CN110853356A - Vehicle lane change detection method based on radar and video linkage - Google Patents
Vehicle lane change detection method based on radar and video linkage Download PDFInfo
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- CN110853356A CN110853356A CN201911198574.3A CN201911198574A CN110853356A CN 110853356 A CN110853356 A CN 110853356A CN 201911198574 A CN201911198574 A CN 201911198574A CN 110853356 A CN110853356 A CN 110853356A
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract
The invention relates to a vehicle detection technology in traffic safety, in particular to a vehicle lane change detection method based on radar and video linkage, which comprises the following steps: when the radar detects that the target vehicle is A meters away from the lane line, the vehicle is judged to press a line, and a line pressing trigger signal is sent to the video detector; a video detector captures a line pressing picture of a target vehicle; when the target vehicle is detected to travel from the initial lane to another lane by the radar, namely the target vehicle exceeds a lane line by B meters, the lane is determined to be changed completely, and the radar sends a complete lane change trigger signal to the video detector; a video detector captures a complete lane change picture; the video detector receives the complete lane change trigger signal to take a snapshot to form a second photo in the lane change process, and sends the second photo to the platform; and the radar detects that the lane-changing vehicle reaches the position of the virtual coil, namely when the radar detects that the same target vehicle which triggers the line pressing and the lane changing runs to the detection coil, a coil triggering signal is sent to the video detector.
Description
Technical Field
The invention relates to a vehicle detection technology in traffic safety, in particular to a vehicle lane change detection method based on radar and video linkage.
Background
The traffic accident is caused by the traffic hidden trouble of the expressway which is not changed according to the rule, and the expressway is more and more concerned by all social circles. Therefore, how to effectively detect and identify the illegal lane change of the vehicle and prevent and reduce the loss caused by the traffic accident becomes an urgent task to be solved by the current traffic management department.
The traditional lane change detection method for vehicles is to observe on site by a traffic police or to manually interpret a monitoring video. At present, a lane change detection method based on linkage of an annular coil and a video detector is also available, the method needs to bury two coils in two adjacent lanes respectively, the coils are connected with the video detector respectively, when a vehicle passes through the coils, the corresponding video detector takes a snapshot and identifies a license plate, and when the license plate identification results of the two video detectors are the same, the lane change can be judged.
However, the traditional vehicle lane change detection method is time-consuming and labor-consuming, the length of the annular coil vehicle detector is only 2 meters generally, long-distance and multi-lane whole-course lane change detection cannot be realized, and the annular coil needs to be laid in a road surface, so that the road surface is damaged, and the service life of the road is shortened.
Disclosure of Invention
Aiming at the problem, the invention provides a vehicle lane change detection method based on radar and video linkage, which has the advantages that the length is detected in the forward direction by the radar, the transverse detection is wide, the covered road surface length and the number of lanes are large, the road surface cannot be damaged, and the detection efficiency and the accuracy are high.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a vehicle lane change detection method based on radar and video linkage comprises the following steps: the method comprises the following steps: installing the radar so that the radar is opposite to the lane direction and the normal line of the radar is parallel to the lane line; installing the video detector to ensure that the video detector is over against the lane;
step two: the radar upper computer configures the detection width of the radar with the attributes of a lane, a lane change detection area and a virtual coil;
step three: the radar detects and tracks the motion information of a target vehicle on a road in real time, and the video detector acquires real-time images of the target on the road in a monitoring area;
step four: when the radar detects that the target vehicle is A meters away from the lane line, the vehicle is judged to press a line, and a line pressing trigger signal is sent to the video detector;
step five: a video detector captures a line pressing picture of a target vehicle;
step six: when the target vehicle is detected to travel from the initial lane to another lane by the radar, namely the target vehicle exceeds a lane line by B meters, the lane is determined to be changed completely, and the radar sends a complete lane change trigger signal to the video detector;
step seven: a video detector captures a complete lane change picture; the video detector receives the complete lane change trigger signal to take a snapshot to form a second photo in the lane change process, and sends the second photo to the platform;
step eight: the method comprises the steps that a radar detects that a lane-changing vehicle reaches a virtual coil position, namely when the radar detects that the same target vehicle which triggers line pressing and lane changing runs to a detection coil, a coil triggering signal is sent to a video detector;
step nine: a video detector captures a near picture of a lane-changing vehicle and identifies license plate information; the video detector receives the coil trigger signal to capture, a third photo of the lane changing process is formed, a picture close to a lane changing vehicle is displayed, license plate number information is identified, and the information is sent to the platform.
Preferably, the virtual coil attribute includes a lane number, and an X coordinate and a Y coordinate in a radar coordinate system.
Preferably, the configuration of the lanes by the radar upper computer specifically means the configuration of an X coordinate and a Y coordinate in a lane line in a radar coordinate system.
Preferably, the configuring of the lane change detection area by the radar upper computer specifically means establishing a virtual lane change detection area, and performing X-coordinate and Y-coordinate on each vertex in the virtual lane change detection area.
Preferably, in the fourth step, when the radar detects that the target vehicle is a meter away from the lane line, specifically, the target vehicle is 0.1-0.8 meter away from the lane line.
Preferably, in the step six, the target vehicle with the same ID is not far away from the sideline beyond C meters in the midway, and the trigger signal is not sent to the video detector when the target vehicle is far away from the sideline again by A meters; if the borderline is far away from midway and the borderline exceeds C meters, the line pressing trigger signal can be sent again when the borderline is a meter away from the borderline again.
Preferably, in the sixth step, when the target vehicle is detected by the radar to travel from the initial lane to another lane, that is, to exceed the lane line by B meters, the B meters are 0.5 to 1.5 meters.
Preferably, in the sixth step, if the distance from the borderline exceeds C m halfway, the C m is 0.8-1.5 m.
The invention achieves the following beneficial effects: the detection of radar can cover a large area, multiple lanes, compared to other detection techniques. The radar actively tracks and detects multiple targets, so that the whole lane changing process is restored, and the labor cost is saved; the radar and the near rifle bolt realize seamless connection, the license plate information of the lane-changing vehicle is accurately acquired at a specific time point, the efficiency and the precision of lane-changing detection and evidence obtaining are improved, and the method is suitable for various domestic traffic conditions and climatic environments.
Drawings
FIG. 1 is a schematic diagram of a radar coordinate system in a vehicle lane change detection method based on radar and video linkage according to the present invention;
FIG. 2 is a schematic diagram of a vehicle lane change in the radar and video linkage based vehicle lane change detection method of the present invention;
fig. 3 is a schematic diagram of a vehicle lane change in the vehicle lane change detection method based on radar and video linkage according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
A vehicle lane change detection method based on radar and video linkage comprises the following steps:
the method comprises the following steps: installing the radar so that the radar is opposite to the lane direction and the normal line of the radar is parallel to the lane line; installing the video detector to ensure that the video detector is over against the lane;
step two: the radar upper computer configures the detection width of the radar with the attributes of a lane, a lane change detection area and a virtual coil;
step three: the radar detects and tracks the motion information of a target vehicle on a road in real time, and the video detector acquires real-time images of the target on the road in a monitoring area;
step four: when the radar detects that the target vehicle is A meters away from the lane line, the vehicle is judged to press a line, and a line pressing trigger signal is sent to the video detector;
step five: a video detector captures a line pressing picture of a target vehicle;
step six: when the target vehicle is detected to travel from the initial lane to another lane by the radar, namely the target vehicle exceeds a lane line by B meters, the lane is determined to be changed completely, and the radar sends a complete lane change trigger signal to the video detector;
step seven: a video detector captures a complete lane change picture; the video detector receives the complete lane change trigger signal to take a snapshot to form a second photo in the lane change process, and sends the second photo to the platform;
step eight: the method comprises the steps that a radar detects that a lane-changing vehicle reaches a virtual coil position, namely when the radar detects that the same target vehicle which triggers line pressing and lane changing runs to a detection coil, a coil triggering signal is sent to a video detector;
step nine: a video detector captures a near picture of a lane-changing vehicle and identifies license plate information; the video detector receives the coil trigger signal to capture, a third photo of the lane changing process is formed, a picture close to a lane changing vehicle is displayed, license plate number information is identified, and the information is sent to the platform.
The virtual coil attribute comprises a lane number, and an X coordinate and a Y coordinate under a radar coordinate system; the radar upper computer configures the lane, specifically configures an X coordinate and a Y coordinate in a lane line in a radar coordinate system; the radar upper computer configures the lane change detection area, specifically, establishes a virtual lane change detection area, and performs X coordinates and Y coordinates of each vertex in the virtual lane change detection area.
In the fourth step, when the radar detects that the target vehicle is a meter away from the lane line, specifically, the target vehicle is 0.1-0.8 meter away from the lane line, and A can be 0.3 meter in the specific detection.
In the sixth step, when the target vehicle is detected by the radar to travel from the initial lane to another lane, namely, the target vehicle exceeds a lane line by B meters, the B meters are 0.5-1.5 meters, and B can be 0.6 meters in specific detection.
After the radar detects that the target vehicle is 0.3 m away from the lane line for the first time and sends a line pressing trigger signal, the target vehicle with the same ID is not far away from the side line for more than 1 m in the midway, and the trigger signal is not sent to the video detector when the target vehicle is 0.3 m away from the side line again; if the distance from the side line in the midway exceeds 1 meter, the line pressing trigger signal is sent again when the distance from the side line is 0.3 meter again.
Among radar, radar host computer, the video detector, wherein the radar: and detecting the coordinates of each target information on the road in real time (the coordinates of the target are the coordinates under a plane coordinate system taking the radar as the origin) and tracking and detecting. The radar transmitting end transmits microwave signals, the microwave signals meet a target to reflect echo signals, the microwave detector extracts information such as the distance, the angle and the speed of the target relative to the microwave detector from the echo signals, and the (X, Y) position of the target can be calculated according to the distance and the angle.
And the radar upper computer is used for configuring the attributes of the lane, the lane change detection area and the virtual coil in the radar detection area. The attributes of the virtual coil comprise a lane number, XY coordinates under a radar coordinate system, a length, a width and a working mode.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A vehicle lane change detection method based on radar and video linkage is characterized in that: the method comprises the following steps: the method comprises the following steps: installing the radar so that the radar is opposite to the lane direction and the normal line of the radar is parallel to the lane line; installing the video detector to ensure that the video detector is over against the lane;
step two: the radar upper computer configures the detection width of the radar with the attributes of a lane, a lane change detection area and a virtual coil;
step three: the radar detects and tracks the motion information of a target vehicle on a road in real time, and the video detector acquires real-time images of the target on the road in a monitoring area;
step four: when the radar detects that the target vehicle is A meters away from the lane line, the vehicle is judged to press a line, and a line pressing trigger signal is sent to the video detector;
step five: a video detector captures a line pressing picture of a target vehicle;
step six: when the target vehicle is detected to travel from the initial lane to another lane by the radar, namely the target vehicle exceeds a lane line by B meters, the lane is determined to be changed completely, and the radar sends a complete lane change trigger signal to the video detector;
step seven: a video detector captures a complete lane change picture; the video detector receives the complete lane change trigger signal to take a snapshot to form a second photo in the lane change process, and sends the second photo to the platform;
step eight: the method comprises the steps that a radar detects that a lane-changing vehicle reaches a virtual coil position, namely when the radar detects that the same target vehicle which triggers line pressing and lane changing runs to a detection coil, a coil triggering signal is sent to a video detector;
step nine: a video detector captures a near picture of a lane-changing vehicle and identifies license plate information; the video detector receives the coil trigger signal to capture, a third photo of the lane changing process is formed, a picture close to a lane changing vehicle is displayed, license plate number information is identified, and the information is sent to the platform.
2. The radar and video linkage based vehicle lane change detection method of claim 1, wherein: the virtual coil attribute includes a lane number, and an X coordinate and a Y coordinate in a radar coordinate system.
3. The radar and video linkage based vehicle lane change detection method of claim 1, wherein: the radar upper computer configures the lane, specifically configures the X coordinate and the Y coordinate in the lane line in a radar coordinate system.
4. The radar and video linkage based vehicle lane change detection method of claim 1, wherein: the radar upper computer configures the lane change detection area, specifically, establishes a virtual lane change detection area, and performs X coordinates and Y coordinates of each vertex in the virtual lane change detection area.
5. The radar and video linkage based vehicle lane change detection method of claim 1, wherein: in the fourth step, when the radar detects that the target vehicle is A meters away from the lane line, specifically, the target vehicle is 0.1-0.8 meters away from the lane line.
6. The radar and video linkage based vehicle lane change detection method of claim 1, wherein: in the sixth step, the target vehicle with the same ID does not move away from the sideline beyond C meters in the midway, and does not send a trigger signal to the video detector when moving away from the sideline by A meters again; if the borderline is far away from midway and the borderline exceeds C meters, the line pressing trigger signal can be sent again when the borderline is a meter away from the borderline again.
7. The radar and video linkage based vehicle lane change detection method of claim 1, wherein: and in the sixth step, when the target vehicle is detected to travel from the initial lane to another lane by the radar, namely the target vehicle exceeds a lane line by B meters, the B meters are 0.5-1.5 meters.
8. The radar and video linkage based vehicle lane change detection method according to claim 6, wherein: in the sixth step, if the distance from the sideline exceeds C m in the midway, the C m is 0.8-1.5 m.
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| CN111968370A (en) * | 2020-08-18 | 2020-11-20 | 南京慧尔视智能科技有限公司 | Intelligent variable lane sensing system and method for microwave radar |
| CN112562349A (en) * | 2020-12-02 | 2021-03-26 | 湖北文理学院 | Traffic violation detection system |
| CN112949470A (en) * | 2021-02-26 | 2021-06-11 | 上海商汤智能科技有限公司 | Method, device and equipment for identifying lane-changing steering lamp of vehicle and storage medium |
| CN114898325A (en) * | 2022-07-12 | 2022-08-12 | 深圳市城市交通规划设计研究中心股份有限公司 | Vehicle dangerous lane change detection method and device and electronic equipment |
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