CN102819951A - Road target detection system, road target detection method and road target detection device - Google Patents
Road target detection system, road target detection method and road target detection device Download PDFInfo
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Abstract
The invention discloses a road target detection system. The road target detection system comprises a server, a plurality of clients, laser radars and GPSs (global positioning systems), wherein the laser radars and the GPSs are connected with the clients; the clients are used for receiving data-frame information sent by the laser radars and time information sent by the GPSs, adding the time information into the data-frame information and sending the data-frame information including the time information to the server; and the server is used for receiving the data-frame information including the time information sent by the clients, performing data fusion for the data-frame information corresponding to the same time information to obtain contour information and obtaining movement speed of a target according to the contour information corresponding to different time information. Information of length, width, movement speed, movement tracks and the like of the target can be obtained by the laser radars so as to judge whether a car is in peccancy driving or not; and moreover, the laser radars cannot be influenced by severe environments during target object detection. Therefore, the road target detection system has the advantages of high detection accuracy and anti-interference performance and the like.
Description
Technical field
The present invention relates to the Road Detection field, in particular, relate to road target detection system, method and device.
Background technology
Development along with the mechanical transport transportation; It is congested in traffic that phenomenon is on the rise with a passage is blocked up; Obtain detailed high-precision road traffic data effectively and realize high-precision road information monitoring; Being analyze to grasp traffic rule and the key of optimizing railway and highway system, also is to realize vehicle detection, vehicle speed measurement, take and the necessary means of function such as track following unusually.
Have now the Video Detection mode is mainly adopted in the detection of traffic route, generally, can camera head be installed in the important highway section of traffic route.Through the situation that camera head is taken, not only can analyze the traffic rule, and then optimize railway and highway system, detect but also can drive the violation of vehicle.
In the process that vehicle is detected through camera head, there is following problem:
Because the picture that camera head is taken does not have accurate range data, so the target speed degree of accuracy of obtaining through Flame Image Process is relatively poor.And the effect that camera head is taken receives weather effect very big, if run into dust and sand weather or sleety weather, then the staff is difficult to judge through shooting picture the speed of vehicle again.
Therefore, how to make the high and good road target detection system of anti-interference of a kind of measuring accuracy, become the problem that needs most solution at present.
Summary of the invention
In view of this, purpose of design of the present invention is, a kind of road target detection system, device and method are provided, to improve measuring accuracy and anti-interference.
The embodiment of the invention is achieved in that
A kind of road target detection system comprises: server, a plurality of client and the laser radar and the global position system GPS that are connected with said client;
Said client is used to receive the Frame information of laser radar transmission and the temporal information that GPS sends, and said temporal information is added in the said Frame information, and the Frame information that will contain temporal information is sent in the server;
Said server; Be used to receive the Frame information that contains temporal information that a plurality of clients are sent; The Frame information that identical temporal information is corresponding is carried out data fusion; To obtain appearance profile information, according to the travelling speed of corresponding this appearance profile information of appearance profile information acquisition of different time information.
Preferably, in above-mentioned road target detection system, also comprise the video equipment that is connected with said server;
Said video equipment, the travelling speed of the appearance profile information that is used for obtaining at server, are taken the material object that this appearance profile information is corresponding during for preset track greater than the movement locus of preset value or appearance profile information.
Preferably, in above-mentioned road target detection system, the quantity of said client is specially two.
A kind of road target detection method comprises:
Receive the Frame information of laser radar transmission and the temporal information that GPS sends;
Said temporal information is added in the said Frame information;
The Frame information that will contain temporal information is sent in the server.
A kind of client comprises: the receiver module, processing module and the sending module that connect successively;
Said receiver module is used to receive the Frame information of laser radar transmission and the temporal information that GPS sends;
Said processing module is used for said temporal information is added said Frame information;
Said sending module is used for the Frame information that contains temporal information is sent to server.
A kind of road target detection method comprises:
Receive the Frame information that contains temporal information that a plurality of clients are sent;
The Frame information that identical temporal information is corresponding is carried out data fusion, to obtain appearance profile information;
Travelling speed according to corresponding this appearance profile information of appearance profile information acquisition of different time information.
A kind of server comprises: the receiver module, Fusion Module and the speed measurement module that connect successively;
Said receiver module is used to receive the Frame information that contains temporal information that a plurality of clients are sent;
Said Fusion Module is used for the Frame information that identical temporal information is corresponding and carries out data fusion, to obtain appearance profile information;
Said speed measurement module is used for the travelling speed according to corresponding this appearance profile information of appearance profile information acquisition of different time information.
Compared with prior art, the technical scheme that provides of present embodiment has the following advantages and characteristics:
In scheme provided by the invention; Can obtain detecting the comparatively complete appearance profile information of target through the scan-data that laser radar obtains from different perspectives; Owing on each Frame information, all be added with temporal information; So can obtain the speed and the running orbit of the corresponding material object of this appearance profile information, so can judge the whether traffic violation of automobile through the present invention.And laser radar is not vulnerable to the influence of rugged surroundings such as illumination variation, sleet etc. when detecting target.Therefore, the present invention has advantages such as the high and anti-interference of measuring accuracy is good.
Description of drawings
In order to be illustrated more clearly in the present invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the module diagram of road target detection system provided by the present invention;
Fig. 2 is the process flow diagram of road target detection method provided by the present invention;
Fig. 3 is the process flow diagram of server provided by the present invention;
Fig. 4 is the process flow diagram of another road target detection method provided by the present invention;
Fig. 5 is the process flow diagram of client provided by the present invention.
Embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
Embodiment one:
See also shown in Figure 1ly, shown in Figure 1 is a kind of road target detection system, and this system comprises: server 1, two clients 2 and the laser radar 3 and the global position system GPS 4 that are connected with said client 2.Wherein, Said client 2 is used to receive the Frame information of laser radar 3 transmissions and the temporal information that GPS4 sends; Said temporal information is added in the said Frame information as timestamp information, and the Frame information that will contain temporal information is sent in the server; Said server 1; Be used to receive the Frame information that contains temporal information that a plurality of clients 2 are sent; The Frame information that identical temporal information is corresponding is carried out data fusion; To obtain appearance profile information, according to the travelling speed of corresponding this appearance profile information of appearance profile information acquisition of different time information.
In the embodiment shown in fig. 1, client 2 all can be substituted by computing machine with server 1.Two clients 2 are preferred version provided by the invention, and the quantity of client 2 can be decided according to actual conditions.Before using; Need two clients, 2 corresponding laser radars 3 be arranged at sustained height place on both sides of the road respectively; Monitor this road from different perspectives, and detected Frame information is sent in the clients corresponding 2, client 2 is in receiving data frames information; Also receive the temporal information that GPS4 sends; And upgrade the system time of client 2, and the system time after upgrading is added in the Frame information, the Frame information that client 2 will contain temporal information again is sent in the server 1.After server 1 receives the Frame information that contains temporal information that two clients 2 send respectively; Extracting time information is carried out the Frame pairing from this Frame information; And the Frame integration after will matching to obtain the face profile of moving target, so not only can realize vehicle speed measurement in global coordinate system; And, can also realize the track following of vehicle.
In addition, in native system, can also comprise the video equipment 5 that is connected with said server 1.The effect of video equipment 5 is, the travelling speed of the appearance profile information that obtains when server 1, is taken the material object that this appearance profile information is corresponding during for preset track greater than the movement locus of preset value or appearance profile information.
Wherein, The threshold value of speed can be adjusted according to condition of different; When if server is set at 40km/h with the upper limit of the speed of a motor vehicle, so as long as the speed of a motor vehicle that server 1 detects this vehicle greater than 40km/h, then starts 5 pairs of these vehicles of video equipment and takes; Obtaining the license board information of this vehicle, and be recorded in the database of server 1.
Also can in server 1, set in advance for preset track; For example in server 1, can set; If the vehicle of reverse driving in certain section zone, occurs; Start 5 pairs of these vehicles of video equipment so and take, obtaining the license board information of this vehicle, and be recorded in the database of server 1.So, can in server 1, set the rule of various traffic in advance, so that vehicle starts video equipment 5 to take when speeding through a red light, reverse driving or drive over the speed limit etc. drives in violation of rules and regulations.
In system shown in Figure 1, laser radar 3 can be according to the actual requirements, and for example road width waits with the monitoring angle and carries out type selecting.Preferably select finding range more than 15m; Scanning angle is the above outdoor version laser radars 3 of 180 degree; The radar of different model and different parameters can make road monitoring range or target location accuracy, frequency change a lot, but does not influence the validity of total system structure.GPS4 can match according to overall positioning accuracy request, under the situation that cost allows, should select the higher module of precision as far as possible.When laying laser radar 3, need guarantee that they are in same level height basically, the coordinate registration parameter is set in addition for ease, two laser radars 3 (vertical road direction) in the vertical should be laid on same the straight line.
After two clients 2 receive the Frame information that laser radar 3 sends, link such as these two clients 2 can accomplish routine inspection, pre-service, background filtering respectively, cut apart, and the Frame information real-time after will handling pass to server 1; Server end through clock synchronization and coordinate system conversion, carries out different laser radar 3 data measured frame informations Frame and merges; Being about to the data pick-up that laser radar 3 synchronizations measure comes out; And integration is in global coordinate system, and such fused data can measure the face profile of moving target, and then accomplishes functions such as vehicle detection, track following, vehicle speed measurement; In addition when server 1 detects hypervelocity; Will send the alarm linkage signal to video equipment 5, video equipment 5 starts to be taken, the road scene when noting unusual the generation.
Present embodiment obtains appearance profile information through the Frame information that laser radar obtains; Owing on each Frame information, all be added with temporal information; So can obtain the speed and the running orbit of the corresponding material object of this appearance profile information, so judge the whether traffic violation of automobile through the present invention.And laser radar can not receive the influence of rugged surroundings when detecting target object.Therefore, the present invention has advantages such as the high and anti-interference of measuring accuracy is good.
Embodiment two:
See also shown in Figure 2ly, shown in Figure 2 is a kind of road target detection method, and this method comprises:
Step S11: receive the Frame information that contains temporal information that a plurality of clients are sent;
Step S12: the Frame information that identical temporal information is corresponding is carried out data fusion, to obtain appearance profile information;
Step S13: according to the travelling speed of corresponding this appearance profile information of appearance profile information acquisition of different time information.
In the embodiment shown in Figure 2, can also design corresponding server 1 according to each step, wherein, the structure of server 1 is as shown in Figure 3, and this server 1 comprises: the receiver module 11, Fusion Module 12 and the speed measurement module 13 that connect successively; Said receiver module 11 is used to receive the Frame information that contains temporal information that a plurality of clients are sent; Said Fusion Module 12 is used for the Frame information that identical temporal information is corresponding and carries out data fusion, to obtain appearance profile information; Said speed measurement module 13 is used for the travelling speed according to corresponding this appearance profile information of appearance profile information acquisition of different time information.Wherein, client 2 specifically can be for having the industrial computer of wireless module.
Embodiment three:
See also shown in Figure 4ly, shown in Figure 4 is a kind of road target detection method, and this method comprises:
Step S21: receive the Frame information of laser radar transmission and the temporal information that GPS sends;
Step S22: said temporal information is added in the said Frame information;
Step S23: the Frame information that will contain temporal information is sent in the server.
In the embodiment shown in fig. 4, can also design clients corresponding according to each step, wherein; The structure of client 2 is as shown in Figure 5; This client 2 comprises: the receiver module 21, processing module 22 and the sending module 23 that connect successively, and said receiver module 21 is used to receive the Frame information of laser radar transmission and the temporal information that GPS sends; Said processing module 22 is used for said temporal information is added said Frame information; Said sending module 23 is used for the Frame information that contains temporal information is sent to server.Wherein, client 2 specifically can be for having the industrial computer of wireless module.
In sum, the road target detection technique based on laser radar that the present invention proposes has the measuring accuracy height, antijamming capability is strong, can detect the high-speed mobile object, and advantage such as need not to suspend traffic.Owing to the present invention proposes the diverse location that laser radar is installed in road, monitor road information from different perspectives, thereby effectively enlarged the monitoring range of laser radar, eliminated and blocked the influence that is brought.This system supporting platform of shooting being provided and capturing in addition, both can to ultra, low speed is illegal confirms, can be the escaping behavior after traffic accident case again favourable clue be provided.The road target detection technique is as the basis of urban traffic management system, is to realize intelligent monitoring, control, analysis, decision-making, the basic foundation of dispatching and dredging.The present invention can provide high precision Traffic monitoring data for traffic control department and government, thereby for effectively utilizing existing means of transportation, reduce traffic loading and environmental pollution, assurance traffic safety, improving the foundation that conevying efficiency etc. provides decision analysis
Each embodiment adopts the mode of going forward one by one to describe in this instructions, and what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.For the disclosed device of embodiment, because it is corresponding with the embodiment disclosed method, so description is fairly simple, relevant part is partly explained referring to method and is got final product.
It will be understood by those skilled in the art that and to use in many different processes and the technology any one to come expression information, message and signal.For example, the message of mentioning in the above-mentioned explanation, information can be expressed as voltage, electric current, electromagnetic wave, magnetic field or magnetic particle, light field or above combination in any.
The professional can also further recognize; The unit and the algorithm steps of each example of describing in conjunction with embodiment disclosed herein; Can realize with electronic hardware, computer software or the combination of the two; For the interchangeability of hardware and software clearly is described, the composition and the step of each example described prevailingly according to function in above-mentioned explanation.These functions still are that software mode is carried out with hardware actually, depend on the application-specific and the design constraint of technical scheme.The professional and technical personnel can use distinct methods to realize described function to each certain applications, but this realization should not thought and exceeds scope of the present invention.
The method of describing in conjunction with embodiment disclosed herein or the step of algorithm can be directly with the software modules of hardware, processor execution, and perhaps the combination of the two is implemented.Software module can place the storage medium of any other form known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or the technical field.To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.
Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments among this paper.Therefore, the present invention will can not be restricted to these embodiment shown in this paper, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (7)
1. a road target detection system is characterized in that, comprising: server, a plurality of client and the laser radar and the global position system GPS that are connected with said client;
Said client is used to receive the Frame information of laser radar transmission and the temporal information that GPS sends, and said temporal information is added in the said Frame information, and the Frame information that will contain temporal information is sent in the server;
Said server; Be used to receive the Frame information that contains temporal information that a plurality of clients are sent; The Frame information that identical temporal information is corresponding is carried out data fusion; To obtain appearance profile information, according to the travelling speed of corresponding this appearance profile information of appearance profile information acquisition of different time information.
2. road target detection system according to claim 1 is characterized in that, also comprises the video equipment that is connected with said server;
Said video equipment, the travelling speed of the appearance profile information that is used for obtaining at server, are taken the material object that this appearance profile information is corresponding during for preset track greater than the movement locus of preset value or appearance profile information.
3. road target detection system according to claim 1 is characterized in that, the quantity of said client is specially two.
4. a road target detection method is characterized in that, comprising:
Receive the Frame information of laser radar transmission and the temporal information that GPS sends;
Said temporal information is added in the said Frame information;
The Frame information that will contain temporal information is sent in the server.
5. a client is characterized in that, comprising: the receiver module, processing module and the sending module that connect successively;
Said receiver module is used to receive the Frame information of laser radar transmission and the temporal information that GPS sends;
Said processing module is used for said temporal information is added said Frame information;
Said sending module is used for the Frame information that contains temporal information is sent to server.
6. a road target detection method is characterized in that, comprising:
Receive the Frame information that contains temporal information that a plurality of clients are sent;
The Frame information that identical temporal information is corresponding is carried out data fusion, to obtain appearance profile information;
Travelling speed according to corresponding this appearance profile information of appearance profile information acquisition of different time information.
7. a server is characterized in that, comprising: the receiver module, Fusion Module and the speed measurement module that connect successively;
Said receiver module is used to receive the Frame information that contains temporal information that a plurality of clients are sent;
Said Fusion Module is used for the Frame information that identical temporal information is corresponding and carries out data fusion, to obtain appearance profile information;
Said speed measurement module is used for the travelling speed according to corresponding this appearance profile information of appearance profile information acquisition of different time information.
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| CN106842193A (en) * | 2017-02-17 | 2017-06-13 | 北京国电经纬工程技术有限公司 | The processing method of Road Detection information, device and system |
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| US11680184B2 (en) | 2014-07-25 | 2023-06-20 | Evonik Superabsorber Gmbh | Anti-stick processing aids and use thereof in the production of water-absorbing particles |
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| CN112258834A (en) * | 2020-09-29 | 2021-01-22 | 航天科工广信智能技术有限公司 | Traffic incident identification and processing system based on multi-sensor data fusion technology |
| CN112731430A (en) * | 2020-12-15 | 2021-04-30 | 武汉万集信息技术有限公司 | High-altitude parabolic detection method and system based on laser radar |
| CN116884250A (en) * | 2023-07-12 | 2023-10-13 | 凉山州交通运输应急指挥中心 | Early warning method based on laser radar and expressway early warning system |
| CN116884250B (en) * | 2023-07-12 | 2024-01-26 | 凉山州交通运输应急指挥中心 | Early warning method based on laser radar and expressway early warning system |
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