CN106781537B - A kind of overspeed of vehicle grasp shoot method and system - Google Patents
A kind of overspeed of vehicle grasp shoot method and system Download PDFInfo
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- CN106781537B CN106781537B CN201611049209.2A CN201611049209A CN106781537B CN 106781537 B CN106781537 B CN 106781537B CN 201611049209 A CN201611049209 A CN 201611049209A CN 106781537 B CN106781537 B CN 106781537B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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Abstract
The present invention relates to a kind of overspeed of vehicle grasp shoot method and systems.The described method includes: obtaining the multiple groups ranging data in the received plane of scanning motion of the laser ranging unit；The ranging data according to any one group, which obtains in the plane of scanning motion, vehicle region；There are quantity and the affiliated lane of each car in vehicle region comprising vehicle according to the calculating of the preset range in every lane；The travel speed of each car is calculated according to any two groups of ranging datas；It is compared according to the travel speed of each car with the threshold speed, when being more than threshold speed there are Vehicle Speed, triggers the vehicle image information that the snap unit captures over-speed vehicles.Overspeed of vehicle capturing system provided by the invention is for realizing the above method.The present invention can identify the speed of vehicle in the plane of scanning motion, especially can detecte the overspeed situation of vehicle in the case of simultaneously vehicle, improve detection accuracy.System provided by the invention is convenient for carrying, and improves application range.
Description
Technical field
The present invention relates to field of intelligent transportation technology, and in particular to a kind of overspeed of vehicle grasp shoot method and system.
Background technique
With surging for vehicles number, many traffic problems and security risk are brought.Wherein, automobile overspeed row
Sail is such event to occur in order to contain, occurs in the prior art a variety of motor-driven one of the main reason for causing traffic problems
Vehicle speed detection device.
Above-mentioned motor vehicle speed detection device includes speed measuring device based on video, based on ground sensing coil speed measuring device, base
In the radar velocity measurement device of doppler principle and laser velocimeter device based on laser doppler.Wherein, based on video
Speed measuring device error is larger, is gradually eliminated.Speed measuring device based on ground induction coil is great in constructing amount, and cannot achieve vehicle-mounted
Or mobile speed measurement, it is mainly used in the occasion that specifically tests the speed.Radar velocity measurement device based on doppler principle is divided into narrow beam thunder
It tests the speed up to testing the speed with widebeam radar, when two cars are driven over the speed limit side by side, either narrow beam radar speed measuring device is still wide
Beam radar speed measuring device is it is possible that the case where leakage is grabbed.Laser velocimeter device based on laser doppler exists and base
In the same problem of the radar velocity measurement device of doppler principle.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of overspeed of vehicle grasp shoot method and system, may be implemented to move
It is dynamic test the speed and and vehicle divide vehicle overspeed detection.
In a first aspect, it is applied to overspeed of vehicle capturing system the present invention provides a kind of overspeed of vehicle grasp shoot method, it is described
System includes laser ranging unit, data processing unit and snap unit；The described method includes:
Obtain the multiple groups ranging data in the received plane of scanning motion of the laser ranging unit；
The ranging data according to any one group, which obtains in the plane of scanning motion, vehicle region；
There are the quantity and the affiliated vehicle of each car in vehicle region comprising vehicle according to the calculating of the preset range in every lane
Road；
The travel speed of each car is calculated according to any two groups of ranging datas；
It is compared according to the travel speed of each car with the threshold speed, when there are Vehicle Speeds more than speed
When threshold value, the vehicle image information that the snap unit captures over-speed vehicles is triggered.
Optionally, the step of ranging data of the acquisition in the received plane of scanning motion of the laser ranging unit it
Before, which comprises
The laser ranging unit is sent out with what default scan frequency and default scanning angle rotated into the plane of scanning motion
Laser pulse is penetrated to obtain the multiple groups ranging data in the plane of scanning motion.
Optionally, the ranging data according to any one group, which obtains in the plane of scanning motion, the step of vehicle region
Include:
Obtain the abscissa and ordinate of each scanning element in every group of ranging data；
If the abscissa of all scanning elements is between the first abscissa and the second abscissa and there are multiple ordinate positions
There is vehicle to drive into the plane of scanning motion when between the first ordinate and the second ordinate；
The multiple ordinates and its abscissa extracted between first ordinate and second ordinate are formed
There is vehicle region.
Optionally, it is wrapped before described the step of obtaining the abscissa and ordinate of each scanning element in every group of ranging data
It includes:
Using laser ranging unit present position as coordinate origin, it is X-axis perpendicular to vehicle heading, is parallel to vehicle row
Sailing direction is that Y-axis establishes plane right-angle coordinate；
According to the default scanning angle of the laser ranging unit and each scanning element and the laser ranging unit
Distance determines the abscissa x and ordinate y of every group of ranging data.
Optionally, it is described according to the preset range in every lane calculate described in have quantity in vehicle region comprising vehicle and every
The step of vehicle affiliated lane includes:
There is the width D in vehicle region according to the abscissa x calculating for having vehicle zone boundary；
It is described to have vehicle region to there is simultaneously vehicle comprising more vehicles if the width D is more than width threshold value；
The boundary of two cars is determined according to the distance of abscissa x of two scanning elements of arbitrary neighborhood and the relationship of preset threshold
Place, to have vehicle fleet size in vehicle region described in acquisition；And it is true according to the abscissa of each car and the preset range in every lane
Determine the affiliated lane of each car.
Optionally, the step of travel speed of any two groups of ranging datas calculating each car of the basis includes:
Obtain the first ordinate and the first moment that measurement point is preset in first group of ranging data；
Obtain the second ordinate and the second moment that measurement point is preset in second group of ranging data；
According to first ordinate, second ordinate and first moment, second moment calculating
Speed, that is, vehicle travel speed of default measurement point.
Optionally, the method also includes:
Multiple travel speeds of each car are obtained to calculate the average overall travel speed of corresponding vehicle.
Optionally, when the system also includes storage unit, the method also includes:
The snap unit saves the vehicle image information captured to the storage unit.
Second aspect, the embodiment of the invention also provides a kind of overspeed of vehicle capturing system, the system comprises: Laser Measuring
Away from unit, data processing unit and snap unit；
The laser ranging unit, for preset scan frequency and the rotation of default scanning angle to the plane of scanning motion
Middle transmitting laser pulse, and the multiple groups ranging data for receiving echo information to be formed in the plane of scanning motion；
The data processing unit is connect with the laser ranging unit, for being obtained according to the multiple groups ranging data
The travel speed of the affiliated lane of vehicle and each car in the plane of scanning motion, and trigger signal is generated in overspeed of vehicle；
The snap unit is connect with the data processing unit, super for capturing when receiving the trigger signal
Fast vehicle forms vehicle image information.
Optionally, the system also includes storage unit, the storage unit comes from the snap unit institute for saving
The vehicle image information of candid photograph.
As shown from the above technical solution, the present invention emits laser pulse and basis to the plane of scanning motion using laser ranging unit
Echo information forms ranging data；Data processing unit according to multiple groups ranging data acquisition have vehicle region, according to have vehicle region with
And the estimation range in lane obtains the affiliated lane of quantity and each car of vehicle in vehicle region, then according to two groups of ranging datas
The travel speed of each car is calculated, and generates trigger signal when Vehicle Speed is more than threshold speed；Arrest unit root
The vehicle image information of over-speed vehicles is captured according to trigger signal.The present invention can accurately detect and the row of each car in the case of vehicle
Speed is sailed, detection accuracy is improved.Overspeed of vehicle capturing system provided by the invention is small in size, it may be convenient to carry, realize not
With the velocity measuring of position, systematic difference range is improved.
Detailed description of the invention
The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, and attached drawing is schematically without that should manage
Solution is carries out any restrictions to the present invention, in the accompanying drawings:
Fig. 1 is a kind of flow diagram for overspeed of vehicle grasp shoot method that one embodiment of the invention provides；
Fig. 2~Fig. 3 emits laser pulse schematic diagram to the plane of scanning motion for laser ranging unit；
Fig. 4 is and laser ranging unit to the plane of scanning motion emits laser pulse schematic diagram when vehicle；
Fig. 5 be another embodiment of the present invention provides a kind of overspeed of vehicle capturing system block diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of overspeed of vehicle grasp shoot methods to be applied to overspeed of vehicle capturing system, the system
Including laser ranging unit, data processing unit and snap unit.As shown in Figure 1, which comprises
S11, the multiple groups ranging data obtained in the received plane of scanning motion of the laser ranging unit；
S12, the ranging data according to any one group, which obtain in the plane of scanning motion, vehicle region；
S13, according to the preset range in every lane calculate described in have quantity and each car institute in vehicle region comprising vehicle
Belong to lane；
S14, the travel speed that each car is calculated according to any two groups of ranging datas；
S15, it is compared according to the travel speed of each car with the threshold speed, is more than when there are Vehicle Speeds
When threshold speed, the vehicle image information that the snap unit captures over-speed vehicles is triggered.
The present invention obtains ranging data using laser ranging unit, and data processing unit obtains each car in the plane of scanning motion
Travel speed, and trigger signal is generated when Vehicle Speed is more than threshold speed, it arrests unit and is grabbed according to trigger signal
Clap the vehicle image information of over-speed vehicles.The present invention can accurately detect and the travel speed of each car in the case of vehicle, improves
Detection accuracy.Overspeed of vehicle capturing system provided by the invention is small in size, it may be convenient to carry, realize the speed of different location
Detection improves systematic difference range.
Below with reference to embodiment and attached drawing to a kind of each step of overspeed of vehicle grasp shoot method provided in an embodiment of the present invention
Suddenly it is described in detail.
Firstly, introducing the multiple groups ranging data of S11, acquisition in the received plane of scanning motion of the laser ranging unit
Step.
It should be noted that the plane of scanning motion of laser ranging unit and the angle on road surface, as shown in angle theta in Fig. 2, and
The angle theta, which can according to need, to be adjusted.For example, the plane of scanning motion of laser ranging unit and road surface in one embodiment of the invention
In parallel.
Above-mentioned ranging data, refer to laser ranging unit with preset scan frequency and the rotation of default scanning angle to described
Emit laser pulse in the plane of scanning motion, laser pulse encounters the echo information formation ranging after the object in the plane of scanning motion
Data.I.e. the laser ranging unit then forms the complete ranging data of a frame for each revolution.
Laser ranging unit emits laser pulse into the plane of scanning motion in the embodiment of the present invention, is reflected by the object by detection
Time interval between echo information back and laser pulse determines the distance between laser ranging unit and object.Laser Measuring
It include rotating device away from unit, which emits in different directions under the driving of rotating device, detects to sweep
Retouch the distance between each scanning element and laser ranging unit in plane.Default scanning angle between adjacent two beams laser pulse
That is the angular resolution of laser ranging unit.The default scanning angle, which can according to need, to be adjusted.For example, the present invention is implemented
Above-mentioned default scan frequency is 50Hz in example, and presetting scanning angle is 0.25 °.
It should be noted that the angle of divergence very little of laser pulse, such as the angle of divergence is 10m rad in the embodiment of the present invention.
The ranging data that laser ranging unit will acquire passes through the wireless parties such as wired modes or WiFi, bluetooth such as cable
Formula sends data processing unit to.
Secondly, introducing S12, the ranging data according to any one group obtains the step for having vehicle region in the plane of scanning motion
Suddenly.
Before detection has vehicle region, plane right-angle coordinate is established.As shown in Fig. 2, with position locating for laser ranging unit
It is set to coordinate origin, is X-axis perpendicular to vehicle heading, being parallel to vehicle heading is that Y-axis establishes plane rectangular coordinates
System.Then, according to the default scanning angle of laser ranging unit and each scanning element at a distance from the laser ranging unit
The abscissa x and ordinate y for determining every group of ranging data, as following formula indicates:
In formula, r indicates the distance between scanning element and laser ranging unit；The current scan angle of θ expression laser pulse
With the angle of X-axis；X indicates scanning element and laser ranging unit perpendicular at a distance between direction of traffic；Y indicate scanning element with
The distance of laser ranging unit in the direction of travel.
In the embodiment of the present invention, data processing unit is according to the received multiple groups ranging number of laser ranging unit in step S11
The abscissa x and ordinate y of any one group of ranging data in；Then judge whether the abscissa x of all scanning elements is located at
One abscissa X ' and the second abscissa X " (the first abscissa X ' is less than the second abscissa X ").If the abscissa x of all scanning elements
Between the first abscissa X ' and the second abscissa X ", i.e. when X ' < x < X ", judge all scanning elements ordinate y whether position
In the first ordinate Y ' and the second ordinate Y " (the first ordinate Y ' is less than the second ordinate Y ").As shown in Fig. 2, working as no vehicle
When driving into the plane of scanning motion, no object blocks the laser pulse of laser ranging unit transmitting, therefore the scanning in X ' < x < X " range
The corresponding ordinate y of point is not centainly in Y ' < y < Y " range.Conversely, when there is vehicle to drive into the plane of scanning motion, X ' < x <
The corresponding ordinate y mono- of scanning element is positioned in Y ' < y < Y " range in X " range.Data processing unit can be extracted positioned at
Multiple ordinates and the corresponding abscissa of these ordinates between one ordinate and the second ordinate are formed with vehicle region.
Again, introduce S13, according to the preset range in every lane calculate described in have quantity in vehicle region comprising vehicle and
The step of each car affiliated lane.
It should be noted that postponing in laser ranging unit fixed bit, the corresponding preset range in every lane is then certain
's.For example, the preset range in first lane be (X ', X1], the preset range in Article 2 lane be (X1, X2] ... ..., N
The preset range in lane be (Xn-1, X "].
Data processing unit has vehicle region according to what step S12 was obtained, has the abscissa x of vehicle zone boundary can be with according to this
Calculate the width D for having vehicle region.When the width D is greater than the width threshold value D0 of vehicle, indicate exist simultaneously in vehicle region
Garage is (as shown in figure 4, i.e. more vehicles in synchronization moving side by side, have identical in above-mentioned plane right-angle coordinate
Abscissa x), need to there are more vehicles in vehicle region to separate at this time.
In the embodiment of the present invention, the angular resolution of laser ranging unit is smaller, i.e., the horizontal seat of two neighboring scanning element
It marks x and differs smaller, i.e., the distance of the abscissa x of two neighboring scanning element is no more than preset threshold.According to two neighboring scanning element
Abscissa x may determine that the boundary between two cars, i.e., be more than pre- according to the distance of the abscissa x of two neighboring scanning element
If being the boundary of two cars when threshold value.As shown in figure 4, scanning element K abscissa x corresponding with scanning element M is respectively x1 and x2,
It is to know that scanning element K and scanning element M is the separation of two cars, scanning element K and scanning element M since x1-x2 is greater than preset threshold
Between be two cars boundary.
Data processing unit can calculate the quantity of vehicle in vehicle region after getting the boundary of two cars,
Then the scanning element in each car can be obtained according to separation and the boundary for having vehicle region.Later, according to every lane
The scanning element of preset range and each car determines the affiliated lane of each car.
4th, the step of introducing S14, calculate the travel speed of each car according to any two groups of ranging datas.
Data processing unit is according to position of the vehicle same position in any two groups of ranging datas and two groups of ranging numbers
According to acquisition time can calculate the travel speed of each car.For example, as shown in Fig. 2, when there is vehicle to drive into the plane of scanning motion
When, the first ordinate Y1 of the corresponding vehicle headstock of the first moment T1 of record, as shown in figure 3, when vehicle drives into another location,
The second ordinate Y2 of the corresponding vehicle headstock of the second moment T2 is recorded, then the travel speed of vehicle are as follows:
It should be noted that above-mentioned travel speed is the instantaneous velocity of vehicle, it is provided by the invention to improve computational accuracy
Overspeed of vehicle grasp shoot method further include:
Multiple travel speeds of each car are obtained to calculate the average overall travel speed of corresponding vehicle, it may be assumed that
In formula, V1, V2 ..., Vn respectively indicate the instantaneous velocity that n-th measures, n is non-zero sequence natural number.
Finally, introducing S15, being compared according to the travel speed of each car with the threshold speed, when there are vehicle rows
When sailing speed more than threshold speed, the step of snap unit captures the vehicle image information of over-speed vehicles is triggered.
Data processing unit is compared according to the travel speed of the step S14 each car calculated with threshold speed.When having
When the travel speed of vehicle is more than above-mentioned threshold speed, generates trigger signal and be sent to snap unit.By snap unit to hypervelocity
Vehicle captured, obtain its vehicle image information.
When overspeed of vehicle capturing system includes storage unit, snap unit by the vehicle image information captured save to
The storage unit.
Second aspect, the embodiment of the invention also provides a kind of overspeed of vehicle capturing systems, as shown in figure 5, the system
It include: laser ranging unit M11, data processing unit M12 and snap unit M13.Wherein,
Laser ranging unit M11, for preset scan frequency and the rotation of default scanning angle to the plane of scanning motion
Middle transmitting laser pulse, and the multiple groups ranging data for receiving echo information to be formed in the plane of scanning motion；
Data processing unit M12 is connect with laser ranging unit M11, for obtaining institute according to the multiple groups ranging data
The travel speed of the affiliated lane of vehicle in the plane of scanning motion and each car is stated, and generates trigger signal in overspeed of vehicle；
Snap unit M13 is connect with data processing unit M12, for capturing hypervelocity when receiving the trigger signal
Vehicle forms vehicle image information.
Optionally, overspeed of vehicle capturing system provided in an embodiment of the present invention further includes storage unit M14, and storage unit is used
In the vehicle image information that preservation is captured from the snap unit.
It should be noted that side of the above-mentioned data processing unit M12 for realizing step S12~S15 in a upper embodiment
Case please refers to above content, and details are not described herein.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.Term " on ", "lower" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In specification of the invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into a single embodiment, figure, or description thereof sometimes.However, should not be by the method solution of the disclosure
Release is in reflect an intention that i.e. the claimed invention requires more than feature expressly recited in each claim
More features.More precisely, as the following claims reflect, inventive aspect is less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment,
It is wherein each that the claims themselves are regarded as separate embodiments of the invention.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (9)
1. a kind of overspeed of vehicle grasp shoot method, which is characterized in that be applied to overspeed of vehicle capturing system, the system comprises laser
Distance measuring unit, data processing unit and snap unit；The laser ranging unit plane of scanning motion is come from the described method includes: obtaining
Interior multiple groups ranging data；
The ranging data according to any one group, which obtains in the plane of scanning motion, vehicle region；
There are quantity and the affiliated lane of each car in vehicle region comprising vehicle according to the calculating of the preset range in every lane；
The travel speed of each car is calculated according to any two groups of ranging datas；
It is compared according to the travel speed of each car with the threshold speed, when there are Vehicle Speeds more than threshold speed
When, trigger the vehicle image information that the snap unit captures over-speed vehicles；
The quantity and the affiliated vehicle of each car having in vehicle region comprising vehicle according to the calculating of the preset range in every lane
The step of road includes:
There is the width D in vehicle region according to the abscissa x calculating for having vehicle zone boundary；
It is described to have vehicle region to there is simultaneously vehicle comprising more vehicles if the width D is more than width threshold value；
The boundary of two cars is determined according to the distance of abscissa x of two scanning elements of arbitrary neighborhood and the relationship of preset threshold,
To have vehicle fleet size in vehicle region described in acquisition；And it is determined often according to the abscissa of each car and the preset range in every lane
The affiliated lane of vehicle.
2. overspeed of vehicle grasp shoot method according to claim 1, which is characterized in that described obtain comes from the laser ranging
Before the step of ranging data in unit scan plane, which comprises
The laser ranging unit is swashed with presetting scan frequency and emitting into the plane of scanning motion for default scanning angle rotation
Light pulse is to obtain the multiple groups ranging data in the plane of scanning motion.
3. overspeed of vehicle grasp shoot method according to claim 1 or 2, which is characterized in that described according to any one group
Ranging data obtains in the plane of scanning motion
Obtain the abscissa and ordinate of each scanning element in every group of ranging data；
If the abscissa of all scanning elements is between the first abscissa and the second abscissa and there are multiple ordinates to be located at the
There is vehicle to drive into the plane of scanning motion when between one ordinate and the second ordinate.
4. overspeed of vehicle grasp shoot method according to claim 3, which is characterized in that every in every group of ranging data of the acquisition
Include: before the step of abscissa and ordinate of a scanning element
Using laser ranging unit present position as coordinate origin, it is X-axis perpendicular to vehicle heading, is parallel to vehicle driving side
Plane right-angle coordinate is established to for Y-axis；
According to the default scanning angle of the laser ranging unit and each scanning element at a distance from the laser ranging unit
Determine the abscissa x and ordinate y of every group of ranging data.
5. overspeed of vehicle grasp shoot method according to claim 1, which is characterized in that any two groups of ranging datas of basis
Calculate each car travel speed the step of include:
Obtain the first ordinate and the first moment that measurement point is preset in first group of ranging data；
Obtain the second ordinate and the second moment that measurement point is preset in second group of ranging data；
It is calculated according to first ordinate, second ordinate and first moment, second moment described default
Speed, that is, vehicle travel speed of measurement point.
6. overspeed of vehicle grasp shoot method according to claim 5, which is characterized in that the method also includes:
Multiple travel speeds of each car are obtained to calculate the average overall travel speed of corresponding vehicle.
7. overspeed of vehicle grasp shoot method according to any one of claim 4 to 6, which is characterized in that when the system is also wrapped
When including storage unit, the method also includes:
The snap unit saves the vehicle image information captured to the storage unit.
8. a kind of overspeed of vehicle capturing system, which is characterized in that the system comprises: laser ranging unit, data processing unit
And snap unit；
The laser ranging unit is sent out for what is rotated with default scan frequency and default scanning angle into the plane of scanning motion
The multiple groups ranging data penetrated laser pulse, and receive echo information to be formed in the plane of scanning motion；
The data processing unit is connect with the laser ranging unit, for according to multiple groups ranging data acquisition
The travel speed of the affiliated lane of vehicle and each car in the plane of scanning motion, and trigger signal is generated in overspeed of vehicle；
The snap unit is connect with the data processing unit, for capturing hypervelocity vehicle when receiving the trigger signal
Formed vehicle image information；
The data processing unit, is specifically used for:
Obtain the multiple groups ranging data in the laser ranging unit plane of scanning motion；
The ranging data according to any one group, which obtains in the plane of scanning motion, vehicle region；
There are quantity and the affiliated lane of each car in vehicle region comprising vehicle according to the calculating of the preset range in every lane；
The travel speed of each car is calculated according to any two groups of ranging datas；
It is compared according to the travel speed of each car with the threshold speed, when there are Vehicle Speeds more than threshold speed
When, trigger the vehicle image information that the snap unit captures over-speed vehicles；
The quantity and the affiliated vehicle of each car having in vehicle region comprising vehicle according to the calculating of the preset range in every lane
The step of road includes:
There is the width D in vehicle region according to the abscissa x calculating for having vehicle zone boundary；
It is described to have vehicle region to there is simultaneously vehicle comprising more vehicles if the width D is more than width threshold value；
The boundary of two cars is determined according to the distance of abscissa x of two scanning elements of arbitrary neighborhood and the relationship of preset threshold,
To have vehicle fleet size in vehicle region described in acquisition；And it is determined often according to the abscissa of each car and the preset range in every lane
The affiliated lane of vehicle.
9. overspeed of vehicle capturing system according to claim 8, which is characterized in that the system also includes storage unit,
The storage unit is for saving the vehicle image information captured from the snap unit.
Priority Applications (1)
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| CN107369324A (en) * | 2017-09-11 | 2017-11-21 | 安徽实运信息科技有限责任公司 | A kind of overspeed of vehicle on highway monitoring system |
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| CN107705563B (en) * | 2017-11-28 | 2020-01-31 | 苏州大学 | Laser radar-based continuous vehicle speed detection method |
| CN109615875B (en) * | 2019-01-30 | 2024-01-26 | 南京纳尼亚科技有限公司 | Highway driving safety guidance system based on lane level |
| CN109979204A (en) * | 2019-04-02 | 2019-07-05 | 浙江多普勒环保科技有限公司 | Light cuts multilane speed and acceleration detecting and its method |
| CN110189424B (en) * | 2019-05-27 | 2022-01-11 | 武汉万集信息技术有限公司 | Multi-lane free flow vehicle detection method and system based on multi-target radar |
| CN111127877A (en) * | 2019-11-19 | 2020-05-08 | 华为技术有限公司 | Road condition information monitoring method and device |
| CN112102626A (en) * | 2020-09-08 | 2020-12-18 | 哈尔滨市科佳通用机电股份有限公司 | System and method for measuring real-time running speed of vehicle |
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