CN110673127A - Method and system for distinguishing moving objects in mixed scene - Google Patents
Method and system for distinguishing moving objects in mixed scene Download PDFInfo
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Abstract
A method for distinguishing moving objects in a mixed scene utilizes a Doppler microwave radar sensor to detect the motion information of pedestrians and vehicles on a road, and simultaneously utilizes a geomagnetic sensor to detect the magnetic field information of a road area by combining the change of a surrounding magnetic field caused by the movement of the vehicles, thereby effectively distinguishing the pedestrians and the vehicles; the method comprises the following steps that a magnetic field of a current area of a road is obviously changed in the driving process of the vehicle on the road, a geomagnetic sensor continuously monitors the change condition of the magnetic field of the road, a control module processes geomagnetic information collected by the geomagnetic sensor and analyzes an algorithm, whether vehicles pass through the current area of the road can be accurately judged in time, and whether pedestrians and vehicles pass through the current area can be effectively judged by combining a detection result of a microwave radar; the method effectively solves the problems of high misjudgment rate and the like existing in the detection of the road pedestrian by using the Doppler microwave radar sensor singly, thereby improving the accuracy of the detection of the road pedestrian and enabling the system to be simpler and more efficient.
Description
Technical Field
The invention belongs to the technical field of road pedestrian detection, and particularly relates to a distinguishing method for distinguishing moving objects in a mixed scene.
Background
The increasing automobile holding amount causes increasingly severe traffic problems, the operation efficiency of a traffic system is reduced, traffic safety is great, environmental pollution is serious, resource consumption is aggravated, and the sustainable high-speed development of the economic society is seriously hindered. The unmanned technology can greatly improve the problems as a strategic direction for the development of the future automobile industry. Meanwhile, the intelligent road is used as a key part for constructing a person, vehicle, road and network cooperative comprehensive perception body, can capture energy and improve efficiency with an intelligent driving technology, powerfully supports automatic driving application, and promotes traffic intelligent construction. Pedestrian detects as the important component part of wisdom highway, and the wide application is in fields such as intelligent driver assistance, intelligent monitoring, pedestrian analysis. However, in an urban road scene, the environment is complex and changeable, buildings are densely erected, the crowd flowing density is high, real-time and accurate pedestrian target detection and danger avoidance are difficult to achieve, potential challenges existing in pedestrian detection need to be deeply discussed, and the safety requirement of intelligent development of a traffic network is met by designing a pedestrian detection method with strong adaptability.
Most of the existing pedestrian detection methods adopt traffic monitoring equipment to carry out regional detection, such as urban crossroads, two ends of zebra crossings and the like. However, most accidents occur not only at intersections, but also at middle roads, non-light-controlled intersections with restricted driver sight, and the like, which are frequent places of accidents. In addition, most of the existing detection equipment is based on machine vision, is expensive and difficult to deploy in a large scale, and greatly reduces the applicability and permeability of the equipment.
A pedestrian and vehicle distinguishing method based on infrared images provides an automatic pedestrian and vehicle extraction algorithm aiming at the characteristics of an infrared image and mobile measurement system. Firstly, an infrared image is segmented, then segmentation results are classified according to the measurement degrees of temperature, length-width ratio, compactness and the like, pedestrian and vehicle regions are obtained, finally, the characteristics of the pedestrians and the vehicles on the infrared influence are respectively analyzed, and the two types are distinguished by utilizing the characteristics (see fig. 3).
This method has the following disadvantages: 1) the influence of illumination and weather is large, and the robustness to various environments is poor; 2) the system has complex structure and high cost, and is not suitable for large-scale deployment and use; 3) the technology must use infrared rays emitted by an infrared lamp, and thermal imaging requires the temperature of an object and the intensity of the infrared rays, so that the technology cannot adapt to the monitoring requirements of different environments; 4) thermal imaging is unclear, the induction to the surrounding environment is not strong, and the infrared lamp is fragile, needs short-term maintenance to change, and cost is high.
A ground distinguishing method for distinguishing the passing of vehicles and pedestrians is characterized in that a keyboard array unit laid on the ground of a position to be detected is used for acquiring the state of a keyboard array when an object passes, and the keyboard array is a vector V (m, n); detecting the state of a row array in a keyboard array, wherein a conducting mark is 1, a non-conducting mark is 0, and recording an array { Ma }; detecting the state of a column array in a keyboard array, wherein a conducting mark is 1, a non-conducting mark is 0, and recording an array { Nb }; extracting and merging the arrays { Ma } and { Nb } to form a vector V (m, n); the vector V (m, n) is analyzed and a recognition determination is made of the passage of vehicles and pedestrians.
This method has the following disadvantages: 1) the deployment scene is limited, the method is suitable for the deployment of small-area areas such as parking lots and the like, and is not suitable for the detection of vehicles and pedestrians in roads; 2) the misjudgment rate of the vehicle is high, the vehicle can be judged only by the continuous point array, and the judgment on the vehicle is not accurate enough; 3) the number of sensors of a single system is large, and the unstable factors of the system are high.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a method and a system for distinguishing moving objects in a mixed scene, which not only have high distinguishing efficiency for pedestrians and vehicles, but also have strong applicability, solve the problems of high equipment cost and complex system in the existing detection method, reduce the cost of detection by using low-cost equipment, and expand a detection area and improve the accuracy of detection by deploying the equipment in a large scale.
In order to achieve the purpose, the invention adopts the technical scheme that: a method of distinguishing moving objects in a hybrid scene, comprising the steps of:
step 1, deploying a combined module of a Doppler microwave radar sensor and a geomagnetic sensor on the surface, the edge and the side line position of each lane, ensuring that each detection module is deployed at equal intervals and each sensor has no detection blind area in the deployment process;
step 2, when a vehicle passes through the road or a pedestrian breaks into the motorway, the sensor combination module deployed on the road surface collects the motion information of the vehicle or the pedestrian and transmits the information to the central control unit;
step 3, the central control unit firstly processes a detection signal of the Doppler microwave radar sensor, the Doppler microwave radar sensor transmits the detection signal to the central control unit through the rear-end circuit, and the central control unit judges whether a pedestrian or a vehicle passes through the central control unit by acquiring the Doppler signal frequency in the detection signal; when the pedestrian or the vehicle passes through the judgment, the next processing process is carried out;
step 4, the central control unit processes detection signals of the geomagnetic sensor, the geomagnetic sensor is connected with the central control unit in a serial communication mode, and can acquire three-dimensional geomagnetic field information which is respectively expressed as geomagnetic data of x, y and z axes; the central control unit acquires the three-axis geomagnetic field data and judges whether the current data has obvious fluctuation or not by a difference method; when the data has obvious fluctuation, judging that a vehicle passes through the data currently, or judging that no vehicle passes through the data not;
step 5, combining the current processing result of the detection signals of the Doppler microwave radar sensor, the central control unit judges whether pedestrians or vehicles pass through at present; when the Doppler signal frequency judgment result indicates that a vehicle or a pedestrian passes through the Doppler signal frequency judgment device and the geomagnetic signal indicates that the vehicle passes through the Doppler signal frequency judgment device, the current processing result is judged that the vehicle passes through the geomagnetic signal frequency judgment device; when the Doppler signal frequency judgment result indicates that a vehicle or a pedestrian passes through but the geomagnetic signal shows that no vehicle passes through, the current processing result judges that a pedestrian passes through; otherwise, judging that no pedestrian or vehicle passes through the result;
and 6, the central control unit generates a judgment result and carries out subsequent processing.
The system for distinguishing the moving objects in the mixed scene comprises a Doppler microwave radar sensor and a geomagnetic sensor which are arranged on the surface, the edge and the side line position of each lane of the road; the Doppler microwave radar sensor is connected with the central control unit through the operational wave amplifier; the geomagnetic sensor is also connected with the central control unit.
The invention has the beneficial effects that:
the Doppler microwave radar sensor adopted by the invention is a moving object detection sensor adopting Doppler effect. The device is suitable for acquiring signals when people or objects move. The three-dimensional range is mainly non-contact, is not influenced by weather conditions and is easy to conceal.
The geomagnetic sensor adopts Faraday's law of electromagnetic induction, i.e., the principle that a coil cuts magnetic lines of force of a geomagnetic field to generate induced electromotive force, has the advantages of small volume, light weight, low power consumption, high measurement precision, easiness in computer connection, no influence of weather and the like, and is widely applied. In the method, the geomagnetic sensor module works as a discriminator of the vehicle, and when the vehicle passes through the road, the magnetic field of the monitoring point area can obviously change. The geomagnetic module can effectively identify the change, the detected data are transmitted to the control center, and the control center can accurately judge the passing of the vehicle through processing, so that the vehicle and the pedestrian can be effectively distinguished, and the accuracy of system detection is improved.
The method adopts the Doppler microwave radar which is small in size and low in price to detect the moving condition of the vehicle and the abnormal passing behavior of the pedestrian, simultaneously utilizes the geomagnetic sensor to collect the passing information of the vehicle, can effectively distinguish the pedestrian from the vehicle through the processing and analysis of the central control unit, and can effectively avoid traffic accidents through early warning and reminding. By adopting the method, the road safety factor can be improved, the driving safety is improved, the system utility is optimized, the construction development of the intelligent road is promoted, a new industry is developed, and the national economy development is promoted.
The method is mainly used for distinguishing the vehicles and the pedestrians in the road. In the method, the combined modules of the Doppler microwave radar and the geomagnetic sensor are arranged on the road surface, the road edge and the like in a large quantity, when pedestrians and vehicles pass by, the Doppler microwave radar sensor can identify the movement information of the pedestrians and the vehicles, meanwhile, the geomagnetic sensor collects the geomagnetic information of monitoring points, whether the vehicles pass by is judged, and the pedestrians and the vehicles can be effectively distinguished through the cooperation of the pedestrians and the vehicles. Compared with other detection methods, the method disclosed by the invention further has the following advantages:
1) the Doppler microwave radar is used for accurately detecting the motion information of the pedestrians and the vehicles, and the method has the characteristics of high sensitivity, high flexibility, low cost and the like;
2) the geomagnetic sensor is used for detecting the passing information of the vehicle, and the geomagnetic sensor has the characteristics of small volume, light weight, low power consumption, high measurement precision and the like;
3) the method is not influenced by temperature, humidity, noise, airflow, dust, light and the like, and has high robustness to severe environment;
4) compared with the prior art, the method has the advantages that the microwave radar and the geomagnetic sensor are used for distinguishing the vehicles and the pedestrians, and the method is small in size, convenient to install, simple in system structure and low in cost;
the combined module of a large number of microwave radars and the geomagnetic sensor is deployed on the road surface, the edge of the road and the like to distinguish the vehicles and the pedestrians, is wide in applicable scene, is not limited to certain specific scenes, is suitable for the positions of urban roads, provincial roads, town roads and the like, can be used for the scene that vehicles and pedestrians are mixed in large parking lots and the like, can effectively distinguish the pedestrians and the vehicles, and is high in detection accuracy.
Compared with the prior art, the combined module of the Doppler microwave radar sensor and the geomagnetic sensor is used for distinguishing pedestrians and vehicles on a road for the first time. The system has simple structure, stable performance and high discrimination accuracy. The device in the method comprises a Doppler microwave radar sensor, a geomagnetic sensor, a central control unit and a corresponding peripheral circuit. The invention realizes the overall targets of low power consumption, low cost, high reliability and strong applicability, realizes the intelligent and informatization construction of a deployment area, is suitable for the construction of an intelligent road, and plays a vital role in assisting the unmanned driving safety.
Drawings
FIG. 1 is a flow chart of the present invention.
FIG. 2 is a schematic view of the detection system of the present invention.
Fig. 3 is a flowchart illustrating a pedestrian and vehicle extraction process based on infrared images in the prior art.
FIG. 4 is a diagram illustrating a first scenario in the method of the present invention.
FIG. 5 is a diagram illustrating scenario two of the method of the present invention.
Fig. 6 is a schematic diagram of scenario three in the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention is mainly used for distinguishing pedestrians and vehicles in the road. In the invention, by deploying a large number of combined modules of Doppler microwave radar sensors and geomagnetic sensors in a road, when a vehicle or a pedestrian passes by, the current moving object is distinguished to be a pedestrian or a vehicle through the detection of the sensors and the processing of a central control unit;
the invention provides a method for distinguishing pedestrians and vehicles in a mixed road environment in which pedestrians and vehicles coexist, which utilizes a Doppler microwave radar sensor to detect the motion information of the pedestrians and vehicles on the road, and utilizes a geomagnetic sensor to detect the magnetic field information of a road area so as to effectively distinguish the pedestrians and the vehicles by combining the change of the ambient magnetic field caused by the movement of the vehicles; the method comprises the following steps that a magnetic field of a current area of a road is obviously changed in the driving process of the vehicle on the road, a geomagnetic sensor continuously monitors the change condition of the magnetic field of the road, a control module processes geomagnetic information collected by the geomagnetic sensor and analyzes an algorithm, whether vehicles pass through the current area of the road can be accurately judged in time, and whether pedestrians and vehicles pass through the current area can be effectively judged by combining a detection result of a microwave radar; the method effectively solves the problems of high misjudgment rate and the like existing in the detection of the road pedestrian by using the Doppler microwave radar sensor singly, thereby improving the accuracy of the detection of the road pedestrian and enabling the system to be simpler and more efficient.
Referring to fig. 1, 4, 5 and 6, a method for distinguishing moving objects in a hybrid scene includes the following steps:
step 1, deploying a combined module of a Doppler microwave radar sensor and a geomagnetic sensor on the surface, the edge and the side line position of each lane, ensuring that each detection module is deployed at equal intervals and each sensor has no detection blind area in the deployment process;
step 2, when a vehicle passes through the road or a pedestrian breaks into the motorway, the sensor combination module deployed on the road surface collects the motion information of the vehicle or the pedestrian and transmits the information to the central control unit;
step 3, the central control unit firstly processes a detection signal of the Doppler microwave radar sensor, the Doppler microwave radar sensor transmits the detection signal to the central control unit through the rear-end circuit, and the central control unit judges whether a pedestrian or a vehicle passes through the central control unit by acquiring the Doppler signal frequency in the detection signal; when the pedestrian or the vehicle passes through the judgment, the next processing process is carried out;
step 4, the central control unit processes detection signals of the geomagnetic sensor, the geomagnetic sensor is connected with the central control unit in a serial communication mode, and can acquire three-dimensional geomagnetic field information which is respectively expressed as geomagnetic data of x, y and z axes; the central control unit acquires the three-axis geomagnetic field data and judges whether the current data has obvious fluctuation or not by a difference method; when the data has obvious fluctuation, judging that a vehicle passes through the data currently, or judging that no vehicle passes through the data not;
step 5, combining the current processing result of the detection signals of the Doppler microwave radar sensor, the central control unit judges whether pedestrians or vehicles pass through at present; when the Doppler signal frequency judgment result indicates that a vehicle or a pedestrian passes through the Doppler signal frequency judgment device and the geomagnetic signal indicates that the vehicle passes through the Doppler signal frequency judgment device, the current processing result is judged that the vehicle passes through the geomagnetic signal frequency judgment device; when the Doppler signal frequency judgment result indicates that a vehicle or a pedestrian passes through but the geomagnetic signal shows that no vehicle passes through, the current processing result judges that a pedestrian passes through; otherwise, judging that no pedestrian or vehicle passes through the result;
and 6, the central control unit generates a judgment result and carries out subsequent processing.
Referring to fig. 2, the detection system for distinguishing moving objects in a hybrid scene includes doppler microwave radar sensors and geomagnetic sensors disposed on the road surface, the edge, and the side line of each lane; the Doppler microwave radar sensor is connected with the central control unit through the operational wave amplifier; the geomagnetic sensor is also connected with the central control unit.
Claims (2)
1. A method for distinguishing moving objects in a hybrid scene, comprising the steps of:
step 1, deploying a combined module of a Doppler microwave radar sensor and a geomagnetic sensor on the surface, the edge and the side line position of each lane, ensuring that each detection module is deployed at equal intervals and each sensor has no detection blind area in the deployment process;
step 2, when a vehicle passes through the road or a pedestrian breaks into the motorway, the sensor combination module deployed on the road surface collects the motion information of the vehicle or the pedestrian and transmits the information to the central control unit;
step 3, the central control unit firstly processes a detection signal of the Doppler microwave radar sensor, the Doppler microwave radar sensor transmits the detection signal to the central control unit through the rear-end circuit, and the central control unit judges whether a pedestrian or a vehicle passes through the central control unit by acquiring the Doppler signal frequency in the detection signal; when the pedestrian or the vehicle passes through the judgment, the next processing process is carried out;
step 4, the central control unit processes detection signals of the geomagnetic sensor, the geomagnetic sensor is connected with the central control unit in a serial communication mode, and can acquire three-dimensional geomagnetic field information which is respectively expressed as geomagnetic data of x, y and z axes; the central control unit acquires the three-axis geomagnetic field data and judges whether the current data has obvious fluctuation or not by a difference method; when the data has obvious fluctuation, judging that a vehicle passes through the data currently, or judging that no vehicle passes through the data not;
step 5, combining the current processing result of the detection signals of the Doppler microwave radar sensor, the central control unit judges whether pedestrians or vehicles pass through at present; when the Doppler signal frequency judgment result indicates that a vehicle or a pedestrian passes through the Doppler signal frequency judgment device and the geomagnetic signal indicates that the vehicle passes through the Doppler signal frequency judgment device, the current processing result is judged that the vehicle passes through the geomagnetic signal frequency judgment device; when the Doppler signal frequency judgment result indicates that a vehicle or a pedestrian passes through but the geomagnetic signal shows that no vehicle passes through, the current processing result judges that a pedestrian passes through; otherwise, judging that no pedestrian or vehicle passes through the result;
and 6, the central control unit generates a judgment result and carries out subsequent processing.
2. The system for distinguishing the moving objects in the mixed scene is characterized by comprising Doppler microwave radar sensors and geomagnetic sensors, wherein the Doppler microwave radar sensors and the geomagnetic sensors are arranged on the surface, the edge and the side line positions of each lane; the Doppler microwave radar sensor is connected with the central control unit through the operational wave amplifier; the geomagnetic sensor is also connected with the central control unit.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111551937A (en) * | 2020-05-18 | 2020-08-18 | 西安电子科技大学 | Vehicle speed detection system applying double-Doppler microwave radar sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109444872A (en) * | 2018-11-01 | 2019-03-08 | 深圳市戴升智能科技有限公司 | The differentiating method of pedestrian and vehicle, device, computer equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109444872A (en) * | 2018-11-01 | 2019-03-08 | 深圳市戴升智能科技有限公司 | The differentiating method of pedestrian and vehicle, device, computer equipment and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111551937A (en) * | 2020-05-18 | 2020-08-18 | 西安电子科技大学 | Vehicle speed detection system applying double-Doppler microwave radar sensor |
| CN111551937B (en) * | 2020-05-18 | 2023-03-24 | 西安电子科技大学 | Vehicle speed detection system applying double-Doppler microwave radar sensor |
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