CN102708694B - 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 intelligent traffic administration system equipment technical field, particularly vehicle recognition technology field, specifically refers to a kind of automatic Vehicle Recognition System and method based on high-speed pulse laser scanning.
Background technology
Along with congested in traffic and obstruction wait becoming increasingly conspicuous of variety of issue, and the development of computer technology, intelligent transportation system (Intelligent Transportation System, be called for short ITS) obtain applying more and more widely, and be extensively applied in developed countries such as Europe, the United States, and in still starting stage in exploratory development of application of China.Vehicle detection, tracking and vehicle identification are the important branch in ITS application, are also the weak sport technique segments of current relative thin.
Vehicle is identified automatically, is the prerequisite that ITS carries out vehicle classification management and supervision, and is combined with vehicle license recognition function, can very comprehensively grasp the driving information of road vehicle, for intelligentized traffic administration provides sound assurance.
At present, vehicle automatic identifying method mainly contains following several:
1, electronic label identification method
It is based on wireless communication technique that present stage non-parking charge (ETC) adopts maximum.Electronic tag is to comprise vehicle account, type of vehicle, car owner, license plate number etc. for the information of registration of vehicle itself.When vehicle is when being arranged on the charge equipment of charge in passage, by the microwave communication between electronic tag and reader, realize the exchange of information, and carry out CRC check, finally carry out regularly and clear by Fare Collection System and car owner's bank.Because automobile storage change that vehicle carried electronic label practises fraud may, the places such as charge station need the extra watch-dog of installing, and have increased capital construction input.
2, electromagnetic induction coil method of identification
Below highway, lay in advance a coil that is connected with high-frequency current, because the material major part of vehicle is metal, in the time that vehicle passes through above inductive coil, portion produces 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, and the variation in the magnetic field causing due to curent change is also different, therefore can distinguish dissimilar vehicle according to the difference of induction curve, and then obtain concrete vehicle.The advantage of the method is that accuracy rate is higher, weatherproof and cost not too high, can also detect the traffic parameter such as vehicle flowrate and occupation rate of each vehicle simultaneously.Electromagnetic induction coil method need to be imbedded coil underground, easily damaged by the extruding of vehicle, and the life-span is shorter, while maintenance, need to destroy road surface, and maintenance cost is higher.
3, car plate method of identification
Car plate method of identification is a kind of by the method for identification car plate indirect identification vehicle.First the license plate image obtaining from video camera, identify license plate number and car plate color, then in vehicle data storehouse, retrieve the corresponding vehicle of license plate number therewith, finally obtain the type of vehicle.The method is not high to hardware requirement, installs flexibly and easily yet, but need set up to each car the vehicle data storehouse that comprises various information in advance, and image must guarantee that car plate is clear, also blocked in actual applications, the restriction of illumination etc.
4, the identification of the vehicle based on video image
Utilize video image to carry out the research of vehicle identification both at home and abroad a lot, because digital picture can provide a lot of Useful Informations, utilize 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 identify has the shortcoming of himself, and first digital picture cannot be obtained clearly, is exactly then the validity that is difficult to guarantee feature extraction algorithm, so just cannot guarantee reliable vehicle discrimination.
Summary of the invention
The object of the invention is to have overcome above-mentioned shortcoming of the prior art, provide a kind of based on laser high-speed pulse scanning technique, to the scanning of finding range through the different parts of vehicle, the side profile data of collection vehicle, then by the data comparison in these data and model data storehouse, realize that vehicle judges, and discrimination is higher, arrange and safeguard simply, with low cost, the automatic Vehicle Recognition System based on high-speed pulse laser scanning and the method that have wide range of applications.
In order to realize above-mentioned object, the present invention is based on high-speed pulse laser scanning automatic Vehicle Recognition System there is 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 automatic Vehicle Recognition System based on 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 automatic Vehicle Recognition System based on high-speed pulse laser scanning, described high frequency lasers range finder module and vehicle ' s contour drafting module are all integrated in a high frequency lasers stadimeter, and described high frequency lasers stadimeter is fixed on the road monitoring frame of described track middle upper part.
Be somebody's turn to do in the automatic Vehicle Recognition System based on 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 automatic Vehicle Recognition System based on 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 automatic Vehicle Recognition System based on high-speed pulse laser scanning, described distance parameter scintigram drawing unit connects described vehicle identification module by wireless signal.
Be somebody's turn to do in the automatic Vehicle Recognition System based on 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 respectively described images match unit and the input end of vehicle library unit, the output terminal of described vehicle library unit connects the output terminal of described images match unit, the output terminal of described images match unit is vehicle information output, this vehicle information output is network interface or serial line interface.
Be somebody's turn to do in the automatic Vehicle Recognition System based on 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, described vehicle commander's recognin unit is all connected described vehicle library unit with the output terminal of overall height recognin unit, and described vehicle ' s contour line drawing subelement connects described images match unit.
The present invention also provides a kind of vehicle of utilizing described system to realize based on high-speed pulse laser scanning automatically to know method for distinguishing, and the method comprises the following steps:
(1) described high frequency lasers range finder module carries out real-time pulse laser ranging, and the distance value recording is sent to described vehicle ' s contour drafting module;
(2) described vehicle ' s contour drafting module will receive distance value real-time rendering on distance parameter scintigram;
(3) described distance parameter scintigram is sent in real time described vehicle identification module by described vehicle ' s contour drafting module;
(4) described vehicle identification module is identified vehicle according to the vehicle ' s contour information of drawing on described distance parameter scintigram, and exports model data information.
The vehicle of this realization based on high-speed pulse laser scanning known in method for distinguishing automatically, 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 distance value real-time rendering on distance parameter scintigram, be specially: described distance parameter scintigram drawing unit will receive distance value real-time rendering in a coordinate system, form a distance parameter scintigram.
The vehicle of this realization based on high-speed pulse laser scanning known in method for distinguishing automatically, described distance parameter scintigram drawing unit connects described vehicle identification module by wireless signal, described distance parameter scintigram is sent in real time described vehicle identification module by described vehicle ' s contour drafting module, is specially: vehicle ' s contour drafting module is sent to described vehicle identification module by described distance parameter scintigram in real time by wireless signal.
The vehicle of this realization based on high-speed pulse laser scanning known in method for distinguishing automatically, 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 respectively described images match unit and the input end of vehicle library unit, the output terminal of described vehicle library unit connects the output terminal of described images match unit, the output terminal of described images match unit is vehicle information output, described step (4) specifically comprises the following steps:
(41) described pretreatment unit obtains vehicle parameter information and vehicle profile information according to described distance parameter scintigram;
(42) described vehicle parameter information is sent to described vehicle library unit by described pretreatment unit, and described vehicle profile information is sent to described images match unit;
(43) image information that described vehicle library unit reads corresponding multiple vehicles according to the vehicle parameter information obtaining is sent to described images match unit;
(44) described images match unit contrasts the vehicle profile information obtaining from described pretreatment unit and the image information of each vehicle obtaining from described vehicle library unit successively, and using the vehicle of immediate image information as coupling vehicle;
(45) data message of the coupling vehicle described in described vehicle information output output.
The vehicle of this realization based on high-speed pulse laser scanning known in method for distinguishing automatically, described pretreatment unit comprises vehicle commander's recognin unit, overall height recognin unit and vehicle ' s contour line drawing subelement, described vehicle commander's recognin unit is all connected described vehicle library unit with the output terminal of overall height recognin 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, be 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.
The vehicle of this realization based on high-speed pulse laser scanning known in method for distinguishing automatically, described vehicle parameter information is sent to described vehicle library unit by described pretreatment unit, is specially: described vehicle commander's information and overall height information are sent to described vehicle library unit by described pretreatment unit.
The vehicle of this realization based on high-speed pulse laser scanning known in method for distinguishing automatically, the image information that described vehicle library unit reads corresponding multiple vehicles according to the vehicle parameter information obtaining is sent to described images match unit, is specially: according to the vehicle vehicle commander's information obtaining, and overall height information reads multiple vehicle commanders of correspondence to vehicle library unit and the image information of the vehicle that overall height conforms to is sent to described images match unit.
The vehicle of this realization based on high-speed pulse laser scanning known in method for distinguishing automatically, and described step (44) specifically comprises the following steps:
(44-1) described images match unit by using approximate measure method contrasts described vehicle profile information successively with the image information of described each vehicle, obtains the degree of approximation of each vehicle;
(44-1) described images match unit is using vehicle corresponding the image information the highest degree of approximation as coupling vehicle.
Adopt the automatic Vehicle Recognition System based on 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, the output terminal of described vehicle ' s contour drafting module connects the input end of described vehicle identification module.At vehicle, through out-of-date, high frequency lasers range finder module carries out real-time pulse laser ranging, and the distance value recording is sent to described vehicle ' s contour drafting module; Vehicle ' s contour drafting module will receive distance value real-time rendering on distance parameter scintigram, and this distance parameter scintigram is sent to described vehicle identification module in real time; Vehicle identification module is according to the vehicle ' s contour information realization vehicle identification of drawing on this distance parameter scintigram.Exist in prior art thereby effectively overcome, equipment setting and maintenance cost are high, the defect that vehicle discrimination is low, a kind of setting is provided and has safeguarded simple, automatic Vehicle Recognition System with low cost, and the vehicle discrimination of this system is higher, and range of application is also very widely.
Accompanying drawing explanation
Fig. 1 is the structural representation of the automatic Vehicle Recognition System based on high-speed pulse laser scanning of the present invention.
Fig. 2 is the flow chart of steps that the vehicle of realization of the present invention based on high-speed pulse laser scanning known method for distinguishing automatically.
The theory diagram of the laser range finder that Fig. 3 adopted in actual applications for the present invention.
Fig. 4 is the present invention's laser range finder decorating position schematic diagram in actual applications.
Fig. 5 is the present invention's profile scan data drawing schematic diagram in actual applications.
Fig. 6 is the present invention's vehicle identification process schematic diagram in actual applications.
Embodiment
In order more clearly to understand technology contents of the present invention, describe in detail especially exemplified by following examples.
Referring to shown in Fig. 1, is the structural representation of the automatic Vehicle Recognition System based on 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.
The vehicle of utilizing the system described in this embodiment to realize based on high-speed pulse laser scanning is known method for distinguishing automatically, as shown in Figure 2, comprises the following steps:
(1) described high frequency lasers range finder module carries out real-time pulse laser ranging, and the distance value recording is sent to described vehicle ' s contour drafting module;
(2) described vehicle ' s contour drafting module will receive distance value real-time rendering on distance parameter scintigram;
(3) described distance parameter scintigram is sent in real time described vehicle identification module by described vehicle ' s contour drafting module;
(4) described vehicle identification module is identified vehicle according to the vehicle ' s contour information of drawing on described distance parameter scintigram, and exports model data information.
In one more preferably in embodiment, described high frequency lasers range finder module and vehicle ' s contour drafting module are all integrated in a high frequency lasers stadimeter, and this high frequency lasers stadimeter is fixed on the road monitoring frame of described 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 is 904nm.The finding range of this high frequency lasers range finder module is 30 meters.
At another kind more preferably in 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 by data line or wireless signal.
Automatically know in method for distinguishing utilizing this vehicle that more preferably system described in embodiment realizes based on high-speed pulse laser scanning, described step (2) vehicle ' s contour drafting module will receive distance value real-time rendering on distance parameter scintigram, be specially: described distance parameter scintigram drawing unit will receive distance value real-time rendering in a coordinate system, form a distance parameter scintigram.And described distance parameter scintigram is sent in real time described vehicle identification module by described step (3) vehicle ' s contour drafting module, is specially: vehicle ' s contour drafting module is sent to described vehicle identification module by described distance parameter scintigram in real time by data line or wireless signal.
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 respectively described images match unit and the input end of vehicle library unit, the output terminal of described vehicle library unit connects the output terminal of described images match unit, the output terminal of described images match unit is vehicle information output, this vehicle information output is network interface or serial line interface.
The vehicle that system described in utilizing this further preferred embodiment realizes based on high-speed pulse laser scanning is known in method for distinguishing automatically, and described step (4) specifically comprises the following steps:
(41) described pretreatment unit obtains vehicle parameter information and vehicle profile information according to described distance parameter scintigram;
(42) described vehicle parameter information is sent to described vehicle library unit by described pretreatment unit, and described vehicle profile information is sent to described images match unit;
(43) image information that described vehicle library unit reads corresponding multiple vehicles according to the vehicle parameter information obtaining is sent to described images match unit;
(44) described images match unit contrasts the vehicle profile information obtaining from described pretreatment unit and the image information of each vehicle obtaining from described vehicle library unit successively, and using the vehicle of immediate image information as coupling vehicle;
(45) data message of the coupling vehicle described in described vehicle information output output.
In the preferred embodiment of one, described pretreatment unit comprises vehicle commander's recognin unit, overall height recognin unit and vehicle ' s contour line drawing subelement, described vehicle commander's recognin unit is all connected described vehicle library unit with the output terminal of overall height recognin unit, and described vehicle ' s contour line drawing subelement connects described images match unit.
The vehicle that system described in utilizing this preferred embodiment realizes based on high-speed pulse laser scanning is known in method for distinguishing automatically, 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.Described vehicle parameter information is sent to described vehicle library unit by pretreatment unit described in step (42), is specially: described vehicle commander's information and overall height information are sent to described vehicle library unit by described pretreatment unit.And the image information that described step (43) vehicle library unit reads corresponding multiple vehicles according to the vehicle parameter information obtaining is sent to described images match unit, is specially: according to the vehicle vehicle commander's information obtaining, and overall height information reads multiple vehicle commanders of correspondence to vehicle library unit and the image information of the vehicle that overall height conforms to is sent to described images match unit.
In another preferred embodiment, described step (44) specifically comprises the following steps:
(44-1) described images match unit by using approximate measure method contrasts described vehicle profile information successively with the image information of described each vehicle, obtains the degree of approximation of each vehicle;
(44-1) described images match unit is using vehicle corresponding the image information the highest degree of approximation as coupling vehicle.
In actual applications, the automatic Vehicle Recognition System based on high-speed pulse laser scanning of the present invention has following characteristics: (a) utilize high frequency lasers stadimeter as detecting device; (b) sweep frequency of laser range finder adopting is up to 2000Hz, laser emission wavelength 904nm, and eye-safe meets GB7247.1-2001I class; (c) stadimeter is arranged on existing road monitoring frame, vertically downward scanning; (d) on laser range finder, realize vehicle and describe algorithm, on PC device, realize vehicle identification; (e) system has two kinds of transmission interfaces: network and serial ports; (f) vehicle targets, based on image model recognition principle, is relatively judged vehicle by the data in sample data and model data storehouse by computing machine, thereby realizes the automatic classification of vehicle.
Laser scanner technique is to utilize laser to carry out the range determination technology of (claiming again laser ranging) to target object.It penetrates beam of laser to target in the time of work, the laser beam being reflected by photovalve receiving target, and timer is measured laser beam from being transmitted into the time of reception, calculates the range-to-go from observer.LiDAR(Light Laser Detection and Ranging, laser acquisition and range measurement system) principle very similar to laser range finder with structure.System comprises a single bundle narrow band laser and a receiving system.Laser instrument produces and launches light beam pulse, beats on object and reflects, and finally received device receives.Receiver is measured light pulse exactly from being transmitted into the travel-time being 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 laser range finder of the present invention as shown in Figure 3.
Laser scanning method is to utilize the laser ranging instrument of arranging on road monitoring frame as detecting device, in the time of vehicle process device, according to the range finding scanning to automobile different parts, the side geometric data of collection vehicle, then by judging vehicle after the data in these data and model data storehouse, thereby realize the automatic classification of vehicle.In the 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 the characteristics such as headstock height, vehicle commander, the number of axle, wheelspan, these information can be depicted outline and the local characteristic feature of vehicle more complete, meticulously, make system reach a very high discrimination.The method advantage is that discrimination is higher, and hardware installation is very simple in addition, only need a laser range finder be installed on existing monitoring camera-shooting support, utilizes data line to be connected with main frame.And utilize the method without destroying road surface, safeguard very convenient.
Profile recognition system is to adopt Laser emission downward with reception vertical ground, be illustrated in fig. 4 shown below, aim at the centre position in a track, in the time having 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 using of this metering system is less, and finding range is generally less than 30 meters, and requires laser ranging speed ratio higher, and General Requirements reaches several KHz.This,, for reaching good effect in Important Sections monitoring, can distinguish various vehicles, can reach 1 centimetre of point to the sampling rate of vehicle body scanning.Also can be used for the application such as traffic flow monitoring, vehicle limit for height.
The vehicle of realization of the present invention based on high-speed pulse laser scanning automatically known method for distinguishing and adopted approximate measure method.First the data that intercept laser scanning are drawn relevant vehicle, as shown in Figure 5.Then do to proofread and correct to process.The main contents of proofreading and correct comprise profile angle and profile burr, identify with that by relevant pattern matching algorithm.Its identifying is exactly that vehicle figure is found out to the similar vehicle picture of a pair with its correspondence.
In general, because image is in the image-forming condition difference of different time, different sensors, different visual angles acquisition, even therefore to same object, the geometrical property, optical characteristics, the locus that in image, show all can be very different, if consider that the impact such as noise, interference can make image that very big-difference occurs, images match is exactly to find their identical point by these differences.This method is utilized the physical form feature (point, line) of image, as edge, and skeleton lines, angle point etc., the pixel number that need to carry out correlation computations has had obvious 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 find the feature that is easy to identification and distinguishes, and the similarity measurement based between feature set finds the matched position of template in image.The flow process of identification that therefore, the present invention adopts as shown in Figure 6.
Adopt the automatic Vehicle Recognition System based on 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, the output terminal of described vehicle ' s contour drafting module connects the input end of described vehicle identification module.At vehicle, through out-of-date, high frequency lasers range finder module carries out real-time pulse laser ranging, and the distance value recording is sent to described vehicle ' s contour drafting module; Vehicle ' s contour drafting module will receive distance value real-time rendering on distance parameter scintigram, and this distance parameter scintigram is sent to described vehicle identification module in real time; Vehicle identification module is according to the vehicle ' s contour information realization vehicle identification of drawing on this distance parameter scintigram.Exist in prior art thereby effectively overcome, equipment setting and maintenance cost are high, the defect that vehicle discrimination is low, a kind of setting is provided and has safeguarded simple, automatic Vehicle 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 specific embodiment.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 (14)
1. the automatic Vehicle Recognition System based on 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, the output terminal of described high frequency lasers range finder module connects the input end of described vehicle ' s contour drafting module, the output terminal of described vehicle ' s contour drafting module connects the input end of described vehicle identification module,
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 respectively described images match unit and the input end of vehicle library unit, the output terminal of described vehicle library unit connects the output terminal of described images match unit, the output terminal of described images match unit is vehicle information output, and this vehicle information output is network interface or serial line interface;
Described pretreatment unit comprises vehicle commander's recognin unit, overall height recognin unit and vehicle ' s contour line drawing subelement, described vehicle commander's recognin unit is all connected described vehicle library unit with the output terminal of overall height recognin unit, and described vehicle ' s contour line drawing subelement connects described images match unit.
2. the automatic Vehicle Recognition System based on 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 automatic Vehicle Recognition System based on 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 are all integrated in one, and described high frequency lasers stadimeter is fixed on the road monitoring frame of described track middle upper part.
4. the automatic Vehicle Recognition System based on 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 automatic Vehicle Recognition System based on 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 automatic Vehicle Recognition System based on high-speed pulse laser scanning according to claim 5, is characterized in that, described distance parameter scintigram drawing unit connects described vehicle identification module by wireless signal.
7. the vehicle of utilizing the system described in claim 1 to realize based on high-speed pulse laser scanning is known a method for distinguishing automatically, it is characterized in that, described method comprises the following steps:
(1) described high frequency lasers range finder module carries out real-time pulse laser ranging, and the distance value recording is sent to described vehicle ' s contour drafting module;
(2) described vehicle ' s contour drafting module will receive distance value real-time rendering on distance parameter scintigram;
(3) described distance parameter scintigram is sent in real time described vehicle identification module by described vehicle ' s contour drafting module;
(4) described vehicle identification module is identified vehicle according to the vehicle ' s contour information of drawing on described distance parameter scintigram, and exports model data information.
8. the vehicle of realization according to claim 7 based on high-speed pulse laser scanning known method for distinguishing 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, described vehicle ' s contour drafting module will receive distance value real-time rendering on distance parameter scintigram, be specially:
Described distance parameter scintigram drawing unit will receive distance value real-time rendering in a coordinate system, form a distance parameter scintigram.
9. the vehicle of realization according to claim 7 based on high-speed pulse laser scanning known method for distinguishing automatically, it is characterized in that, described distance parameter scintigram drawing unit connects described vehicle identification module by wireless signal, described distance parameter scintigram is sent in real time described vehicle identification module by described vehicle ' s contour drafting module, is specially:
Vehicle ' s contour drafting module is sent to described vehicle identification module by described distance parameter scintigram in real time by wireless signal.
10. according to the realization described in any one in claim 7 to 9, the vehicle based on high-speed pulse laser scanning is known method for distinguishing automatically, 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 respectively described images match unit and the input end of vehicle library unit, the output terminal of described vehicle library unit connects the output terminal of described images match unit, the output terminal of described images match unit is vehicle information output, described step (4) specifically comprises the following steps:
(41) described pretreatment unit obtains vehicle parameter information and vehicle profile information according to described distance parameter scintigram;
(42) described vehicle parameter information is sent to described vehicle library unit by described pretreatment unit, and described vehicle profile information is sent to described images match unit;
(43) image information that described vehicle library unit reads corresponding multiple vehicles according to the vehicle parameter information obtaining is sent to described images match unit;
(44) described images match unit contrasts the vehicle profile information obtaining from described pretreatment unit and the image information of each vehicle obtaining from described vehicle library unit successively, and using the vehicle of immediate image information as coupling vehicle;
(45) data message of the coupling vehicle described in described vehicle information output output.
The vehicle of 11. realizations according to claim 10 based on high-speed pulse laser scanning known method for distinguishing 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, described vehicle commander's recognin unit is all connected described vehicle library unit with the output terminal of overall height recognin 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, be 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.
The vehicle of 12. realizations according to claim 11 based on high-speed pulse laser scanning known method for distinguishing automatically, it is characterized in that, described vehicle parameter information is sent to described vehicle library unit by described pretreatment unit, is specially:
Described vehicle commander's information and overall height information are sent to described vehicle library unit by described pretreatment unit.
The vehicle of 13. realizations according to claim 12 based on high-speed pulse laser scanning known method for distinguishing automatically, it is characterized in that, the image information that described vehicle library unit reads corresponding multiple vehicles according to the vehicle parameter information obtaining is sent to described images match unit, is specially:
According to the vehicle vehicle commander's information obtaining, and overall height information reads multiple vehicle commanders of correspondence to vehicle library unit and the image information of the vehicle that overall height conforms to is sent to described images match unit.
The vehicle of 14. realizations according to claim 10 based on high-speed pulse laser scanning known method for distinguishing automatically, it is characterized in that, described step (44) specifically comprises the following steps:
(44-1) described images match unit by using approximate measure method contrasts described vehicle profile information successively with the image information of described each vehicle, obtains the degree of approximation of each vehicle;
(44-1) described images match unit is using vehicle corresponding the image information the highest degree of approximation as coupling vehicle.
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