CN116246455A - Method and system for detecting vehicle information, storage medium and electronic device - Google Patents

Method and system for detecting vehicle information, storage medium and electronic device Download PDF

Info

Publication number
CN116246455A
CN116246455A CN202211550728.2A CN202211550728A CN116246455A CN 116246455 A CN116246455 A CN 116246455A CN 202211550728 A CN202211550728 A CN 202211550728A CN 116246455 A CN116246455 A CN 116246455A
Authority
CN
China
Prior art keywords
vehicle
information
weighing
scanning
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211550728.2A
Other languages
Chinese (zh)
Inventor
崔春旺
方睿
李康
王平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Wanji Photoelectric Technology Co Ltd
Original Assignee
Beijing Wanji Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Wanji Technology Co Ltd filed Critical Beijing Wanji Technology Co Ltd
Priority to CN202211550728.2A priority Critical patent/CN116246455A/en
Publication of CN116246455A publication Critical patent/CN116246455A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • 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
    • 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
    • G08G1/02—Detecting movement of traffic to be counted or controlled using treadles built into the road
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a vehicle information detection method and system, a storage medium and an electronic device, wherein the method comprises the following steps: in the process that a vehicle to be detected passes through a weighing sensor, obtaining vehicle weighing detection information obtained by detecting the vehicle to be detected through the weighing sensor, wherein the weighing sensor is arranged on a target lane; acquiring lateral point cloud information obtained by the lateral scanning component for carrying out lateral scanning on the vehicle to be detected, wherein the target distance between the lateral scanning component and the weighing sensor in the driving direction along the target lane is half of the target width of the weighing sensor in the driving direction; and determining the vehicle information of the vehicle to be detected according to the vehicle weighing detection information and the side point cloud information. According to the method and the device for detecting the vehicle information, the problem that the detection cost of the vehicle information is high due to the fact that multiple rows of weighing sensors are required to be arranged in the detection method of the vehicle information in the related art is solved.

Description

Method and system for detecting vehicle information, storage medium and electronic device
Technical Field
The present application relates to the field of vehicle identification, and in particular, to a method and system for detecting vehicle information, a storage medium, and an electronic device.
Background
In order to reduce potential safety hazards caused by overrun of a freight vehicle, vehicle information may be acquired, for example, vehicle contour information (height, width, length, etc.) may be detected by using a vehicle information detection system, and vehicle weight may be detected by using a weighing system.
In the related art, in a vehicle information detection method, a transverse scanning component is generally disposed on a supporting structure at an entrance of a detection area, a longitudinal scanning component is disposed on a supporting structure at an exit of the detection area, so as to detect a vehicle contour, and a plurality of rows of weighing sensors are disposed in the detection area so as to detect a vehicle weight. However, the above-described method of detecting vehicle information has a problem in that the cost of detecting vehicle information is high due to the need to provide a plurality of rows of load cells.
Disclosure of Invention
The embodiment of the application provides a vehicle information detection method and system, a storage medium and an electronic device, which at least solve the problem that the detection cost of vehicle information is high due to the fact that multiple rows of weighing sensors are required to be arranged in the vehicle information detection method in the related art.
According to an aspect of the embodiments of the present application, there is provided a method for detecting vehicle information, including: in the process that a vehicle to be detected passes through a weighing sensor, obtaining vehicle weighing detection information obtained by detecting the vehicle to be detected through the weighing sensor, wherein the weighing sensor is arranged on a target lane; acquiring lateral point cloud information obtained by the lateral scanning component for carrying out lateral scanning on the vehicle to be detected, wherein the target distance between the lateral scanning component and the weighing sensor in the driving direction along the target lane is half of the target width of the weighing sensor in the driving direction; and determining the vehicle information of the vehicle to be detected according to the vehicle weighing detection information and the side point cloud information.
According to another aspect of the embodiments of the present application, there is also provided a system for detecting vehicle information, including: the weighing sensor is arranged on the target lane; a lateral scanning member that has a target distance from the load cell in a driving direction along the target lane that is half a target width of the load cell in the driving direction; the data processor is used for acquiring vehicle weighing detection information obtained by detecting the vehicle to be detected by the weighing sensor in the process that the vehicle to be detected passes through the weighing sensor; acquiring lateral point cloud information obtained by the transverse scanning component for transversely scanning the vehicle to be detected; and determining the vehicle information of the vehicle to be detected according to the vehicle weighing detection information and the side point cloud information.
According to still another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to perform the above-described method of detecting vehicle information when run.
According to still another aspect of the embodiments of the present application, there is further provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the method for detecting vehicle information described above through the computer program.
In the embodiment of the application, a mode of detecting vehicle information by combining a transverse scanning component with a weighing sensor is adopted, and vehicle weighing detection information obtained by detecting the vehicle to be detected by the weighing sensor is obtained in the process that the vehicle to be detected passes through the weighing sensor, wherein the weighing sensor is arranged on a target lane; acquiring lateral point cloud information obtained by transversely scanning a vehicle to be tested by a transverse scanning component, wherein the target distance between the transverse scanning component and a weighing sensor in the driving direction along a target lane is half of the target width of the weighing sensor in the driving direction; according to the vehicle weighing detection information and the side point cloud information, determining vehicle information of the vehicle to be detected, wherein the side point cloud information obtained by transversely scanning the vehicle to be detected by the transverse scanning component can represent the outline of the vehicle to be detected, and the outline information of all or part of the vehicle to be detected can be determined based on the side point cloud data; in addition, the distance between the transverse scanning component and the weighing sensor in the driving direction is half of the width of the weighing sensor in the driving direction, the calculation of the vehicle weight can be performed based on the symmetry principle by combining the scanning time of the transverse scanning component and the pressure information detected by the weighing sensor.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a hardware environment of an alternative method of detecting vehicle information according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative method of detecting vehicle information according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an alternative vehicle information detection system according to an embodiment of the present application;
FIG. 4 is a schematic illustration of an alternative vehicle pressure information according to an embodiment of the present application;
FIG. 5 is a schematic illustration of an alternative method of detecting vehicle information according to an embodiment of the present application;
FIG. 6 is a schematic illustration of an alternative lateral scanning component scanning a vehicle according to an embodiment of the present application;
FIG. 7 is a schematic illustration of an alternative vehicle side profile according to an embodiment of the present application;
FIG. 8 is a schematic diagram of an alternative rectangular coordinate system according to an embodiment of the present application;
FIG. 9 is a schematic diagram of an alternative force width information according to an embodiment of the present application;
fig. 10 is a block diagram of an alternative electronic device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to one aspect of the embodiments of the present application, a method for detecting vehicle information is provided. Alternatively, in the present embodiment, the above-described method of detecting vehicle information may be applied to a hardware environment including the detecting section 102 and the data processor 104 as shown in fig. 1. As shown in fig. 1, the data processor 104 is connected to the detecting unit 102 through a network, and may be used for identifying vehicle information based on the detection data of the detecting unit 102, for example, identifying contour information of a vehicle, weight information of the vehicle, etc., and a data storage unit (data may be stored through a database) may be provided on the data processor or separately from the data processor, for providing a data storage service for the data processor 104. Here, the detection section 102 and the data processor 104 may both belong to a vehicle information detection system.
The network may include, but is not limited to, at least one of: wired network, wireless network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (Wireless Fidelity ), bluetooth. In addition to being connected via a network, the detection component 102 and the data processor 104 can also be connected via a network cable or serial port. The detection component 102 can include a lateral scanning component that can include, but is not limited to, a scanned laser sensor, and a load cell that can include, but is not limited to, a narrow strip sensor, and the like.
The method for detecting vehicle information according to the embodiment of the present application may be executed by the data processor 104, or may be executed by both the data processor 104 and the detecting unit 102. Taking the example that the data processor 104 performs the method for detecting vehicle information in the present embodiment, fig. 2 is a schematic flow chart of an alternative method for detecting vehicle information according to the embodiment of the present application, as shown in fig. 2, the flow of the method may include the following steps:
step S202, in the process that the vehicle to be detected passes through the weighing sensor, vehicle weighing detection information obtained by detecting the vehicle to be detected through the weighing sensor is obtained, wherein the weighing sensor is arranged on a target lane.
The method for detecting vehicle information in this embodiment may be applied to a scenario in which vehicle information is detected on passing vehicles in a preset area, where the preset area may be an expressway, a general highway or other roads where the passing vehicles need to be detected, the vehicle information may include information such as a vehicle weight, a vehicle speed, a number of tires of the vehicle, a tire diameter of the vehicle, and a number of axles of the vehicle, and by detecting information such as a number of tires of the vehicle, and a number of axles of the vehicle, a weight limit of the vehicle may be obtained, and by combining the detected actual weight of the vehicle, it may be determined whether the passing vehicles have an overweight and an overload, and at the same time, the speed of the vehicle may be detected, and it may be determined whether the vehicle is overspeed. In some examples in this application, a vehicle information detection system applied to an expressway is described as an example.
Currently, the vehicle information detection system may include a weighing system for performing the weight of the vehicle. The weighing system uses a dynamic weighing technology which plays an important role in an overrun overload management system and an off-site law enforcement system. The weighing system can be a whole car type weighing system and a shaft group type weighing system, and also can be a narrow strip type weighing system. However, the construction period of the whole car type weighing system and the shaft group type weighing system is long, the passing efficiency of toll stations is affected, the strip type weighing system is usually required to be provided with a plurality of rows of strip type sensors, and the system cost is high.
In order to at least partially solve the problems, a single-row weighing sensor is adopted and a transverse scanning component is combined to determine vehicle information so as to judge whether the vehicle has overweight, overload, overspeed and other behaviors, and compared with the weighing system, the construction period is shortened, and the cost is reduced.
The weighing sensor can be a sensor paved on a target lane, can be embedded into a ground foundation, has an upper surface flush with a road surface, and can be used for acquiring pressure information and stress width information of a vehicle to be tested. The weighing sensor can convert the pressure signal into a measurable electric signal to be output, and the weight information, the axle number and the like of the vehicle are determined according to the pressure information, the stress width and the like detected by the weighing sensor. Alternatively, the load cell may be a narrow strip sensor, but may be another type of load cell. The width of the load cell (e.g., a strip sensor) in the vehicle traveling direction (i.e., the traveling direction of the target lane) may be within a certain width range (e.g., 5cm-30 cm), and the width of the load cell in the traveling direction is 10cm, for example. The length of the load cell may be the same as or similar to the lane width of the target lane.
The lateral scanning component may be used to obtain lateral point cloud information of the vehicle under test, which may be a scanned laser sensor, for example, a single line scanned laser sensor or a multi-line scanned laser sensor. The lateral scanning member may be mounted to one side of the target lane and it may be mounted to a support structure (for mounting the lateral scanning member) on one side of the target lane, which may be a telescopic pole, gantry or other type of support structure. The height of the support structure from the ground is in a range of heights, for example, 1m-2m from the ground.
The lateral scanning component can be provided with the front side of the weighing sensor in the driving direction of the target lane, and the target distance between the lateral scanning component and the weighing sensor in the driving direction is half of the target width of the weighing sensor in the driving direction.
For example, as shown in fig. 3, the weighing system includes: a telescopic upright 301, a scanning laser sensor 302, a narrow bar sensor 303, and a data processor 304. The telescopic upright rod 301 is used for installing a scanning laser sensor 302; the distance between the scanning laser sensor 302 and the near end of the narrow sensor 303 is half the width of the narrow sensor 303 in the vehicle traveling direction; the data processor 304 is connected to the scanning laser sensor 302 and the narrow strip sensor 303, respectively. Optionally, the data processor 304 is connected with the scanning laser sensor 302 through a network cable, and is connected with the narrow-stripe sensor 303 through a serial port, and can be used for processing side point cloud information output by the scanning laser sensor 302 and pressure information output by the narrow-stripe sensor 303 to obtain vehicle information such as weight, axle number, single and double tire information and the like of a vehicle to be tested.
In the process that the vehicle to be detected passes through the weighing sensor, the data processor can acquire vehicle weighing detection information obtained by detecting the vehicle to be detected through the weighing sensor. The vehicle weighing detection information may be determined according to the pressure information detected by the weighing sensor during the time when the vehicle to be measured passes through the weighing sensor or by the change of the detected pressure information, and may include, but is not limited to, all or part of the pressure information, the stress time, the stress width information and the stress position information of the vehicle to be measured.
The distance between the transverse scanning member and the load cell in the traveling direction may be not half the width of the load cell in the traveling direction. For example, the width of the load cell along the driving direction is larger (for example, greater than a certain width threshold), so that the weight of the vehicle to be measured can be directly measured; meanwhile, the scanning surface of the lateral scanning member may be arranged non-parallel to the intermediate position of the width of the load cell in the running direction so as to determine the vehicle speed based on the time difference between the moment corresponding to the peak of the load of the axle and the time when the highest point of the axle passes through the scanning surface of the lateral scanning member, and if the vehicle speed does not need to be calculated or may be measured by other means, the relative positions of the lateral scanning member and the load cell may not be defined.
Step S204, obtaining lateral point cloud information obtained by the lateral scanning component for carrying out lateral scanning on the vehicle to be detected.
The transverse scanning means may periodically perform transverse scanning. The lateral scanning may be performed continuously, or may be started when a vehicle is detected to enter a weighing area of a target lane, a load cell is detected to be triggered, or other scanning conditions are satisfied, which is not limited in this embodiment. For the vehicle to be tested, the data processor can acquire transverse scanning data obtained by transverse scanning of the vehicle to be tested by the transverse scanning component, and determine transverse scanning data corresponding to the vehicle to be tested based on scanning time and the like, so that side point cloud information of the vehicle to be tested is obtained.
Here, the scanning surface of the transverse scanning member is perpendicular to the traveling direction, and the load cell may be laid along the perpendicular direction to the traveling direction. The side point cloud data may be vehicle point cloud information scanned from a time (t 1) when the vehicle under test passes the scanning surface of the lateral scanning member for the first time to a time (t 2) when the vehicle under test passes the scanning surface of the lateral scanning member for the last time.
Step S206, determining vehicle information of the vehicle to be tested according to the vehicle weighing detection information and the side point cloud information.
According to the vehicle weighing detection information and the side point cloud information, vehicle information of the vehicle to be detected can be determined. The vehicle information may be one or more of, for example, vehicle profile information (e.g., vehicle height, vehicle length, etc.), vehicle weight, and other vehicle information such as single-double-shaft information, number of shafts, and whether or not it is suspension shaft information. In order to ensure the comprehensiveness of the vehicle information detection, other lateral scanning members, longitudinal scanning members, and the like may be provided in addition to the lateral scanning members, which is not limited in this embodiment.
Because the side point cloud information can characterize the side profile, all or part of the profile information of the vehicle to be tested can be determined based on the side point cloud information. Because the distance between the transverse scanning component and the weighing sensor along the driving direction is half of the width of the weighing sensor along the driving direction, through the arrangement mode, three weighing sensors which are close to each other and have the same sensor parameters (one weighing sensor is an actual weighing sensor) can be virtualized, and the vehicle weight of a vehicle to be detected can be calculated by combining the information of the scanning moment of the transverse scanning component, the pressure value detected by the weighing sensor and the like, so that the vehicle weight detection can be carried out through a single row of weighing sensors.
Through the steps S202 to S206, vehicle weighing detection information obtained by detecting the vehicle to be detected by the weighing sensor is obtained during the process that the vehicle to be detected passes through the weighing sensor, wherein the weighing sensor is arranged on the target lane; acquiring lateral point cloud information obtained by transversely scanning a vehicle to be tested by a transverse scanning component, wherein the target distance between the transverse scanning component and a weighing sensor in the driving direction along a target lane is half of the target width of the weighing sensor in the driving direction; according to the vehicle weighing detection information and the side point cloud information, the vehicle information of the vehicle to be detected is determined, the problem that the detection cost of the vehicle information is high due to the fact that multiple rows of weighing sensors are required to be arranged in the detection method of the vehicle information in the related art is solved, and the detection cost of the vehicle information is reduced.
In one exemplary embodiment, determining vehicle information of a vehicle under test from vehicle weight detection information and side point cloud information includes:
s11, determining a pressure peak value of each shaft of the vehicle to be detected according to the vehicle pressure information of the vehicle to be detected, which is acquired by the weighing sensor, wherein the vehicle weighing detection information comprises vehicle pressure information;
S12, determining a pressure value corresponding to the moment when the highest point of each shaft passes through the scanning surface of the transverse scanning component in the vehicle pressure information to obtain a reference pressure value of each shaft;
s13, determining the sum of the pressure peak value of each shaft and twice the reference pressure value of each shaft as the weight of each shaft;
and S14, performing summation operation on the weight of each shaft to obtain the weight of the vehicle to be tested.
The vehicle weighing detection information can comprise vehicle pressure information of the vehicle to be detected, which is obtained by the weighing sensor, wherein the vehicle pressure information consists of pressure values at different moments, as shown in fig. 4, and fig. 4 is a pressure curve chart generated in the process that a 6-axis vehicle passes through the narrow strip type sensor. The vehicle pressure information may include a pressure profile for each axle of the vehicle under test, the difference in the duration of the pressure profile for each axle being related to the diameter of each axle of the vehicle under test and the speed of each axle.
The various vehicle information of the vehicle to be measured may be obtained from the vehicle pressure information, and may include a pressure peak value (Tm) of each axis of the vehicle to be measured, and may also include other vehicle information, such as a time (Tn) at which a start of each axis passes through the load cell, a time (Tl) at which an end of each axis passes through the load cell, and the number of axes of the vehicle to be measured. Here, the axles capable of acquiring the pressure peak may be axles in contact with the ground in the vehicle to be tested, that is, not the suspension axles, and therefore, the number of axles capable of acquiring the pressure peak (that is, the non-suspension axles, which may be referred to as target axles) is less than or equal to the total number of axles of the vehicle to be tested.
From the side point cloud information, the moment when the highest point of each axis (non-hover axis) passes through the scan plane of the transverse scan component can be determined. From the vehicle pressure information, a pressure value corresponding to the timing at which the highest point of each axis passes through the scanning surface of the lateral scanning member can be obtained, and a reference pressure value for each axis, which is a pressure value to which the weight of the vehicle is referred to, is obtained.
Since the distance between the transverse scanning component and the load cell in the direction of travel is half the width of the load cell in the direction of travel. If three identical weighing sensors are arranged side by side, according to the symmetry principle, when the highest point of each shaft reaches the scanning surface of the transverse scanning component, the pressure value detected by the middle weighing sensor is the pressure peak value of each shaft acquired by the first weighing sensor (actual weighing sensor), the pressure values detected by the first weighing sensor and the third weighing sensor are the same, the pressure values are all reference pressure values, and all the pressure values generated by each shaft to the ground are twice the pressure peak value and the reference pressure value. Thus, the sum of the pressure peak value of each shaft and twice the reference pressure value of each shaft is determined as the weight of each shaft, and the summing operation is performed on the weight of each shaft, resulting in the weight of the vehicle to be measured.
For example, as shown in fig. 5, the peak pressure value of each axis of the vehicle to be measured is Gmax, the pressure value corresponding to the time tm when the highest point of each axis of the vehicle to be measured passes through the scanning plane of the scanning laser sensor 302 is G1, and since the distance between the scanning laser sensor 302 and the near end of the strip sensor 303 is half the width of the strip sensor 303 in the vehicle driving direction, the weight of each axis of the vehicle to be measured is gmax+2xg1, and the weight of each axis is added to obtain the weight of the vehicle to be measured.
According to the embodiment, the weight of each shaft is calculated according to the symmetry principle by combining the pressure peak value of each shaft and the pressure value corresponding to the moment when the highest point of each shaft passes through the scanning surface of the transverse scanning component, so that the weight of the vehicle to be detected is obtained, and the convenience of vehicle weight detection can be improved.
In an exemplary embodiment, the above method further comprises:
s21, converting the side point cloud information into side profile information;
s22, acquiring the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component from the side profile information.
In the process that the vehicle to be tested passes through the scanning surface of the transverse scanning component, the transverse scanning component can obtain ranging information of a plurality of scanning periods, the side point cloud information consists of the ranging information of the plurality of scanning periods, and each scanning period corresponds to one moment, so that the side point cloud information consists of the ranging information of different moments. To facilitate determining the moment at which the highest point of each axis passes through the scan plane of the transverse scan component, the side point cloud information may first be converted to side profile information, which may be unified into a particular coordinate system to determine vehicle information.
For example, as shown in fig. 6, the lateral scanning component scans the vehicle to be tested to obtain lateral point cloud information of the vehicle to be tested, the lateral point cloud information is converted into lateral profile information, and the lateral profile information is drawn as shown in fig. 7.
The side profile information may include position information of a set of measurement points and a scanning time corresponding to each measurement point, so that each axis of the vehicle to be measured may be identified by the side profile information, and then, based on the measurement point corresponding to each axis, a time at which the highest point of each axis passes through the scanning surface of the lateral scanning member may be determined. Meanwhile, based on the matching relation of the scanning time, the pressure peak value of each axis and the pressure value corresponding to the time when the highest point of each axis passes through the scanning surface of the transverse scanning component can be matched.
According to the embodiment, the side point cloud information is converted into the side profile information, and the moment that the highest point of each axis passes through the scanning surface of the transverse scanning component is obtained from the side profile information, so that convenience in information matching can be improved.
In one exemplary embodiment, converting side point cloud information to side profile information includes:
S31, determining rectangular coordinate information corresponding to each measuring point according to a scanning angle corresponding to each measuring point in the side point cloud information, the component height of the transverse scanning component and the distance between each measuring point and the transverse scanning component, wherein the rectangular coordinate information corresponding to each measuring point is coordinate information of each measuring point in a target coordinate system;
s32, determining side profile information according to rectangular coordinate information corresponding to each measuring point and scanning time corresponding to each measuring point.
The data obtained by scanning by the transverse scanning component can be distance measurement information, namely the distance between the measuring point and the transverse scanning component, and the scanning angle corresponding to each measuring point can be obtained. To facilitate determination of vehicle information, the side point cloud information may be converted to a rectangular coordinate system under the same coordinate system (i.e., the target coordinate system). Here, the target coordinate system is a coordinate system having a position where the lateral scanning member is located as an origin of coordinates. Considering that the sweep scan component generally has a component height, and information such as a vehicle height is determined based on a distance between a highest point of the vehicle and the ground, in this embodiment, the target coordinate system may be a coordinate origin of a projection of the sweep scan component on the ground, the coordinate origin of the target coordinate system is a projection of the sweep scan component on the ground, and three coordinate axes of the target coordinate system include: a first coordinate axis (e.g., X axis) passing through the origin of coordinates, perpendicular to the direction of travel and parallel to the ground, a second coordinate axis (e.g., Y axis) passing through the origin of coordinates and perpendicular to the ground, and a third coordinate axis (e.g., Z axis) passing through the origin of coordinates and parallel to the direction of travel.
For each measurement point in the side point cloud information, rectangular coordinate information corresponding to each measurement point, that is, coordinate information of each measurement point in the target coordinate system may be determined according to a scan angle corresponding to each measurement point in the side point cloud information, a component height of the lateral scanning component, and a distance between each measurement point and the lateral scanning component. The side profile information can be determined from rectangular coordinate information corresponding to each measurement point and the scanning time corresponding to each measurement point.
For example, when the vehicle to be tested passes through the scanned laser sensor 302, side point cloud information of the vehicle to be tested is obtained, a rectangular coordinate system is established as shown in fig. 8, a projection of a light emitting center of the scanned laser sensor 302 on the ground is taken as an origin O of coordinates, a line passing through the origin of coordinates and perpendicular to a running direction of the vehicle to be tested in the ground of the detection area is taken as an X axis, a line passing through the origin of coordinates and perpendicular to the ground of the detection area is taken as a Y axis, γ and θ of all measurement points scanned by the scanned laser sensor 302 in one scanning period form first ranging information of the scanning period, where γ is a distance between a current point scanned by the scanned laser sensor 302 and the scanned laser sensor 302, and θ is an included angle between a ray emitted by the scanned laser sensor 302 and the X axis.
For the ranging information in each scanning period, transforming the coordinate transformation formula according to the coordinate transformation formula, wherein the coordinate transformation formula is shown as formula (1):
Figure BDA0003981871690000111
where h is the height of the scanned laser sensor 302 from the ground, x is the distance of the projection distance O of the current point on the ground, and y is the height of the current point from the ground. The x and y in each scanning period can form rectangular coordinate information, and as each scanning period corresponds to one moment, rectangular coordinate information of the vehicle to be tested at different moments can be obtained.
The side profile information consists of rectangular coordinate information at different moments, and information of at least one of the following vehicles to be tested is obtained from the side profile information: the first time the scanning laser sensor 302 scans the surface; the moment when the vehicle to be tested passes the scanning surface of the scanning laser sensor 302 for the last time; the time tn at which the start of each axis of the vehicle under test passes the scanning plane of the scanning laser sensor 302; a time tm at which the highest point of each axis of the vehicle to be measured passes the scanning plane of the scanning laser sensor 302; the time tl at which the end of each axis of the vehicle to be measured passes through the scanning plane of the scanning laser sensor 302; the number of axles of the vehicle to be tested; single and double tire information of each axle of the vehicle to be tested; the diameter of each axle of the vehicle to be tested; whether each axle of the vehicle to be tested is suspension axle information or not. Further, based on the side profile information, the average speed and the like of the vehicle to be measured can also be determined.
According to the embodiment, the side point cloud data are converted into rectangular coordinate information under the coordinate system with the projection of the transverse scanning component on the ground as the origin of coordinates, so that convenience in acquiring vehicle information can be improved.
In one exemplary embodiment, determining vehicle information of a vehicle under test from vehicle weight detection information and side point cloud information includes:
s41, determining a moment corresponding to a pressure peak value of each shaft of the vehicle to be detected according to the vehicle pressure information of the vehicle to be detected, which is acquired by the weighing sensor, wherein the vehicle weighing detection information comprises the vehicle pressure information;
s42, determining the speed of each shaft according to the target distance, the moment corresponding to the pressure peak value of each shaft and the moment when the highest point of each shaft passes through the scanning surface of the transverse scanning component;
s43, determining the average value of the speeds of each shaft as the average speed of the vehicle to be tested.
In this embodiment, the determined vehicle information may include an average speed of the vehicle to be measured. The average speed of the vehicle to be measured may be the speed of a certain axle, and in consideration of the fact that the speed of the vehicle to be measured is not constant, in order to improve accuracy of vehicle speed determination, the average value of the speeds of each axle may be determined as the average speed of the vehicle to be measured. For example, for a 6 axle vehicle, the average speed of the vehicle under test is the average speed of 6 axles.
In order to determine the speed of each shaft, the speed of each shaft can be measured by a tachometer sensor. In order to reduce the detection cost of the measurement information, in this embodiment, the speed of each axle may be determined according to the vehicle pressure information of the vehicle to be detected and the side point cloud information acquired by the load cell, which may be: determining a time corresponding to a pressure peak value of each shaft according to the vehicle pressure information; from the side point cloud information, the moment when the highest point of each axis passes through the scanning surface of the transverse scanning component can be determined; the speed of each axis is determined based on the target distance, the time corresponding to the pressure peak of each axis, and the time when the highest point of each axis passes through the scanning surface of the lateral scanning member. The determination of the moment at which the highest point of each axis passes the scanning plane of the transverse scanning unit is similar to that of the previous embodiment, and will not be described here.
Here, at the moment corresponding to the pressure peak value of each shaft, the middle position of the shaft is pressed on the middle position of the weighing sensor; at the moment when the highest point of each shaft passes through the scanning surface of the transverse scanning component, the middle position of the shaft is positioned in the scanning surface of the transverse scanning component; and since the target distance is half of the target width, from the time corresponding to the pressure peak value of each axis to the time when the highest point of each axis passes through the scanning surface of the lateral scanning member, the distance by which the vehicle to be measured moves forward is half of the target width plus the target distance, i.e., 2 times the target distance, and therefore, the speed of each axis can be determined based on the target distance and the two times.
For example, the vehicle pressure information of the vehicle to be measured may be acquired while the vehicle to be measured passes through the strip sensor 303. The time Tn at which the start of each axis of the vehicle to be measured passes through the strip sensor 303, the time Tm corresponding to the pressure peak value of each axis of the vehicle to be measured, the time Tl at which the end of each axis of the vehicle to be measured passes through the strip sensor 303, and the number of axes of the vehicle to be measured can be obtained from the vehicle pressure information.
Obtaining the speed of each axis of the vehicle to be tested according to the moment Tm corresponding to the pressure peak value of each axis of the vehicle to be tested, the moment Tm when the highest point of each axis of the vehicle to be tested passes through the scanning surface of the scanning laser sensor 302 and the distance L between the scanning surface of the scanning laser sensor 302 and the near end of the narrow strip sensor 303; the speed of each axle is averaged to obtain the average speed of the vehicle.
According to the vehicle speed detection method and device, the speed of each shaft is determined according to the vehicle pressure information and the side point cloud information, and the average speed of the vehicle to be detected is obtained based on the speed of each shaft, so that the vehicle speed measurement cost can be reduced, and the vehicle speed detection accuracy is improved.
In one exemplary embodiment, determining vehicle information of a vehicle under test from vehicle weight detection information and side point cloud information includes:
S51, converting the side point cloud information into side profile information;
s52, acquiring single-tire and double-tire information of each axle of the vehicle to be tested from the side profile information; and/or the number of the groups of groups,
s53, determining single and double tire information of each axle of the vehicle to be tested according to the stress width information of the vehicle to be tested, which is acquired by the weighing sensor, wherein the vehicle weighing detection information comprises the stress width information.
In the present embodiment, the determined vehicle information may contain axle information of the vehicle to be tested, that is, information related to the axle, and may include, but is not limited to, at least one of: the number of axles of the vehicle to be tested, the single tire information and the double tire information of each axle of the vehicle to be tested, and the diameter of each axle are used for indicating whether each axle is an indication information of a suspension axle or not. In addition, the determined vehicle information may also include an average speed of the vehicle to be measured, and the like.
As an alternative embodiment, the axle information of the vehicle to be tested may be determined according to the side point cloud information. The side point cloud information may be first converted into side profile information, and the conversion manner may be similar to that in the foregoing embodiment, which is not described herein. From the converted side profile information, axle information of the vehicle to be measured, that is, axle information of at least one of the above-described types may be acquired.
In the related art, a wheel axle identifier is generally adopted to acquire single and double tire information of a vehicle, and the service life is short because the wheel axle identifier is often rolled by a freight vehicle. In this regard, in the present embodiment, axle information of the vehicle to be tested acquired from the side profile information may include: single-twin tire information, i.e., first single-twin tire information, for each axis. Compared with the special wheel axle identifier, the method can improve the convenience of acquiring single and double tire information, and save the information detection cost.
As another alternative embodiment, axle information of the vehicle to be tested may be determined by vehicle weight detection information. Here, the vehicle weight detection information may include at least one of the vehicle pressure information or the stress width information of the vehicle to be measured acquired by the load cell, for example, the vehicle pressure information and the stress width information of the vehicle to be measured may be acquired while the vehicle to be measured passes through the strip sensor 303. The axle information of the vehicle to be tested can be determined according to the vehicle pressure information and the stress width information of the vehicle to be tested, and the determined axle information is similar to the type described above and will not be described in detail herein. Alternatively, in order to improve the convenience of acquiring the single and double tire information, the single and double tire information of each axle of the vehicle to be tested, that is, the second single and double tire information, may also be determined according to the stress width information.
Here, the stress width information is composed of stress widths of weighing sensors at different moments. The stress width at a certain moment is the sum of the positions, on the weighing sensor, where the pressure value is greater than a certain threshold value, and the duration of the stress width can reflect the speed of the vehicle. For example, the force width of the strip sensor 303 at a certain time is the sum of the positions of the strip sensor 303 where the pressure value is greater than a certain threshold value, and fig. 9 is a schematic diagram of the force width generated during the process of passing the strip sensor 303 by a 6-axis vehicle, where the first 3 axes have long duration, indicating that the speed of the vehicle to be tested is slow, and the second 3 axes have short duration, indicating that the speed of the vehicle to be tested is fast.
According to the stress width information, single and double tire information of each axle of the vehicle to be tested can be judged, and the stress width corresponding to the double tires is larger than the stress width corresponding to the single tire, namely, the single tire is narrow in contact with the ground, so that the stress width is narrow, and the double tires are wide in contact with the ground, so that the stress width is wide.
After the second single-double tire information is determined, the second single-double tire information may be matched with the first single-double tire information, thereby obtaining single-double tire information of each axis. For a certain axis, if the first single-double tire information is matched with the second single-double tire information, either one of the first single-double tire information and the second single-double tire information can be used as the single-double tire information of the axis; if the two are not identical, the second single-twin information may be determined as single-twin information for the axis. The axes where the first single and double tire information is inconsistent with the second single and double tire information can also be recorded so as to trace the abnormal axes.
For example, the side profile information and the stress width information are matched to obtain the average speed, weight, axle number, single and double tire information and other information of the vehicle to be tested. When the suspension shaft does not exist in the vehicle to be tested, the single and double tire information obtained from the side profile information is consistent with the single and double tire information obtained from the stress width information, and the single and double tire information obtained from the side profile information or the single and double tire information obtained from the stress width information can be arbitrarily determined as the single and double tire information of the vehicle to be tested; when the suspension shaft exists in the vehicle to be tested, the suspension shaft is not contacted with the ground, so that the single and double tire information obtained from the side profile information is inconsistent with the single and double tire information obtained from the stress width information, the suspension shaft exists in the vehicle to be tested, and the single and double tire information obtained from the stress width information is determined as the single and double tire information of the vehicle to be tested.
According to the embodiment, the single and double tire information of the vehicle is checked through the side profile information and the stress width information of the vehicle, so that the accuracy of determining the single and double tire information can be improved.
In one exemplary embodiment, determining vehicle information of a vehicle under test from vehicle weight detection information and side point cloud information includes:
S61, converting the side point cloud information into side profile information;
s62, acquiring a first axle number of the vehicle to be tested from the side profile information;
s63, determining a second axle number of the vehicle to be detected according to the vehicle pressure information of the vehicle to be detected, which is acquired by the weighing sensor, wherein the vehicle weighing detection information comprises the vehicle pressure information;
s64, determining that a suspension shaft exists in the vehicle to be tested under the condition that the first shaft number and the second shaft number are inconsistent.
In the present embodiment, the determined vehicle information of the vehicle under test may include the number of axles of the vehicle under test. There are various ways of determining the number of axles of the vehicle to be tested, for example, the side point cloud information may be converted into side profile information in a similar manner as described above, and the first number of axles of the vehicle to be tested may be obtained from the side profile information, and for example, the second number of axles of the vehicle to be tested may be determined according to the vehicle pressure information of the vehicle to be tested obtained by the load cell. Here, since the times at which the different axles are pressed against the load cells have a certain interval, the vehicle pressure information may reflect the number of axles of the vehicle to be tested, for example, as shown in fig. 4, 6-axis vehicles form 6-interval pressure curves, respectively corresponding to each axle.
Alternatively, the third axle number of the vehicle to be tested may be determined based on the force width information. Because the time that different axles are pressed on the weighing sensor has certain interval, the axle number of the vehicle to be tested can be determined according to the number of the time periods with continuous stress width. For example, as shown in fig. 9, 6 force-receiving width curves of 6 intervals formed by a 6-axis vehicle correspond to each axis, respectively.
After the second axis number (and/or the third axis number) is determined, the second axis number (and/or the third axis number) may be matched with the first axis number, thereby obtaining a vehicle axis number of the vehicle to be tested. When the suspension axle does not exist in the vehicle to be tested, the first axle number is consistent with the second axle number (and/or the third axle number), and any one of the first axle number and the second axle number (and/or the third axle number) can be determined as the vehicle axle number of the vehicle to be tested; when the suspension shaft exists in the vehicle to be tested, the suspension shaft is not contacted with the ground, so that pressure is not generated by the weighing sensor, and the first shaft number is inconsistent with the second shaft number (and/or the third shaft number). In the case where the first axis number and the second axis number (and/or the third axis number) are not identical, it may be determined that the vehicle to be tested has a suspension axis, the second axis number (or the third axis number) is determined as the vehicle axis number of the vehicle to be tested, and the difference between the first axis number and the second axis number (or the third axis number) is determined as the number of suspension axes of the vehicle to be tested.
Alternatively, since the suspension axes are based on not being in contact with the ground, the ground length thereof is small or even no ground length, and the indication information of whether each axis is a suspension axis can be obtained from the side profile information, however, the recognition accuracy is not high due to the deformation of the figure or the like. The pressure information generated by the axle can directly reflect whether the axle is grounded, so that the axle number (such as the second axle number and the third axle number) and the suspension axle information determined based on the vehicle weighing detection information have higher accuracy.
According to the method and the device for determining the axle number of the vehicle, the axle number of the vehicle is checked through the side profile information and the vehicle pressure information of the vehicle to be detected, and accuracy of determining the axle number of the vehicle can be improved.
The following explains a method of detecting vehicle information in the embodiment of the present application with reference to an alternative example. In this alternative example, the lateral scanning component is a scanning laser sensor and the load cell is a single row of narrow strip sensors.
In this alternative example, a weighing system with long service life, short construction period and low cost is provided, and the arrangement mode of the weighing system can be shown in fig. 3. Based on the weighing system, the flow of the vehicle information detection method in this alternative example may include the steps of:
Step 1, acquiring lateral point cloud information obtained by transversely scanning a vehicle to be detected by a scanning laser sensor, and converting the lateral point cloud information into lateral profile information.
And 2, acquiring vehicle stress information and stress width information obtained by detecting the vehicle to be detected by the single-row narrow-strip sensor.
And 3, calculating the weight of the vehicle to be measured and the average speed of the vehicle according to the side profile information and the vehicle stress information.
And 4, matching the side profile information with the stress information and the stress width information of the vehicle to obtain the information of the axle number, the single and double tire information, the tire diameter, whether the suspension axle is contained or not and the like of the vehicle to be tested.
Through this optional example, this weighing system adopts the mode that single row narrow strip sensor and 1 scanning laser sensor combined together to acquire weight, the axle number of vehicle that awaits measuring, single pair child information, tire diameter, speed, whether contain information such as suspension axle, long service life, construction cycle are short, with low costs to there is life weak point, construction cycle is long, problem with high costs in solving prior art.
It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk), including instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the embodiments of the present application.
According to another aspect of the embodiments of the present application, there is also provided a vehicle information detection system for implementing the above-described vehicle information detection method. The vehicle information detection system may include:
the weighing sensor is arranged on the target lane;
a lateral scanning part, wherein the target distance between the lateral scanning part and the weighing sensor along the driving direction is half of the target width of the weighing sensor along the driving direction of the target lane;
The data processor is used for acquiring vehicle weighing detection information obtained by detecting the vehicle to be detected by the weighing sensor in the process that the vehicle to be detected passes through the weighing sensor; acquiring lateral point cloud information obtained by the transverse scanning component for transversely scanning the vehicle to be tested; and determining vehicle information of the vehicle to be detected according to the vehicle weighing detection information and the side point cloud information.
It should be noted that the data processor may be a server or a component executing the foregoing acquisition of the side point cloud information, the vehicle stress information, the stress width information, and the like on a certain processing device, for example, a processor, a controller, and the like. The manner of determining the side point cloud information, the vehicle stress information and the stress width information is similar to that in the foregoing embodiment, and is already described and will not be repeated here.
According to the vehicle information detection system, vehicle weighing detection information obtained by detecting the vehicle to be detected through the weighing sensor is obtained in the process that the vehicle to be detected passes through the weighing sensor, wherein the weighing sensor is arranged on a target lane; acquiring lateral point cloud information obtained by transversely scanning a vehicle to be tested by a transverse scanning component, wherein the target distance between the transverse scanning component and a weighing sensor in the driving direction along a target lane is half of the target width of the weighing sensor in the driving direction; according to the vehicle weighing detection information and the side point cloud information, the vehicle information of the vehicle to be detected is determined, the problem that the detection cost of the vehicle information is high due to the fact that multiple rows of weighing sensors are required to be arranged in the detection method of the vehicle information in the related art is solved, and the detection cost of the vehicle information is reduced.
In one exemplary embodiment, the data processor is further configured to determine a pressure peak value of each axle of the vehicle to be tested according to the vehicle pressure information of the vehicle to be tested acquired by the load cell, wherein the vehicle weight detection information includes vehicle pressure information; determining a pressure value corresponding to the moment when the highest point of each shaft passes through the scanning surface of the transverse scanning component in the vehicle pressure information, and obtaining a reference pressure value of each shaft; determining the sum of the pressure peak value of each shaft and twice the reference pressure value of each shaft as the weight of each shaft; and performing summation operation on the weight of each shaft to obtain the weight of the vehicle to be tested.
In one exemplary embodiment, the data processor is further configured to convert the side point cloud information into side profile information; the moment at which the highest point of each axis passes through the scanning surface of the transverse scanning unit is obtained from the side profile information.
In one exemplary embodiment, the data processor is further configured to determine rectangular coordinate information corresponding to each measurement point according to a scan angle corresponding to each measurement point in the side point cloud information, a component height of the lateral scan component, and a distance between each measurement point and the lateral scan component, wherein the rectangular coordinate information corresponding to each measurement point is coordinate information of each measurement point in the target coordinate system; determining side profile information according to rectangular coordinate information corresponding to each measuring point and scanning time corresponding to each measuring point; the coordinate origin of the target coordinate system is the projection of the transverse scanning component on the ground, and three coordinate axes of the target coordinate system comprise: the system comprises a coordinate origin, a first coordinate axis which is perpendicular to the driving direction and parallel to the ground, a second coordinate axis which is perpendicular to the ground and passes through the coordinate origin, and a third coordinate axis which is parallel to the driving direction and passes through the coordinate origin.
In one exemplary embodiment, the data processor is further configured to determine a time corresponding to a pressure peak value of each axle of the vehicle to be measured according to the vehicle pressure information of the vehicle to be measured acquired by the load cell, wherein the vehicle weight detection information includes vehicle pressure information; determining a speed of each axis based on the target distance, a time corresponding to the pressure peak of each axis, and a time when the highest point of each axis passes through the scanning surface of the lateral scanning member; and determining the average value of the speed of each shaft as the average speed of the vehicle to be tested.
In one exemplary embodiment, the data processor is further configured to convert the side point cloud information into side profile information; acquiring single-tire and double-tire information of each axle of the vehicle to be tested from the side profile information; and/or determining single and double tire information of each axle of the vehicle to be tested according to the stress width information of the vehicle to be tested obtained by the weighing sensor, wherein the vehicle weighing detection information comprises the stress width information.
In one exemplary embodiment, the data processor is further configured to convert the side point cloud information into side profile information; acquiring a first axle number of a vehicle to be tested from the side profile information; determining a second axle number of the vehicle to be measured according to the vehicle pressure information of the vehicle to be measured, which is acquired by the weighing sensor, wherein the vehicle weighing detection information comprises the vehicle pressure information; and under the condition that the first axle number is inconsistent with the second axle number, determining that the suspension axle exists in the vehicle to be tested.
It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.
According to yet another aspect of embodiments of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-described storage medium may be used to execute the program code of the detection method of the vehicle information of any one of the above-described embodiments of the present application.
Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.
Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:
s1, acquiring vehicle weighing detection information obtained by detecting a vehicle to be detected by a weighing sensor in the process that the vehicle to be detected passes through the weighing sensor, wherein the weighing sensor is arranged on a target lane;
S2, acquiring lateral point cloud information obtained by transversely scanning a vehicle to be tested by a transverse scanning component, wherein the target distance between the transverse scanning component and a weighing sensor in the driving direction along a target lane is half of the target width of the weighing sensor in the driving direction;
and S3, determining vehicle information of the vehicle to be detected according to the vehicle weighing detection information and the side point cloud information.
Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.
According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the method for detecting vehicle information described above, where the electronic device may be a server, a terminal, or a combination thereof.
Fig. 10 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 1002, a communication interface 1004, a memory 1006, and a communication bus 1008, as shown in fig. 10, wherein the processor 1002, the communication interface 1004, and the memory 1006 communicate with each other via the communication bus 1008, wherein,
A memory 1006 for storing a computer program;
processor 1002, when executing computer programs stored on memory 1006, performs the following steps:
s1, acquiring vehicle weighing detection information obtained by detecting a vehicle to be detected by a weighing sensor in the process that the vehicle to be detected passes through the weighing sensor, wherein the weighing sensor is arranged on a target lane;
s2, acquiring lateral point cloud information obtained by transversely scanning a vehicle to be tested by a transverse scanning component, wherein the target distance between the transverse scanning component and a weighing sensor in the driving direction along a target lane is half of the target width of the weighing sensor in the driving direction;
and S3, determining vehicle information of the vehicle to be detected according to the vehicle weighing detection information and the side point cloud information.
Alternatively, the communication bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 10, but not only one bus or one type of bus. The communication interface is used for communication between the electronic device and other equipment.
The memory may include RAM or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.
It will be understood by those skilled in the art that the structure shown in fig. 10 is only schematic, and the device implementing the method for detecting vehicle information may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palmtop computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 10 is not limited to the structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 10, or have a different configuration than shown in FIG. 10.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or at least two units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.

Claims (10)

1. A method of detecting vehicle information, comprising:
in the process that a vehicle to be detected passes through a weighing sensor, obtaining vehicle weighing detection information obtained by detecting the vehicle to be detected through the weighing sensor, wherein the weighing sensor is arranged on a target lane;
acquiring lateral point cloud information obtained by the lateral scanning component for carrying out lateral scanning on the vehicle to be detected, wherein the target distance between the lateral scanning component and the weighing sensor in the driving direction along the target lane is half of the target width of the weighing sensor in the driving direction;
and determining the vehicle information of the vehicle to be detected according to the vehicle weighing detection information and the side point cloud information.
2. The method of claim 1, wherein the determining the vehicle information of the vehicle under test based on the vehicle weight detection information and the side point cloud information comprises:
Determining a pressure peak value of each axle of the vehicle to be measured according to the vehicle pressure information of the vehicle to be measured, which is acquired by the weighing sensor, wherein the vehicle weighing detection information comprises the vehicle pressure information;
determining a pressure value corresponding to the moment when the highest point of each shaft passes through the scanning surface of the transverse scanning component in the vehicle pressure information, and obtaining a reference pressure value of each shaft;
determining the sum of the pressure peak value of each shaft and twice the reference pressure value of each shaft as the weight of each shaft;
and carrying out summation operation on the weight of each shaft to obtain the weight of the vehicle to be tested.
3. The method according to claim 2, wherein the method further comprises:
converting the side point cloud information into side profile information;
and acquiring the moment when the highest point of each shaft passes through the scanning surface of the transverse scanning component from the side profile information.
4. The method of claim 3, wherein said converting said side point cloud information to side profile information comprises:
determining rectangular coordinate information corresponding to each measurement point according to a scanning angle corresponding to each measurement point in the side point cloud information, the component height of the transverse scanning component and the distance between each measurement point and the transverse scanning component, wherein the rectangular coordinate information corresponding to each measurement point is coordinate information of each measurement point in a target coordinate system;
Determining the side profile information according to rectangular coordinate information corresponding to each measuring point and scanning time corresponding to each measuring point;
the coordinate origin of the target coordinate system is the projection of the transverse scanning component on the ground, and three coordinate axes of the target coordinate system comprise: the first coordinate axis is perpendicular to the driving direction and parallel to the ground, the second coordinate axis is perpendicular to the ground and passes through the coordinate origin, and the third coordinate axis is parallel to the driving direction and passes through the coordinate origin.
5. The method of claim 1, wherein the determining the vehicle information of the vehicle under test based on the vehicle weight detection information and the side point cloud information comprises:
determining a moment corresponding to a pressure peak value of each axle of the vehicle to be measured according to the vehicle pressure information of the vehicle to be measured acquired by the weighing sensor, wherein the vehicle weighing detection information comprises the vehicle pressure information;
determining the speed of each shaft according to the target distance, the moment corresponding to the pressure peak value of each shaft and the moment when the highest point of each shaft passes through the scanning surface of the transverse scanning component; and determining the average value of the speed of each shaft as the average speed of the vehicle to be tested.
6. The method according to any one of claims 1 to 5, wherein the determining vehicle information of the vehicle under test from the vehicle weighing detection information and the side point cloud information includes:
converting the side point cloud information into side profile information; acquiring single-tire and double-tire information of each axle of the vehicle to be tested from the side profile information; and/or the number of the groups of groups,
and determining single-tire and double-tire information of each axle of the vehicle to be tested according to the stress width information of the vehicle to be tested, which is acquired by the weighing sensor, wherein the vehicle weighing detection information comprises the stress width information.
7. The method according to any one of claims 1 to 5, wherein the determining vehicle information of the vehicle under test from the vehicle weighing detection information and the side point cloud information includes:
converting the side point cloud information into side profile information;
acquiring a first axle number of the vehicle to be tested from the side profile information;
determining a second axle number of the vehicle to be measured according to the vehicle pressure information of the vehicle to be measured, which is acquired by the weighing sensor, wherein the vehicle weighing detection information comprises the vehicle pressure information;
And under the condition that the first axle number is inconsistent with the second axle number, determining that the suspension axle exists in the vehicle to be tested.
8. A system for detecting vehicle information, comprising:
the weighing sensor is arranged on the target lane;
a lateral scanning member that has a target distance from the load cell in a driving direction along the target lane that is half a target width of the load cell in the driving direction;
the data processor is used for acquiring vehicle weighing detection information obtained by detecting the vehicle to be detected by the weighing sensor in the process that the vehicle to be detected passes through the weighing sensor; acquiring lateral point cloud information obtained by the transverse scanning component for transversely scanning the vehicle to be detected; and determining the vehicle information of the vehicle to be detected according to the vehicle weighing detection information and the side point cloud information.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of claims 1 to 7 by means of the computer program.
CN202211550728.2A 2022-12-05 2022-12-05 Method and system for detecting vehicle information, storage medium and electronic device Pending CN116246455A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211550728.2A CN116246455A (en) 2022-12-05 2022-12-05 Method and system for detecting vehicle information, storage medium and electronic device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211550728.2A CN116246455A (en) 2022-12-05 2022-12-05 Method and system for detecting vehicle information, storage medium and electronic device

Publications (1)

Publication Number Publication Date
CN116246455A true CN116246455A (en) 2023-06-09

Family

ID=86631995

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211550728.2A Pending CN116246455A (en) 2022-12-05 2022-12-05 Method and system for detecting vehicle information, storage medium and electronic device

Country Status (1)

Country Link
CN (1) CN116246455A (en)

Similar Documents

Publication Publication Date Title
US10352688B2 (en) Device and method for measuring the tread depth of a tire
KR100985734B1 (en) System for measuring weight of a traveling vehicle
CN102706419A (en) Real-time vehicle overload monitoring system and monitoring method thereof
CN105115578A (en) Method of detecting carrying capacity of vehicle by measuring deformation of steel plate, and measuring system
EP4008994B1 (en) Road monitoring method and system
KR101231791B1 (en) System for measuring vehicle-weight automatically using response characteristics of vertical stiffener of steel bridge
CN111348048B (en) Truck overload alarm method, device, equipment and storage medium
CN114003849A (en) Multi-lane non-contact type axle number automatic calculation method and system
CN112507588A (en) Method and system for evaluating influence of overloaded vehicle on bridge and computer equipment
CN113129602A (en) Vehicle state monitoring method and device, storage medium and electronic equipment
CN106404141B (en) Finished automobile dynamic counting shaft identification system and implementation method thereof
CN111537048A (en) Real-time dynamic vehicle load measuring method
CN114414023A (en) Sensor abnormality diagnosis method and device, and storage medium
CN116246455A (en) Method and system for detecting vehicle information, storage medium and electronic device
CN110473400B (en) Safe vehicle speed prediction method and system and vehicle-mounted terminal
CN109030341B (en) Road detection vehicle distance calibration device, system and method
CN112861401B (en) Vehicle weight identification method, device, equipment and storage medium based on simulation analysis
CN116222721A (en) Dynamic weighing system, dynamic weighing method, and storage medium
CN113375618B (en) Vehicle type identification method based on axle distance calculation
CN213014021U (en) Load recognition device of bridge
CN109029663A (en) A kind of vehicle weighing system and its weighing method
CN116026440A (en) Method and system for detecting vehicle information
CN202383831U (en) Overweight monitoring and evidence-obtaining system of travelling truck
CN113865682A (en) Truck tire load determining method and device and storage medium
CN117367292A (en) Vehicle information detection method, vehicle detection system and electronic device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20231128

Address after: 430074 room 01-04, 6-7 / F, building B5, phase II construction project of financial back office service center base, 77 Guanggu Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province

Applicant after: Wuhan Wanji Photoelectric Technology Co.,Ltd.

Address before: Wanji space, building 12, Zhongguancun Software Park, yard 8, Dongbei Wangxi Road, Haidian District, Beijing 100193

Applicant before: BEIJING WANJI TECHNOLOGY Co.,Ltd.

TA01 Transfer of patent application right