CN102708694A - Automatic motorcycle type identification system and method based on high-speed pulse laser scanning - Google Patents
Automatic motorcycle type identification system and method based on high-speed pulse laser scanning Download PDFInfo
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Abstract
The invention relates to an automatic motorcycle type identification system and method based on high-speed pulse laser scanning, belonging to the technical field of intelligent traffic management devices and methods. The automatic motorcycle type identification system comprises a high-frequency laser ranging module, a motorcycle outline drawing module and a motorcycle type identification module, the high-frequency laser ranging module and the motorcycle outline drawing module are vertically arranged above a lane. By using the method provided by the invention, the high-frequency laser ranging module is used for carrying out real-time pulse laser ranging and sending a distance value to the motorcycle outline drawing module, the motorcycle outline drawing module is used for drawing a distance parameter scanning graph in real time and sending the distance parameter scanning graph to the motorcycle type identification module, and the motorcycle type identification module is used for identifying a motorcycle type according to motorcycle outline information on the distance parameter scanning graph. Therefore, the invention effectively overcomes the defect of the prior art, and provides the automatic motorcycle type identification system and method with the advantages of simpleness in setting and maintaining, low cost, higher motorcycle identification rate and wide application range.
Description
Technical field
The present invention relates to the intelligent traffic administration system equipment technical field, particularly the vehicle distinguishment technical field specifically is meant a kind of vehicle automatic recognition system and method based on the high-speed pulse laser scanning.
Background technology
Wait becoming increasingly conspicuous of variety of issue along with congested in traffic with obstruction; And the continuous development of computer technology; Intelligent transportation system (Intelligent Transportation System; Be called for short ITS) obtained application more and more widely, and extensively be applied, and still be in the starting stage of exploratory development in the application of China in developed countries such as Europe, U.S.As.Vehicle detection, tracking and vehicle identification are the important branch in the ITS application, also are the weak sport technique segments of present relative thin.
Vehicle is discerned automatically, is the prerequisite that ITS carries out vehicle classification management and monitoring, and combines with the vehicle license recognition function, can very comprehensively grasp the driving information of road vehicle, for intelligentized traffic administration provides sound assurance.
At present, the vehicle automatic identifying method mainly contains following several kinds:
1, electronic label identification method
Present stage non-parking charge (ETC) adopts maximum wireless communication techniques that is based on.Electronic tag is to be used for the information of registration of vehicle itself to comprise vehicle number of the account, type of vehicle, car owner, license plate number etc.When vehicle when being installed in the charge equipment of charge in the passage, through the microwave communication between electronic tag and the reader, realize the exchange of information, and carry out CRC check that the bank through Fare Collection System and car owner carries out regularly and clears at last.Because automobile storage is being changed the possibility that the vehicle electronics label is practised fraud, a required extra installation watch-dog such as charge station has increased the capital construction input.
2, electromagnetic induction coil method of identification
Below highway, lay a coil that is connected with high-frequency current in advance, because the material major part of vehicle is a metal, when vehicle passed through above inductive coil, portion produced eddy current and winding inductance quantity is reduced in coil.It is different that the chassis structure of different automobile types and ferromagnetic material distribute, because the variation in the magnetic field that the electric current variation causes is also different, therefore can distinguishes dissimilar vehicles according to the difference of induction curve, and then obtain concrete vehicle.The advantage of this method is that accuracy rate is higher, weatherproof and cost are not too high, can also detect the traffic parameters such as vehicle flowrate and occupation rate of each vehicle simultaneously.The electromagnetic induction coil method need be imbedded coil underground, damaged easily by the extruding of vehicle, and the life-span is shorter, need destroy the road surface when safeguarding, maintenance cost is higher.
3, car plate method of identification
The car plate method of identification is a kind of method through identification car plate indirect identification vehicle.At first from the license plate image that video camera obtains, identify license plate number and car plate color, in the vehicle data storehouse, retrieve the corresponding vehicle of license plate number therewith then, finally obtain the type of vehicle.This method is not high to hardware requirement, installs flexiblely yet, but need in advance each car to be set up the vehicle data storehouse that comprise various information, and image must guarantee that car plate is clear, in practical application, is also blocked, the restriction of illumination etc.
4, discern based on the vehicle of video image
It is a lot of to utilize video image to carry out the research of vehicle identification both at home and abroad, because digital picture can provide a lot of Useful Informations, utilizes certain algorithm to obtain the information of many vehicles, then according to these vehicle characteristics and then obtain concrete vehicle.Than other model recognizing method, utilizing image to discern has the shortcoming of himself, and at first digital picture can't be obtained clearly, is exactly the validity that is difficult to guarantee feature extraction algorithm then, so just can't guarantee reliable vehicle discrimination.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art, provide a kind of, to the scanning of finding range through the different parts of vehicle based on laser high-speed pulse scanning technique; The side profile data of collection vehicle then through the data in these data and the model data storehouse relatively, realize what vehicle was judged; And discrimination is higher; Setting and maintenance are simple, with low cost, vehicle automatic recognition system and the method based on the high-speed pulse laser scanning that have wide range of applications.
In order to realize above-mentioned purpose, the present invention is based on the high-speed pulse laser scanning the vehicle automatic recognition system have a following formation:
This system comprises high frequency lasers range finder module, vehicle ' s contour drafting module and vehicle identification module; Described high frequency lasers range finder module and vehicle ' s contour drafting module are arranged at the top, track of vehicle process; The laser pulse emission port of described high frequency lasers range finder module is perpendicular to described track; The output terminal of described high frequency lasers range finder module connects the input end of described vehicle ' s contour drafting module, and the output terminal of described vehicle ' s contour drafting module connects the input end of described vehicle identification module.
Be somebody's turn to do in the vehicle automatic recognition system based on the high-speed pulse laser scanning, the laser scanning frequency of described high frequency lasers range finder module is 2000Hz, and optical maser wavelength is 904nm.
Be somebody's turn to do in the vehicle automatic recognition system based on the high-speed pulse laser scanning; Described high frequency lasers range finder module and vehicle ' s contour drafting module all are integrated in the high frequency lasers stadimeter, and described high frequency lasers stadimeter is fixed on the road monitoring frame of said track middle upper part.
Be somebody's turn to do in the vehicle automatic recognition system based on the high-speed pulse laser scanning, the finding range of described high frequency lasers range finder module is 30 meters.
Be somebody's turn to do in the vehicle automatic recognition system based on the high-speed pulse laser scanning; Described vehicle ' s contour drafting module is a distance parameter scintigram drawing unit; The input end of this distance parameter scintigram drawing unit connects the output terminal of described high frequency lasers range finder module, and the output terminal of described distance parameter scintigram drawing unit connects described vehicle identification module.
Be somebody's turn to do in the vehicle automatic recognition system based on the high-speed pulse laser scanning, described distance parameter scintigram drawing unit connects described vehicle identification module through wireless signal.
Be somebody's turn to do in the vehicle automatic recognition system based on the high-speed pulse laser scanning; Described vehicle identification module comprises pretreatment unit, images match unit and vehicle library unit; The input end of described pretreatment unit connects the output terminal of described vehicle ' s contour drafting module; The output terminal of described pretreatment unit connects the input end of described images match unit and vehicle library unit respectively; The output terminal of described vehicle library unit connects the output terminal of described images match unit, and the output terminal of described images match unit is the vehicle information output, and this vehicle information output is network interface or serial line interface.
Be somebody's turn to do in the vehicle automatic recognition system based on the high-speed pulse laser scanning; Described pretreatment unit comprises vehicle commander's recognin unit, overall height recognin unit and vehicle ' s contour line drawing subelement; The output terminal of described vehicle commander's recognin unit and overall height recognin unit all is connected described vehicle library unit, and described vehicle ' s contour line drawing subelement connects described images match unit.
The present invention also provides a kind of method of utilizing described system to realize and discerning automatically based on the vehicle of high-speed pulse laser scanning, and this method may further comprise the steps:
(1) described high frequency lasers range finder module carries out the real-time pulse laser ranging, and the distance value that records is sent to described vehicle ' s contour drafting module;
(2) described vehicle ' s contour drafting module will receive the distance value real-time rendering on the distance parameter scintigram;
(3) described vehicle ' s contour drafting module is sent to described vehicle identification module in real time with described distance parameter scintigram;
(4) described vehicle identification module is according to the vehicle ' s contour information Recognition vehicle of drawing on the described distance parameter scintigram, and output model data information.
In this method that realizes discerning automatically based on the vehicle of high-speed pulse laser scanning; Described vehicle ' s contour drafting module is a distance parameter scintigram drawing unit; The input end of this distance parameter scintigram drawing unit connects the output terminal of described high frequency lasers range finder module; The output terminal of described distance parameter scintigram drawing unit connects described vehicle identification module; Described vehicle ' s contour drafting module will receive the distance value real-time rendering on the distance parameter scintigram, be specially: described distance parameter scintigram drawing unit will receive the distance value real-time rendering in a coordinate system, form a distance parameter scintigram.
In this method that realizes discerning automatically based on the vehicle of high-speed pulse laser scanning; Described distance parameter scintigram drawing unit connects described vehicle identification module through wireless signal; Described vehicle ' s contour drafting module is sent to described vehicle identification module in real time with described distance parameter scintigram, is specially: the vehicle ' s contour drafting module is sent to described vehicle identification module with described distance parameter scintigram through wireless signal in real time.
In this method that realizes discerning automatically based on the vehicle of high-speed pulse laser scanning; Described vehicle identification module comprises pretreatment unit, images match unit and vehicle library unit; The input end of described pretreatment unit connects the output terminal of described vehicle ' s contour drafting module; The output terminal of described pretreatment unit connects the input end of described images match unit and vehicle library unit respectively; The output terminal of described vehicle library unit connects the output terminal of described images match unit, and the output terminal of described images match unit is the vehicle information output, and described step (4) specifically may further comprise the steps:
(41) described pretreatment unit obtains vehicle parameter information and vehicle profile information according to described distance parameter scintigram;
(42) described pretreatment unit is sent to described vehicle library unit with described vehicle parameter information, and described vehicle profile information is sent to described images match unit;
(43) described vehicle library unit is sent to described images match unit according to the image information that the vehicle parameter information that obtains reads corresponding a plurality of vehicles;
(44) described images match unit will compare from the image information of described pretreatment unit vehicle profile information that obtains and each vehicle that obtains from described vehicle library unit successively, and with the vehicle of immediate image information as the coupling vehicle;
(45) described vehicle information output is exported the data message of described coupling vehicle.
In this method that realizes discerning automatically based on the vehicle of high-speed pulse laser scanning; Described pretreatment unit comprises vehicle commander's recognin unit, overall height recognin unit and vehicle ' s contour line drawing subelement; The output terminal of described vehicle commander's recognin unit and overall height recognin unit all is connected described vehicle library unit; Described vehicle ' s contour line drawing subelement connects described images match unit; Described pretreatment unit obtains vehicle parameter information and vehicle profile information according to described distance parameter scintigram, is specially: described vehicle commander's recognin unit obtains vehicle commander's information according to described distance parameter scintigram; Described overall height recognin unit obtains overall height information according to described distance parameter scintigram; Described vehicle ' s contour line drawing subelement obtains vehicle ' s contour information according to described distance parameter scintigram.
In this method that realizes discerning automatically based on the vehicle of high-speed pulse laser scanning; Described pretreatment unit is sent to described vehicle library unit with described vehicle parameter information, is specially: described pretreatment unit is sent to described vehicle library unit with described vehicle commander's information and overall height information.
In this method that realizes discerning automatically based on the vehicle of high-speed pulse laser scanning; Described vehicle library unit is sent to described images match unit according to the image information that the vehicle parameter information that obtains reads corresponding a plurality of vehicles, is specially: and overall height information reads a plurality of vehicle commanders of correspondence to the vehicle library unit and the image information of the vehicle that overall height conforms to is sent to described images match unit according to the vehicle vehicle commander's information that obtains.
In this method that realizes discerning automatically based on the vehicle of high-speed pulse laser scanning, described step (44) specifically may further comprise the steps:
(44-1) described images match unit by using approximate measure method compares described vehicle profile information successively with the image information of said each vehicle, obtains the degree of approximation of each vehicle;
The corresponding vehicle of the image information that (44-1) described images match unit is the highest with the degree of approximation is as the coupling vehicle.
Adopted the vehicle automatic recognition system based on the high-speed pulse laser scanning of this invention; It comprises high frequency lasers range finder module, vehicle ' s contour drafting module and vehicle identification module; Described high frequency lasers range finder module and vehicle ' s contour drafting module are arranged at the top, track of vehicle process; The laser pulse emission port of described high frequency lasers range finder module is perpendicular to described track; The output terminal of described high frequency lasers range finder module connects the input end of described vehicle ' s contour drafting module, and the output terminal of described vehicle ' s contour drafting module connects the input end of described vehicle identification module.Through out-of-date, the high frequency lasers range finder module carries out the real-time pulse laser ranging at vehicle, and the distance value that records is sent to described vehicle ' s contour drafting module; The vehicle ' s contour drafting module will receive the distance value real-time rendering on the distance parameter scintigram, and this distance parameter scintigram is sent to described vehicle identification module in real time; The vehicle identification module is realized vehicle identification according to the vehicle ' s contour information of drawing on this distance parameter scintigram.Exist in the prior art thereby effectively overcome, equipment setting and maintenance cost are high, defective that the vehicle discrimination is low; A kind of setting is provided and has safeguarded simple; Vehicle automatic recognition system with low cost, and the vehicle discrimination of this system is higher, and range of application is also very widely.
Description of drawings
Fig. 1 is the structural representation of the vehicle automatic recognition system based on the high-speed pulse laser scanning of the present invention.
Fig. 2 is the flow chart of steps of realization of the present invention based on the method for the automatic identification of vehicle of high-speed pulse laser scanning.
The theory diagram of the laser range finder that Fig. 3 is adopted in practical application for the present invention.
Fig. 4 is the present invention's laser range finder decorating position synoptic diagram in practical application.
Fig. 5 is the present invention's profile scan data drawing synoptic diagram in practical application.
Fig. 6 is the present invention's vehicle identification process synoptic diagram in practical application.
Embodiment
In order more to be expressly understood technology contents of the present invention, the special following examples of lifting specify.
See also shown in Figure 1ly, be the structural representation of the vehicle automatic recognition system based on the high-speed pulse laser scanning of the present invention.
In one embodiment; This system comprises high frequency lasers range finder module, vehicle ' s contour drafting module and vehicle identification module; Described high frequency lasers range finder module and vehicle ' s contour drafting module are arranged at the top, track of vehicle process; The laser pulse emission port of described high frequency lasers range finder module is perpendicular to described track; The output terminal of described high frequency lasers range finder module connects the input end of described vehicle ' s contour drafting module, and the output terminal of described vehicle ' s contour drafting module connects the input end of described vehicle identification module.
Utilize the described system of this embodiment to realize the method for discerning automatically based on the vehicle of high-speed pulse laser scanning, as shown in Figure 2, may further comprise the steps:
(1) described high frequency lasers range finder module carries out the real-time pulse laser ranging, and the distance value that records is sent to described vehicle ' s contour drafting module;
(2) described vehicle ' s contour drafting module will receive the distance value real-time rendering on the distance parameter scintigram;
(3) described vehicle ' s contour drafting module is sent to described vehicle identification module in real time with described distance parameter scintigram;
(4) described vehicle identification module is according to the vehicle ' s contour information Recognition vehicle of drawing on the described distance parameter scintigram, and output model data information.
In a kind of more preferably embodiment; Described high frequency lasers range finder module and vehicle ' s contour drafting module all are integrated in the high frequency lasers stadimeter; And this high frequency lasers stadimeter is fixed on the road monitoring frame of said track middle upper part, and its mounting means is very easy.The laser scanning frequency of described high frequency lasers range finder module can be 2000Hz, and optical maser wavelength then is 904nm.The finding range of this high frequency lasers range finder module is 30 meters.
At another kind more preferably in the embodiment; Described vehicle ' s contour drafting module is a distance parameter scintigram drawing unit; The input end of this distance parameter scintigram drawing unit connects the output terminal of described high frequency lasers range finder module, and the output terminal of described distance parameter scintigram drawing unit connects described vehicle identification module.The output terminal of this distance parameter scintigram drawing unit can connect described vehicle identification module through data line or wireless signal.
In utilizing this method that more preferably the described system of embodiment realizes discerning automatically based on the vehicle of high-speed pulse laser scanning; Described step (2) vehicle ' s contour drafting module will receive the distance value real-time rendering on the distance parameter scintigram; Be specially: described distance parameter scintigram drawing unit will receive the distance value real-time rendering in a coordinate system, form a distance parameter scintigram.And described step (3) vehicle ' s contour drafting module is sent to described vehicle identification module in real time with described distance parameter scintigram, then is specially: the vehicle ' s contour drafting module is sent to described vehicle identification module with described distance parameter scintigram through data line or wireless signal in real time.
In a kind of further preferred embodiment; Described vehicle identification module comprises pretreatment unit, images match unit and vehicle library unit; The input end of described pretreatment unit connects the output terminal of described vehicle ' s contour drafting module; The output terminal of described pretreatment unit connects the input end of described images match unit and vehicle library unit respectively; The output terminal of described vehicle library unit connects the output terminal of described images match unit, and the output terminal of described images match unit is the vehicle information output, and this vehicle information output is network interface or serial line interface.
In the method for utilizing the described system of this further preferred embodiment to realize discerning automatically based on the vehicle of high-speed pulse laser scanning, described step (4) specifically may further comprise the steps:
(41) described pretreatment unit obtains vehicle parameter information and vehicle profile information according to described distance parameter scintigram;
(42) described pretreatment unit is sent to described vehicle library unit with described vehicle parameter information, and described vehicle profile information is sent to described images match unit;
(43) described vehicle library unit is sent to described images match unit according to the image information that the vehicle parameter information that obtains reads corresponding a plurality of vehicles;
(44) described images match unit will compare from the image information of described pretreatment unit vehicle profile information that obtains and each vehicle that obtains from described vehicle library unit successively, and with the vehicle of immediate image information as the coupling vehicle;
(45) described vehicle information output is exported the data message of described coupling vehicle.
In a kind of preferred embodiment; Described pretreatment unit comprises vehicle commander's recognin unit, overall height recognin unit and vehicle ' s contour line drawing subelement; The output terminal of described vehicle commander's recognin unit and overall height recognin unit all is connected described vehicle library unit, and described vehicle ' s contour line drawing subelement connects described images match unit.
In the method for utilizing the described system of this preferred embodiment to realize discerning automatically based on the vehicle of high-speed pulse laser scanning; Described step (41) pretreatment unit obtains vehicle parameter information and vehicle profile information according to described distance parameter scintigram, is specially: described vehicle commander's recognin unit obtains vehicle commander's information according to described distance parameter scintigram; Described overall height recognin unit obtains overall height information according to described distance parameter scintigram; Described vehicle ' s contour line drawing subelement obtains vehicle ' s contour information according to described distance parameter scintigram.Pretreatment unit described in the step (42) is sent to described vehicle library unit with described vehicle parameter information, is specially: described pretreatment unit is sent to described vehicle library unit with described vehicle commander's information and overall height information.And described step (43) vehicle library unit is sent to described images match unit according to the image information that the vehicle parameter information that obtains reads corresponding a plurality of vehicles, is specially: and overall height information reads a plurality of vehicle commanders of correspondence to the vehicle library unit and the image information of the vehicle that overall height conforms to is sent to described images match unit according to the vehicle vehicle commander's information that obtains.
In another preferred embodiment, described step (44) specifically may further comprise the steps:
(44-1) described images match unit by using approximate measure method compares described vehicle profile information successively with the image information of said each vehicle, obtains the degree of approximation of each vehicle;
The corresponding vehicle of the image information that (44-1) described images match unit is the highest with the degree of approximation is as the coupling vehicle.
In practical application, the vehicle automatic recognition system based on the high-speed pulse laser scanning of the present invention has following characteristics: (a) utilize the high frequency lasers stadimeter as detecting device; The sweep frequency of the laser range finder that (b) adopts is up to 2000Hz, and laser emission wavelength 904nm, eye-safe meet the GB7247.1-2001I class; (c) stadimeter is arranged on the existing road monitoring frame, vertically downward scanning; (d) the realization vehicle is described algorithm on laser range finder, on the PC device, realizes vehicle identification; (e) system has two kinds of transmission interfaces: network and serial ports; (f) vehicle targets is relatively judged vehicle with the data in sample data and the model data storehouse through computing machine based on the image model recognition principle, thereby realizes the automatic classification of vehicle.
Laser scanner technique is to utilize laser that target object is carried out the range determination technology of (claiming laser ranging again).It penetrates beam of laser to target when work, by photovalve receiving target laser light reflected bundle, timer is measured laser beam from being transmitted into the time of reception, calculates the range-to-go from the observer.The principle of LiDAR (Light Laser Detection and Ranging, laser acquisition and range measurement system) is very similar with laser range finder with structure.System comprises a single bundle narrow band laser and a receiving system.Laser instrument produces also launches a branch of light pulse, beats on object and reflects, and finally is received device and receives.Receiver exactly the measuring light pulse from being transmitted into the travel-time that is reflected back toward.In view of the light velocity is known, the travel-time can be converted into the measurement of adjusting the distance.The theory diagram of the laser range finder that the present invention adopted is as shown in Figure 3.
Laser scanning method is to utilize the laser ranging instrument of arranging on the road monitoring frame as detecting device; When vehicle process device; According to range finding scanning to the automobile different parts; The side geometric data of collection vehicle is judged vehicle through the data in these data and the model data storehouse after relatively then, thereby realizes the automatic classification of vehicle.In model recognition system based on laser high-speed pulse scanning technique; The frequency of laser ranging instrument is very high; This has just guaranteed that system can collect abundant data; These data comprise characteristics such as headstock height, vehicle commander, the number of axle, wheelspan, and these information can be depicted the outline and the local characteristic feature of vehicle more complete, carefully, make system reach a very high discrimination.This method advantage is that discrimination is higher, and the hardware installation is very simple in addition, only needs a laser range finder is installed on existing monitoring camera-shooting support, utilizes data line to link to each other with main frame.And utilize this method to need not to destroy the road surface, safeguard very convenient.
The profile recognition system is to adopt Laser emission downward with the reception vertical ground; Be illustrated in fig. 4 shown below, aim at the centre position in a track, when vehicle pass-through; Laser range finder can be exported the change of measured distance value in real time, and then depicts the profile of institute's measuring car.The general laser-beam divergence angle of using of this metering system is less, and finding range is generally less than 30 meters and gets final product, and requires the laser ranging speed ratio higher, and general requirement reaches several KHzs.This can distinguish various vehicles for reaching good effect in the monitoring of important highway section, and the sampling rate that vehicle body is scanned can reach 1 centimetre of point.Also can be used for application such as traffic flow monitoring, vehicle limit for height.
The method that realization of the present invention is discerned based on the vehicle of high-speed pulse laser scanning has automatically adopted the approximate measure method.At first the data of intercepting laser scanning are drawn relevant vehicle, and are as shown in Figure 5.Make treatment for correcting then.The main contents of proofreading and correct comprise profile angle and profile burr, discern through relevant pattern matching algorithm with that.Its identifying is exactly that vehicle figure is sought out a pair with its corresponding similar vehicle picture.
In general; Because image is different at the image-forming condition that different time, different sensors, different visual angles obtain; Even therefore to same object; The geometrical property that in image, is showed, optical characteristics, locus all can be very different, and can make image that very big-difference takes place if consider influences such as noise, interference, and images match is exactly to find their identical point through these differences.This method is utilized the physical form characteristic (point, line) of image, like the edge, and the skeleton lines, angle point or the like, the pixel number that need carry out correlation computations has had tangible minimizing, and has stronger adaptive faculty.This algorithm is not too responsive for some trickle interference, but depends on the characteristics of image of extraction.Its key is to seek to be easy to the characteristic discerning and distinguish, finds the matched position of template in image based on the similarity measurement between the feature set.Therefore, the present invention adopts the flow process of identification as shown in Figure 6.
Adopted the vehicle automatic recognition system based on the high-speed pulse laser scanning of this invention; It comprises high frequency lasers range finder module, vehicle ' s contour drafting module and vehicle identification module; Described high frequency lasers range finder module and vehicle ' s contour drafting module are arranged at the top, track of vehicle process; The laser pulse emission port of described high frequency lasers range finder module is perpendicular to described track; The output terminal of described high frequency lasers range finder module connects the input end of described vehicle ' s contour drafting module, and the output terminal of described vehicle ' s contour drafting module connects the input end of described vehicle identification module.Through out-of-date, the high frequency lasers range finder module carries out the real-time pulse laser ranging at vehicle, and the distance value that records is sent to described vehicle ' s contour drafting module; The vehicle ' s contour drafting module will receive the distance value real-time rendering on the distance parameter scintigram, and this distance parameter scintigram is sent to described vehicle identification module in real time; The vehicle identification module is realized vehicle identification according to the vehicle ' s contour information of drawing on this distance parameter scintigram.Exist in the prior art thereby effectively overcome, equipment setting and maintenance cost are high, defective that the vehicle discrimination is low; A kind of setting is provided and has safeguarded simple; Vehicle automatic recognition system with low cost, and the vehicle discrimination of this system is higher, and range of application is also very widely.
In this instructions, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, instructions and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (16)
1. vehicle automatic recognition system based on the high-speed pulse laser scanning; It is characterized in that; Described system comprises high frequency lasers range finder module, vehicle ' s contour drafting module and vehicle identification module; Described high frequency lasers range finder module and vehicle ' s contour drafting module are arranged at the top, track of vehicle process; The laser pulse emission port of described high frequency lasers range finder module is perpendicular to described track, and the output terminal of described high frequency lasers range finder module connects the input end of described vehicle ' s contour drafting module, and the output terminal of described vehicle ' s contour drafting module connects the input end of described vehicle identification module.
2. the vehicle automatic recognition system based on the high-speed pulse laser scanning according to claim 1 is characterized in that the laser scanning frequency of described high frequency lasers range finder module is 2000Hz, and optical maser wavelength is 904nm.
3. the vehicle automatic recognition system based on the high-speed pulse laser scanning according to claim 1; It is characterized in that; Described high frequency lasers range finder module and vehicle ' s contour drafting module all are integrated in one, and described high frequency lasers stadimeter is fixed on the road monitoring frame of said track middle upper part.
4. the vehicle automatic recognition system based on the high-speed pulse laser scanning according to claim 1 is characterized in that the finding range of described high frequency lasers range finder module is 30 meters.
5. the vehicle automatic recognition system based on the high-speed pulse laser scanning according to claim 1; It is characterized in that; Described vehicle ' s contour drafting module is a distance parameter scintigram drawing unit; The input end of this distance parameter scintigram drawing unit connects the output terminal of described high frequency lasers range finder module, and the output terminal of described distance parameter scintigram drawing unit connects described vehicle identification module.
6. the vehicle automatic recognition system based on the high-speed pulse laser scanning according to claim 1 is characterized in that, described distance parameter scintigram drawing unit connects described vehicle identification module through wireless signal.
7. according to each described vehicle automatic recognition system in the claim 1 to 6 based on the high-speed pulse laser scanning; It is characterized in that; Described vehicle identification module comprises pretreatment unit, images match unit and vehicle library unit; The input end of described pretreatment unit connects the output terminal of described vehicle ' s contour drafting module; The output terminal of described pretreatment unit connects the input end of described images match unit and vehicle library unit respectively; The output terminal of described vehicle library unit connects the output terminal of described images match unit, and the output terminal of described images match unit is the vehicle information output, and this vehicle information output is network interface or serial line interface.
8. the vehicle automatic recognition system based on the high-speed pulse laser scanning according to claim 7; It is characterized in that; Described pretreatment unit comprises vehicle commander's recognin unit, overall height recognin unit and vehicle ' s contour line drawing subelement; The output terminal of described vehicle commander's recognin unit and overall height recognin unit all is connected described vehicle library unit, and described vehicle ' s contour line drawing subelement connects described images match unit.
9. one kind is utilized the described system of claim 1 to realize it is characterized in that based on the method for the automatic identification of vehicle of high-speed pulse laser scanning described method may further comprise the steps:
(1) described high frequency lasers range finder module carries out the real-time pulse laser ranging, and the distance value that records is sent to described vehicle ' s contour drafting module;
(2) described vehicle ' s contour drafting module will receive the distance value real-time rendering on the distance parameter scintigram;
(3) described vehicle ' s contour drafting module is sent to described vehicle identification module in real time with described distance parameter scintigram;
(4) described vehicle identification module is according to the vehicle ' s contour information Recognition vehicle of drawing on the described distance parameter scintigram, and output model data information.
10. the method that realization according to claim 9 is discerned based on the vehicle of high-speed pulse laser scanning automatically; It is characterized in that; Described vehicle ' s contour drafting module is a distance parameter scintigram drawing unit; The input end of this distance parameter scintigram drawing unit connects the output terminal of described high frequency lasers range finder module; The output terminal of described distance parameter scintigram drawing unit connects described vehicle identification module, and described vehicle ' s contour drafting module will receive the distance value real-time rendering on the distance parameter scintigram, be specially:
Described distance parameter scintigram drawing unit will receive the distance value real-time rendering in a coordinate system, form a distance parameter scintigram.
11. the method that realization according to claim 9 is discerned based on the vehicle of high-speed pulse laser scanning automatically; It is characterized in that; Described distance parameter scintigram drawing unit connects described vehicle identification module through wireless signal; Described vehicle ' s contour drafting module is sent to described vehicle identification module in real time with described distance parameter scintigram, is specially:
The vehicle ' s contour drafting module is sent to described vehicle identification module with described distance parameter scintigram through wireless signal in real time.
12. according to the method for each described realization in the claim 9 to 11 based on the automatic identification of vehicle of high-speed pulse laser scanning; It is characterized in that; Described vehicle identification module comprises pretreatment unit, images match unit and vehicle library unit; The input end of described pretreatment unit connects the output terminal of described vehicle ' s contour drafting module; The output terminal of described pretreatment unit connects the input end of described images match unit and vehicle library unit respectively; The output terminal of described vehicle library unit connects the output terminal of described images match unit, and the output terminal of described images match unit is the vehicle information output, and described step (4) specifically may further comprise the steps:
(41) described pretreatment unit obtains vehicle parameter information and vehicle profile information according to described distance parameter scintigram;
(42) described pretreatment unit is sent to described vehicle library unit with described vehicle parameter information, and described vehicle profile information is sent to described images match unit;
(43) described vehicle library unit is sent to described images match unit according to the image information that the vehicle parameter information that obtains reads corresponding a plurality of vehicles;
(44) described images match unit will compare from the image information of described pretreatment unit vehicle profile information that obtains and each vehicle that obtains from described vehicle library unit successively, and with the vehicle of immediate image information as the coupling vehicle;
(45) described vehicle information output is exported the data message of described coupling vehicle.
13. the method that realization according to claim 12 is discerned based on the vehicle of high-speed pulse laser scanning automatically; It is characterized in that; Described pretreatment unit comprises vehicle commander's recognin unit, overall height recognin unit and vehicle ' s contour line drawing subelement; The output terminal of described vehicle commander's recognin unit and overall height recognin unit all is connected described vehicle library unit; Described vehicle ' s contour line drawing subelement connects described images match unit, and described pretreatment unit obtains vehicle parameter information and vehicle profile information according to described distance parameter scintigram, is specially:
Described vehicle commander's recognin unit obtains vehicle commander's information according to described distance parameter scintigram; Described overall height recognin unit obtains overall height information according to described distance parameter scintigram; Described vehicle ' s contour line drawing subelement obtains vehicle ' s contour information according to described distance parameter scintigram.
14. the method that realization according to claim 13 is discerned based on the vehicle of high-speed pulse laser scanning automatically is characterized in that described pretreatment unit is sent to described vehicle library unit with described vehicle parameter information, is specially:
Described pretreatment unit is sent to described vehicle library unit with described vehicle commander's information and overall height information.
15. the method that realization according to claim 14 is discerned based on the vehicle of high-speed pulse laser scanning automatically; It is characterized in that; Described vehicle library unit is sent to described images match unit according to the image information that the vehicle parameter information that obtains reads corresponding a plurality of vehicles, is specially:
And overall height information reads a plurality of vehicle commanders of correspondence to the vehicle library unit and the image information of the vehicle that overall height conforms to is sent to described images match unit according to the vehicle vehicle commander's information that obtains.
16. the method that realization according to claim 12 is discerned based on the vehicle of high-speed pulse laser scanning automatically is characterized in that described step (44) specifically may further comprise the steps:
(44-1) described images match unit by using approximate measure method compares described vehicle profile information successively with the image information of said each vehicle, obtains the degree of approximation of each vehicle;
The corresponding vehicle of the image information that (44-1) described images match unit is the highest with the degree of approximation is as the coupling vehicle.
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