation occurs or not according to the motion parameters of all the target vehicles in the target vehicle set;
and if the vehicle violation is confirmed, triggering an alarm mode.
Further, the scanning of the target to be detected in the detection area by using the laser radar to obtain the first target object set in the detection area specifically includes:
scanning the detection area once by using the laser radar to obtain point cloud data of one frame in the detection area, and deleting background points in the point cloud data to obtain foreground points in the detection area;
and clustering the foreground points by using a clustering algorithm to obtain a first target object set.
Further, the screening of the first target object set by using the preset attribute parameters and motion parameters of the standard vehicle to obtain a target vehicle set specifically includes:
performing attribute analysis on each first target object to obtain attribute parameters of each first target object;
screening the first target object set according to preset attribute parameters of the standard vehicle and attribute parameters of each first target object to obtain a second target object set, wherein the second target object set comprises second target objects suspected to be vehicles;
carrying out target tracking on each second target object to obtain the motion parameter of each second target object;
and screening the second target object set according to the preset motion parameters of the standard vehicle and the motion parameters of each second target object to obtain a target vehicle set.
Further, the attribute parameters of the first object at least comprise length, width and coordinate information of the first object;
the attribute parameters of the standard vehicle at least comprise length, width and coordinate information of the standard vehicle;
the screening of the first target object set according to the preset attribute parameters of the standard vehicle and the attribute parameters of each first target object to obtain a second target object set specifically includes:
and sequentially matching and screening the first target objects by utilizing the length, the width and the coordinate information of the standard vehicle and the length, the width and the coordinate information of each first target object to obtain a second target object set.
Further, the performing target tracking on each second target object to obtain a motion parameter of each second target object specifically includes:
carrying out target tracking on each second target object by using a target tracking algorithm to obtain position information of each second target object at different moments;
and analyzing and calculating according to the position information of each second target object at different moments to obtain the motion parameters of each second target object.
Further, the motion parameters of the second target object at least comprise the motion direction and the motion speed of the second target object;
the motion parameters of the standard vehicle at least comprise the motion direction and the motion speed of the standard vehicle;
the second target object set is screened according to the preset motion parameters of the standard vehicle and the motion parameters of the second target objects to obtain a target vehicle set, and the method specifically includes:
and sequentially matching and screening the second target objects by utilizing the movement direction and the movement speed of the standard vehicle and the movement direction and the movement speed of each second target object to obtain a target vehicle set.
Further, the vehicle violation comprises at least vehicle reverse, vehicle overspeed, vehicle low speed, and vehicle stop;
the judging whether a vehicle violation occurs according to the motion parameters of each target vehicle in the target vehicle set specifically includes:
judging whether vehicles run backwards in the detection area or not according to the movement direction of each target vehicle;
if a target vehicle with a movement direction inconsistent with a preset movement direction exists, determining that the vehicle drives in the wrong direction;
and/or;
judging whether a vehicle runs at a low speed or an overspeed in the detection area according to the movement speed of each target vehicle;
if the target vehicle with the movement speed not within the preset movement speed range exists, determining that the vehicle runs at a low speed or an overspeed;
or;
judging whether vehicles stay in the detection area or not according to the movement direction or the movement speed of each target vehicle;
and if the target vehicle without the moving direction exists or the target vehicle with the moving speed being zero exists, determining that the vehicle stays.
In order to achieve the above object, a second aspect of the present application provides a lidar-based vehicle detection apparatus, the apparatus including: the system comprises a laser radar unit, a vehicle screening unit and an illegal warning unit;
the laser radar unit is used for scanning a target to be detected in the detection area by using the laser radar to obtain a first target object set in the detection area, wherein the first target object set comprises a first target object suspected to be a vehicle or a person in the detection area;
the vehicle screening unit is used for screening the first target object set by utilizing the preset attribute parameters and motion parameters of the standard vehicle to obtain a target vehicle set;
the violation warning unit is used for judging whether a vehicle violation occurs or not according to the motion parameters of all target vehicles in the target vehicle set;
and if the vehicle violation is confirmed, triggering an alarm mode.
To achieve the above object, a third aspect of the present application provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to execute the steps of the method according to the first aspect.
To achieve the above object, a fourth aspect of the present application provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to perform the steps of the method according to the first aspect.
The embodiment of the invention has the following beneficial effects:
the vehicle detection method based on the laser radar is applied to a vehicle detection device arranged in a detection area, the vehicle detection device comprises the laser radar, the area scanned by the laser radar is the detection area, and the method specifically comprises the following steps: scanning a target to be detected in the detection area by using a laser radar to obtain a first target object set in the detection area, and screening the first target object set by using preset attribute parameters and motion parameters of a standard vehicle to obtain a target vehicle set; according to the method, a detection area is detected by using a laser radar, space positioning information with higher accuracy can be obtained, suspected vehicles are screened twice by standard vehicles to obtain more accurate vehicle information, violation behaviors are judged according to the motion information of the vehicles, and the violation vehicles are alarmed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic diagram illustrating a flow of a lidar-based vehicle detection method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a refinement of step 200 in FIG. 1 in an embodiment of the present application;
FIG. 3a is a schematic diagram of a situation where an illegal vehicle does not appear in the embodiment of the present application;
FIG. 3b is a schematic diagram of an embodiment of the present application in a situation where an offending vehicle is present;
FIG. 4 is a block diagram of a laser radar-based vehicle detection apparatus according to an embodiment of the present application;
fig. 5 is an internal structural diagram of a computer device in the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiment of the present application, a vehicle detection method and apparatus based on a laser radar, a device and a storage medium are provided, please refer to fig. 1, where fig. 1 is a schematic diagram of a flow of the vehicle detection method based on the laser radar in the embodiment of the present invention, the method is applied to a vehicle detection apparatus arranged in a detection area, the vehicle detection apparatus includes the laser radar, an area scanned by the laser radar is the detection area, and the method includes:
And 200, screening the first target object set by using the preset attribute parameters and motion parameters of the standard vehicle to obtain a target vehicle set.
And step 300, judging whether the vehicle violation occurs or not according to the motion parameters of all the target vehicles in the target vehicle set.
And step 400, if the vehicle violation is confirmed, triggering an alarm mode.
In a practical embodiment of the present application, the lidar may be erected beside a road in a detection area, and a passing vehicle in the detection area may be scanned, so as to obtain information of all suspected vehicles and people in the detection area, and in this embodiment of the present application, the lidar having performance parameters of 20HZ/S and a scanning angle of 270 ° may be adopted, so that the detection area is scanned by the lidar, and a first target object set of all suspected vehicles and people in the detection area may be obtained, so as to achieve the purpose of filtering the background of the detection area.
After the targets of suspected vehicles and people are obtained, the attribute parameters and the motion parameters of each first target object in the first target object set are compared and screened one by using the obtained preset attribute parameters and motion parameters of the standard vehicles to obtain target vehicles which accord with the attribute parameters and the motion parameters of the standard vehicles, a target vehicle set is obtained according to all target vehicles which accord with the standard, and more accurate target vehicle information can be obtained by screening all first target objects twice according to the attribute parameters and the motion parameters of the target objects, wherein the attribute parameters can comprise the length, the width and the coordinate information of the target objects, and the motion parameters can comprise the motion direction and the motion speed of the target objects.
When the first target object is screened, the motion parameters of the target vehicle can be obtained, so that the motion parameters of the target vehicle can be utilized to carry out violation detection on the target vehicle, and whether the target vehicle violates rules or not is judged, so that the purpose of monitoring the target vehicle in the detection area is achieved.
If the target vehicle is confirmed to be illegal, an alarm mode is triggered, and the illegal vehicle is warned, so that the illegal behaviors of the target vehicle are reduced.
According to the vehicle detection method, the laser radar can be used for detecting the detection area, suspected vehicles are screened twice, vehicle information with higher accuracy can be obtained, the vehicle information is used for judging the illegal behaviors of the vehicles, and then the illegal vehicles are alarmed, so that the problems that the vehicle detection accuracy is not high on a passing road, and the illegal vehicles cannot be identified and alarmed are solved through the method.
Further, step 100, scanning the target to be detected in the detection area by using a laser radar to obtain a first target set in the detection area, specifically including:
and 110, scanning the detection area once by using a laser radar to obtain point cloud data of one frame in the detection area, and deleting background points in the point cloud data to obtain foreground points in the detection area.
And 120, clustering the foreground points by using a clustering algorithm to obtain a first target object set.
In a feasible embodiment of the application, scanning the detection area for one week by using a laser radar, obtaining all point cloud data in the detection area, deleting points which are not interested according to the obtained point cloud data, and reserving points which are interested, wherein the points which are not interested can be points including buildings and trees, and the points which are interested can be points including people and vehicles; and taking all points which are not interested as background points and all points which are interested as foreground points, and thus, carrying out background filtering on the detection area and eliminating the interference of the background on the detection result.
After background filtering is carried out on point cloud data in the detection area, clustering analysis is carried out on foreground points obtained through the background filtering by using a DBSCAN clustering algorithm, so that first target objects of all suspected vehicles and people in the detection area are obtained, and a set of all the first target objects is used as a first target object set.
All foreground points of the detection area are obtained through the laser radar, and the foreground points are clustered through a clustering algorithm to obtain a first target object, so that the purposes of performing background filtering on the detection area and obtaining the first target object are achieved.
Further, referring to fig. 2, fig. 2 is a schematic diagram of a refinement process of step 200 in fig. 1 in an embodiment of the present application, which specifically includes:
And step 220, screening the first target object sets according to the preset attribute parameters of the standard vehicle and the attribute parameters of each first target object to obtain second target object sets, wherein the second target object sets comprise second target objects suspected to be vehicles.
And step 230, performing target tracking on each second target object to obtain the motion parameters of each second target object.
And 240, screening the second target object set according to the preset motion parameters of the standard vehicle and the motion parameters of each second target object to obtain a target vehicle set.
In a feasible embodiment of the present application, the point cloud data of each first target object in the first target object set is used to perform attribute analysis, so as to obtain attribute parameters of each first target object, where the attribute parameters of the first target object at least include length, width, and coordinate information of the first target object.
Further, the attribute parameters of the standard vehicle include at least length, width, and coordinate information of the standard vehicle.
After the attribute parameters of the first target object and the standard vehicle are obtained, the length, the width and the coordinate information of the standard vehicle and the length, the width and the coordinate information of each first target object can be used for sequentially matching and screening the first target objects to obtain a second target object set.
Specifically, the attribute parameters of the standard vehicle are preset, and the attribute parameters of the standard vehicle and the attribute parameters of the first target objects are sequentially compared to screen out a second target object suspected to be a vehicle, so that the target with the shape, the size and the coordinate position of the central point conforming to the suspected vehicle can be obtained through one-time screening of the attribute parameters.
It can be understood that the lidar is a radar system that detects characteristic quantities such as position, speed, etc. of a target by emitting a laser beam, and specifically, emits a detection signal to the target, compares the received signal reflected from the target with the emission signal, and after appropriate processing, can obtain relevant information of the target, such as parameters of target distance, orientation, height, speed, attitude, even shape, etc., so as to detect, track and identify the target.
Therefore, step 230 may utilize a laser radar to track the second target object, which is implemented as follows:
performing target tracking on each second target object by using a target tracking algorithm to obtain position information of each second target object at different moments; analyzing and calculating according to the position information of each second target object at different moments to obtain the motion parameters of each second target object; and calculating and analyzing the position information of each second target object in the target trajectory set at different moments to obtain the motion parameters of each second target object.
Specifically, the raw data information of each target object of a frame can be obtained by scanning the detection area for one week by using the lidar, so that after a second target object set is obtained by scanning once in this embodiment, the raw data information of each second target object can also be obtained, and if n second target objects are present, the raw data information D of the first frame can be obtained 1 =（d 1,1 ,d 1，2 ，d 1,3 ,…，d 1，n ) And d is the distance value from the laser radar transmitting point to the second target object.
Upon acquiring the original data information D 1 =（d 1,1 ,d 1，2 ，d 1,3 ,…，d 1，n ) Then, calculating according to the distance value and the offset included angle of the laser radar when the second target object is scanned, and obtaining the coordinate of each second target object with the laser radar as the origin, for example, the distance value between the laser radar and the nth second target object is d n And the offset angle of the lidar is alpha at this time, the coordinate of the second target object can be represented as p 1，n （x，y）=（d 1，n *cosα，d 1，n * sin α), therefore, the positional information of each second object can be obtained by data-classifying the original data informationObtaining a target coordinate set K according to the position information of each second target object 1 ={k 1，1 ，k 1，2 ，…，k 1，n In which k is 1，n =p 1，n （x，y）=（d 1，n *cosα，d 1，n *sinα）。
Since a target coordinate set of one frame can be obtained by scanning once, a second target object is tracked by using the laser radar, that is, the second target object is scanned for multiple times, so that multiple frames of coordinate sets related to each second target object can be obtained, and then a target track set T = { T } can be obtained according to a multi-frame target coordinate set containing position information of the second target object at different moments 1 ，t 2 ，…，t n H and t n ={p 1，n ，p 2，n ，…，p m，n And m is the scanning times, the target trajectory set comprises the motion trajectories of the second target objects in a certain period of time, and the motion parameters of the second target objects are obtained by calculating and analyzing the motion trajectories of the second target objects.
Specifically, the motion parameters of the second target object at least include a motion direction and a motion speed of the second target object; the motion parameters of the standard vehicle at least comprise the motion direction and the motion speed of the standard vehicle.
Then, the specific implementation manner of step 240 may be: and sequentially matching and screening each second target object by utilizing the movement direction and the movement speed of the standard vehicle and the movement direction and the movement speed of each second target object respectively to obtain a target vehicle set.
It can be understood that the motion parameters of the standard vehicle are preset, and then the motion parameters of the standard vehicle are compared with the motion parameters of the second target objects, the target vehicle is screened from the second target objects suspected to be vehicles, and the second target object set is screened, so that the target object of which the motion direction and the motion speed meet the standard vehicle can be obtained.
A second target object set is obtained by screening the attribute parameters of the first target object for the first time, and a target vehicle set is obtained by screening the motion parameters of the second target object set for the second time, so that more accurate target vehicle data can be obtained.
Further, in a possible embodiment of the present application, the vehicle violation comprises at least vehicle back-running, vehicle overspeed, and vehicle deceleration.
Then, step 300, determining whether there is a vehicle violation according to the motion parameters of each target vehicle in the target vehicle set, specifically including:
judging whether vehicles run backwards in the detection area or not according to the movement direction of each target vehicle; and if the target vehicle with the movement direction inconsistent with the preset movement direction exists, determining that the vehicle runs in the reverse direction.
And/or judging whether the vehicle slowly runs or overspeeds in the detection area or not according to the movement speed of each target vehicle; if the target vehicle with the movement speed not within the preset movement speed range exists, determining that the vehicle slowly runs or overspeeds; or judging whether the vehicle stays in the detection area or not according to the movement direction or the movement speed of each target vehicle, and if the target vehicle without the movement direction or with the movement speed of zero exists, determining that the vehicle stays.
Specifically, when at least one of the behaviors of the target vehicle, such as reverse driving, overspeed, low speed, stopping and the like, occurs, the violation of the target vehicle is confirmed. For example, if the vehicle driving direction preset in one of the lanes in the detection area is driving towards the west and the target vehicle is detected to be driving towards the east, the target vehicle is driving in the reverse direction; for another example, if the preset moving speed in one lane in the detection area is 80km/h-120km/h, and the detected speed of the target vehicle is 60km/h, the target vehicle runs at a low speed, or if the speed of the target vehicle is 150km/h in the same scene, the target vehicle runs at an overspeed; for another example, if the target vehicle is detected to have no moving direction or the detected moving speed of the target vehicle is zero in the detection area, the target vehicle is in a stop state.
The target vehicles in the above all belong to the violation behaviors, and when one or more of the above conditions occur in the target vehicles, the vehicle violation is confirmed.
And monitoring the violation behaviors of the vehicles in the detection area through the acquired motion parameters of the target vehicle, and finding out the violation vehicles in time.
And when the target vehicle violates the rule, triggering an alarm mode.
For convenience of understanding, please refer to fig. 3a and 3b, in which fig. 3a is a schematic diagram of a situation without an illegal vehicle in the embodiment of the present application, and fig. 3b is a schematic diagram of a situation with an illegal vehicle in the embodiment of the present application.
As shown in fig. 3a and 3b, on a bifurcation road which has a straight going to the west and a right turn, the lidar is erected between the straight going road and the right turn road, on the road, the allowed vehicle speed is 80km/h-120km/h, the detection area is scanned by taking the lidar as the center of circle, and the scanning angle of the lidar can be 270 °.
In fig. 3a, A, B and C are target vehicles, it can be seen that target vehicles A, B and C are detected to be both normally passing, and there is no violation, so that the warning mode is not triggered.
In fig. 3b, target vehicles D, E, F and G are detected, and it can be seen from the diagram that target vehicle D has a wrong-way behavior, target vehicle E has a low-speed violation behavior, target vehicle F has a high-speed violation behavior, and target vehicle G has a stop violation behavior, so that if there is a violation behavior in the detection area, an alarm mode is triggered; for example, when the target vehicle E is running at a low speed, the warning mode may be triggered, such as the turn-on of the warning light and the voice warning "please increase the traffic speed", so as to achieve the purpose of warning the illegal vehicle and reducing the illegal behavior.
According to the vehicle detection method, the laser radar is used for detecting the detection area, the vehicle space positioning information with higher accuracy can be obtained, the suspected vehicles are screened twice, more accurate vehicle information is obtained, the violation behavior judgment is carried out according to the motion information of the vehicles, and then the violation vehicles are alarmed.
In an embodiment of the present application, a vehicle detection apparatus based on a laser radar is provided, please refer to fig. 4, where fig. 4 is a structural diagram of the vehicle detection apparatus based on a laser radar in the embodiment of the present application, and the apparatus includes: laser radar unit 401, vehicle screening unit 402, and violation warning unit 403.
And the laser radar unit 401 is used for scanning a target to be detected in the detection area by using a laser radar to obtain a first target object set in the detection area, wherein the first target object set comprises a first target object suspected of being a vehicle or a person in the detection area.
And a vehicle screening unit 402, configured to screen the first target object set by using preset attribute parameters and motion parameters of a standard vehicle, so as to obtain a target vehicle set.
And an violation warning unit 403, configured to determine whether there is a vehicle violation according to the motion parameters of each target vehicle in the target vehicle set.
And if the vehicle violation is confirmed, triggering an alarm mode.
The device realizes that the laser radar is used for scanning the target to be detected in the detection area to obtain a first target object set in the detection area, and the first target object set is screened by using the preset attribute parameters and motion parameters of the standard vehicle to obtain a target vehicle set; the device comprises a laser radar detection area, a vehicle detection module, a vehicle alarm module and a vehicle alarm module, wherein the vehicle detection area is used for detecting whether vehicles violate rules or not according to the motion parameters of the target vehicles, the vehicle detection module is used for detecting the vehicles violated rules or not according to the motion parameters of the target vehicles, the vehicle detection module is used for obtaining space positioning information with higher accuracy, the suspected vehicles are subjected to standard vehicle screening twice to obtain more accurate vehicle information, the vehicle detection module is used for judging the violations according to the motion information of the vehicles, and then the vehicles violated rules or not are alarmed.
FIG. 5 shows an internal block diagram of a computer device in one embodiment of the invention. The computer device may be specifically a terminal or a system. As shown in fig. 5, the computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program, which, when executed by the processor, causes the processor to carry out the steps of the above-described method embodiments. The internal memory may also store a computer program, which when executed by the processor, causes the processor to perform the steps of the above method embodiments. Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is proposed, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the above-described method embodiments.
In an embodiment, a computer-readable storage medium is proposed, in which a computer program is stored which, when being executed by a processor, causes the processor to carry out the individual steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware that is instructed by a computer program, and the program may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle detection method based on laser radar is characterized in that the method is applied to a vehicle detection device arranged in a detection area, the vehicle detection device comprises the laser radar, and the area scanned by the laser radar is the detection area, and the method comprises the following steps:
scanning a target to be detected in the detection area by using the laser radar to obtain a first target object set in the detection area, wherein the first target object set comprises a first target object suspected of being a vehicle and a person in the detection area;
screening the first target object set by utilizing the attribute parameters and the motion parameters of the preset standard vehicle to obtain a target vehicle set;
judging whether a vehicle violation occurs or not according to the motion parameters of all the target vehicles in the target vehicle set;
and if the vehicle violation is confirmed, triggering an alarm mode.
2. The method according to claim 1, wherein the scanning the target to be detected in the detection area by using the lidar to obtain a first target set in the detection area specifically comprises:
scanning the detection area once by using the laser radar to obtain point cloud data of one frame in the detection area, and deleting background points in the point cloud data to obtain foreground points in the detection area;
and clustering the foreground points by using a clustering algorithm to obtain a first target object set.
3. The method according to claim 1, wherein the screening of the first target object set by using the preset attribute parameters and motion parameters of the standard vehicle to obtain a target vehicle set specifically comprises:
performing attribute analysis on each first target object to obtain attribute parameters of each first target object;
screening the first target object set according to preset attribute parameters of the standard vehicle and attribute parameters of each first target object to obtain a second target object set, wherein the second target object set comprises second target objects suspected to be vehicles;
performing target tracking on each second target object to obtain a motion parameter of each second target object;
and screening the second target object set according to preset motion parameters of the standard vehicle and motion parameters of each second target object to obtain a target vehicle set.
4. The method of claim 3, wherein the attribute parameters of the first object include at least length, width, and coordinate information of the first object;
the attribute parameters of the standard vehicle at least comprise length, width and coordinate information of the standard vehicle;
the screening the first target object set according to the preset attribute parameters of the standard vehicle and the attribute parameters of each first target object to obtain a second target object set specifically includes:
and sequentially matching and screening the first target objects by utilizing the length, the width and the coordinate information of the standard vehicle and the length, the width and the coordinate information of each first target object to obtain a second target object set.
5. The method according to claim 3, wherein the performing target tracking on each second target object to obtain the motion parameter of each second target object specifically comprises:
performing target tracking on each second target object by using a target tracking algorithm to obtain position information of each second target object at different moments;
and analyzing and calculating according to the position information of each second target object at different moments to obtain the motion parameters of each second target object.
6. The method of claim 3, wherein the motion parameters of the second object include at least a motion direction and a motion speed of the second object;
the motion parameters of the standard vehicle at least comprise the motion direction and the motion speed of the standard vehicle;
the second target object set is screened according to the preset motion parameters of the standard vehicle and the motion parameters of the second target objects to obtain a target vehicle set, and the method specifically includes:
and sequentially matching and screening the second target objects by utilizing the movement direction and the movement speed of the standard vehicle and the movement direction and the movement speed of each second target object to obtain a target vehicle set.
7. The method of claim 6, wherein the vehicle violations include at least vehicle reverse, vehicle overspeed, vehicle underspeed, and vehicle stop;
the judging whether a vehicle violation occurs according to the motion parameters of each target vehicle in the target vehicle set specifically includes:
judging whether vehicles run backwards in the detection area or not according to the movement direction of each target vehicle;
if a target vehicle with a movement direction inconsistent with a preset movement direction exists, determining that the vehicle drives in the wrong direction;
and/or;
judging whether a vehicle runs at a low speed or an overspeed in the detection area according to the movement speed of each target vehicle;
if the target vehicle with the movement speed not within the preset movement speed range exists, determining that the vehicle runs at a low speed or at an overspeed;
or;
judging whether a vehicle stays in the detection area or not according to the movement direction or the movement speed of each target vehicle;
and if the target vehicle without the moving direction exists or the target vehicle with the moving speed being zero exists, determining that the vehicle stays.
8. A lidar-based vehicle detection apparatus, the apparatus comprising: the system comprises a laser radar unit, a vehicle screening unit and an illegal warning unit;
the laser radar unit is used for scanning a target to be detected in a detection area by using the laser radar to obtain a first target object set in the detection area, wherein the first target object set comprises a first target object suspected to be a vehicle or a person in the detection area;
the vehicle screening unit is used for screening the first target object set by utilizing the preset attribute parameters and motion parameters of the standard vehicle to obtain a target vehicle set;
the violation warning unit is used for judging whether a vehicle violation occurs or not according to the motion parameters of all target vehicles in the target vehicle set;
and if the vehicle violation is confirmed, triggering an alarm mode.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, characterized in that the memory stores a computer program which, when executed by the processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
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| US20210208282A1 (en) * | 2018-05-30 | 2021-07-08 | Ihi Corporation | Detection device and detection system |
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| US20210208282A1 (en) * | 2018-05-30 | 2021-07-08 | Ihi Corporation | Detection device and detection system |
| CN112099040A (en) * | 2020-09-15 | 2020-12-18 | 浙江省机电设计研究院有限公司 | Whole-course continuous track vehicle tracking system and method based on laser radar network |
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