CN111928795B - Tractor and trailer overall dimension parameter integrated measurement method - Google Patents
Tractor and trailer overall dimension parameter integrated measurement method Download PDFInfo
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- CN111928795B CN111928795B CN202010921233.0A CN202010921233A CN111928795B CN 111928795 B CN111928795 B CN 111928795B CN 202010921233 A CN202010921233 A CN 202010921233A CN 111928795 B CN111928795 B CN 111928795B
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Abstract
The invention provides a method for measuring overall dimension parameters of a tractor and a trailer in a batch manner. Firstly, acquiring integrated three-dimensional point cloud data of a tractor and a trailer combination, and eliminating an interference area at a connection part; secondly, calculating a key position of the head of the trailer and a key position of the tail of the tractor; then, point cloud data of the tractor and the trailer are segmented and extracted from the finished vehicle point cloud data; and finally, calculating the extracted tractor point cloud data and trailer point cloud data respectively to obtain the overall dimension parameter of the tractor and the overall dimension parameter of the trailer. The invention can respectively measure the outline dimension parameters of the tractor and the trailer under the condition that the tractor and the trailer combination only passes through the outline dimension measuring area once, and completely meets the requirement of ' when the motor vehicle is used for safety inspection, the tractor and the trailer are combined into a train for inspection together ' in mandatory national standard of motor vehicle safety technical inspection projects and methods '.
Description
Technical Field
The invention belongs to the field of automatic detection of vehicle overall dimensions, and particularly relates to a method for measuring overall dimension parameters of a tractor and a trailer in a batch manner.
Background
The national market supervision and administration bureau and the national standards administration committee of China approve and issue GB38900-2020 mandatory national standards of automobile safety technology inspection items and methods in 26.5.2020, and the standards are formally implemented in 1.1.2021 instead of the GB21861-2014 standards of automobile safety technology inspection items and methods and the GB18565-2016 standards of road transport vehicle comprehensive performance requirements and inspection methods. In GB38900-2020, a requirement "during safety inspection of motor vehicles, the tractor and the trailer should be combined to a train for inspection at the same time" is newly added to the measurement of the overall dimensions, i.e. the overall dimensions of the tractor and the trailer are measured separately only once through the overall dimensions measurement area.
The conventional automatic measuring equipment for the overall dimension of the vehicle in the market can only measure the overall dimension parameters of the trailer under the condition of tractor and trailer combination, and cannot respectively and accurately measure the overall dimension parameters of the tractor and the trailer under the condition that the tractor and the trailer are combined and only pass through an overall dimension measuring area once. The system for automatically measuring the outline and the wheel base of the trailer is characterized by comprising a detection channel, a near-end arch frame, a far-end arch frame, a distance measuring unit, a vehicle length measuring unit, a vehicle height measuring unit, a wheel base measuring unit, a vehicle width measuring unit and a processing unit. The invention patent (application number: 201711123338.6, name: a trailer contour dimension measuring method, device and system) provides a trailer contour dimension measuring method which can measure at least one parameter of the length of a bin fence type trailer, the pin shaft distance and the height of a breast board. The invention provides an automatic detection method for the outer contour dimension of a semitrailer (application number: 201510666390.0, name: the automatic detection method for the outer contour dimension of the semitrailer), which can automatically measure the length, the width, the height and the wheelbase of the semitrailer after a vehicle passes through a detection device at a low speed. The invention patent (application number: 201910515239.5, name: a head-mounted integrated semitrailer contour parameter measuring method based on the laser radar) provides a head-mounted integrated semitrailer contour parameter measuring method based on the laser radar, which can remarkably improve the efficiency of semitrailer contour parameter measuring work.
The method cannot simultaneously measure the overall dimension parameter of the tractor and the overall dimension parameter of the trailer under the condition that the tractor and the trailer are combined and only pass through the overall dimension measuring area once, namely, the method cannot meet the requirement of 'the motor vehicle safety inspection, the tractor and the trailer are combined into a motor train for inspection together' in GB 38900-2020.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a tractor and trailer overall dimension parameter integrated measurement method, which can be used for respectively measuring the overall dimension parameters of a tractor and a trailer under the condition that the tractor and trailer combination only passes through an overall dimension measurement area once without measuring the overall dimension parameters of the tractor and the trailer for multiple times, and completely meets the requirement of 'the vehicle and train integrated inspection when a motor vehicle is used for safety inspection' in GB 38900-2020.
The invention comprises the following steps:
step 1: and extracting integral three-dimensional point cloud data of the traction head and the trailer combination.
Step 2: the method comprises the following steps of removing interference areas at the joint of a tractor and a trailer:
step 2.1: finding out the leftmost coordinate point in the three-dimensional point cloud data of the whole vehicle, wherein the horizontal distance between the leftmost coordinate point and the lane line on the left side is xleft(ii) a Finding out the rightmost coordinate point in the three-dimensional point cloud data of the whole vehicle, wherein the horizontal distance between the coordinate point and the lane line on the left side is xright(ii) a The horizontal distance x between the central axis of the vehicle and the left lane linemiddleThe calculation formula of (2) is as follows:
xmiddle＝(xleft+xright)/2 (1)
step 2.2: horizontal distance x between the three-dimensional point cloud data of the whole vehicle and the lane line on the left side is eliminatediSatisfy xmiddle-△x/2<xi<xmiddleAnd a coordinate point of +/-Deltax/2, wherein Deltax is a width value of the interference area preset according to experience.
And step 3: and calculating the key position of the trailer head.
After the tractor and the trailer are combined, the height values of different parts of the vehicle are observed from the head of the tractor to the tail of the trailer from a side view, and the characteristic is obvious. The height of the tractor cab is obviously reduced to the connection part of the tractor and the trailer, the height of the connection part of the tractor and the trailer is obviously increased to the trailer head, and most of tractors and trailers are combined to form the tractor trailer. The process is as follows:
step 3.1: regarding coordinate points with the same horizontal distance from the coordinate point at the forefront of the tractor head as one frame of point cloud data fiThe height value h of each frame of point cloud data is calculated from the head of the tractor to the tail of the tractorimaxI.e. the maximum value of the coordinate point in each frame of point cloud data in the height perpendicular to the ground.
Step 3.2: sequentially traversing the height value h of each frame of point cloud data from the head of the tractor to the tail of the trailerimaxIf h is(i-2)max-himax>△h1∧h(i-1)max-h(i+1)max>△h1Then, the position of the frame is determined as the position where the height is obviously reduced, Δ h1A threshold value for the height significant drop value that is preset empirically.
Step 3.3: traversing the height value h of each frame of point cloud data from the position where the height value obviously descends found in the step 3.2 to the trailer tail directioniIf h isimax-h(i-2)max>△h2∧h(i+1)max-h(i-1)max>△h2And judging that the position of the frame is the position where the height value obviously rises, wherein the position is the key position of the trailer head. Delta h2Is a threshold value of a height significant rise value preset empirically.
And 4, step 4: and calculating the key position of the tail of the tractor. After the tractor is connected with the trailer, there is obvious clearance between the tractor rear of a vehicle and the trailer main part, this is because not rigid connection between tractor and the trailer, need leave the space for controllable relative motion between tractor and the trailer under the circumstances such as vehicle turn, all has this characteristic after tractor and straight beam formula trailer, gooseneck formula trailer or other arbitrary type trailer combination. And the obvious gap is the maximum value of the lengths of all gaps of the tractor and trailer combination in a specific height interval, and the specific height interval is called a judgment interval. Based on the characteristics, the key position of the tail of the tractor can be found out. The process is as follows:
step 4.1: and 4, calculating the upper and lower boundaries of the judgment interval in the step 4. Traversing each frame of point cloud data from the position where the height value obviously drops to the trailer tail direction, and calculating the lowest height value h of each frame of point cloud dataimin. The set H of the lowest height values of all the point cloud data frames from the height value obvious drop position to the height value obvious rise position can be obtainedminSimilarly, a set H of the highest height values of all the point cloud data frames from the height value obvious drop position to the height value obvious rise position can be obtainedmax. Calculate HminMaximum and H in the setmaxThe average of the minimum values in the set is denoted as hmean，hmeanI.e. the lower bound of the decision interval. The maximum value of the height values of all point cloud data frame height values from the position where the height value obviously rises to the tail of the trailer can be obtained from the step 3.3 and is recorded as hmax，hmaxI.e. the upper bound of the decision interval.
Step 4.2: and 4, calculating the length of each gap in the judgment section in the step 4. Traversing each frame of point cloud data from the position where the height value obviously rises to the trailer tail direction, and calculating the lowest height value h of each frame of point cloud datatimin. The set H of the lowest height values of all point cloud data frames from the position where the height value obviously rises to the trailer tail can be obtainedtmin. Traverse HtminIf the minimum height h of a certain frame of point cloud datatiminWithin a decision interval, i.e. hmean<htimin<hmaxAnd the lowest height value h of the previous frame point cloud datat(i-1)minA value less than the lower limit of the decision interval, i.e. ht(i-1)min<hmeanThe position of the frame is the starting position of a gap, and the lowest height h of each frame of point cloud data after the position is traversed in sequencet(i+1)min、ht(i+2)min…、ht(i+n)minIf the minimum height values of the point cloud data of the frame and the previous frame are within the judgment interval, namely hmean<ht(i-1)min<hmax∧hmean<htimin<hmaxThe length value of the gap is increased by one, otherwise, the gap is considered to be ended, and the position of the frame is the ending position of the gap. And the beginning position, the ending position and the length value of all gaps in the judgment interval from the height value obviously rising position to the trailer tail can be obtained by analogy.
Step 4.3: finding out the maximum value of the lengths in all gaps from the position where the height value obviously rises to the trailer tail judgment interval, and if the gap corresponding to the length is unique, determining the starting position of the gap as the key position of the trailer tail of the tractor; if the gap with the length is not unique, selecting a starting position with the gap closest to the horizontal distance where the height value obviously rises as a key position of the tail of the tractor.
And 5: segmenting and extracting point cloud data of a tractor and a trailer from the point cloud data of the whole vehicle: the process is as follows:
step 5.1: and segmenting and extracting point cloud data of the tractor. Set H in calculation step 4.1minMaximum value h ofhtmaxThe horizontal distance value from the position where the height value obviously rises to the foremost coordinate point of the tractor head is zh1The horizontal distance value from the key position of the tail of the tractor to the foremost coordinate point of the head of the tractor is zh2. Recording the horizontal distance from any point in the original point cloud data of the whole vehicle to the lane line on the left side as xiThe horizontal distance from the foremost coordinate point of the tractor head is ziVertical height from horizontal ground yi. Coordinate points in the original point cloud data of the whole vehicle, which meet the following conditions, are the point cloud data belonging to the tractor:
therefore, the point cloud data of the tractor can be segmented and extracted.
Step 5.2: and segmenting and extracting point cloud data of the trailer. Recording the horizontal distance value from the end position of the gap of the key position of the tail of the tractor to the foremost coordinate point of the head of the tractor as zh3. The point cloud data of the whole vehicle meets the requirement asCoordinate points under the following conditions are point cloud data belonging to the trailer:
in this way, the point cloud data of the trailer can be segmented and extracted.
Step 6: and (3) respectively calculating the point cloud data of the tractor and the point cloud data of the trailer extracted in the step (5) according to the method for calculating the overall dimension parameters of the common vehicle by the original automatic overall dimension measuring equipment to obtain the overall dimension parameters of the tractor and the trailer.
The invention has the beneficial effects that:
(1) the original automatic measuring equipment of the overall dimension can use the method of the invention only by meeting the conditions in the step 1 in the content of the invention and without adding any hardware equipment.
(2) The method of the invention does not need to measure the overall dimension parameters of the tractor and the trailer respectively, can simultaneously measure the overall dimension parameters of the tractor and the trailer under the condition that the tractor and the trailer combination only passes through the overall dimension measuring area once, and completely meets the requirement of 'the vehicle and train combined inspection when the motor vehicle is used for safety inspection' in GB 38900-2020.
(3) The method can divide and extract the tractor point cloud data and the trailer point cloud data, and a user of the method can store the tractor point cloud data and the trailer point cloud data respectively, so that the vehicle can be conveniently compared when the next overall dimension is measured to detect whether the vehicle has the problems of illegal modification of the profile and the like.
Drawings
FIG. 1 is a schematic illustration of a decision zone and the existence of a significant gap between the trailer tail and the main body portion of the trailer;
FIG. 2 illustrates an example measured vehicle point cloud model according to an embodiment;
FIG. 3 is a top view of a point cloud model of an example measured vehicle after the interference area is removed;
FIG. 4 is a side view of an example survey vehicle and associated key location map;
FIG. 5 is a diagram of a process for finding a significant gap between the rear of a tractor and a body portion of a trailer of an example measurement vehicle;
FIG. 6 is a side view of an example survey vehicle tractor and trailer point cloud data segmentation.
Detailed Description
The following describes a specific embodiment of a method for measuring overall dimension parameters of a tractor and a trailer in a batch manner according to the present invention in detail with reference to the following embodiments.
1) And extracting the integrated three-dimensional point cloud data of the tractor and the trailer.
The three-dimensional point cloud data can be collected by laser radar type vehicle outline dimension automatic measuring equipment, light curtain type vehicle outline dimension automatic measuring equipment or other arbitrary outline dimension automatic measuring equipment, as shown in fig. 2. The three-dimensional point cloud data acquired by the equipment only needs to meet the following conditions, and the method is applicable to the equipment and the method provided by the invention:
(1) the point cloud data collected by each sensor of the automatic measuring equipment for the overall dimension needs to be uniformly converted to a certain three-dimensional rectangular coordinate system.
(2) The three-dimensional point cloud data includes the three-dimensional point cloud data of the other surfaces of the vehicle except the front surface, the tail surface and the bottom surface.
(3) The three-dimensional point cloud data needs to have higher density and be uniformly distributed, namely, the three-dimensional point cloud data needs to contain more complete and detailed three-dimensional information of vehicles.
2) And eliminating the interference area at the joint of the tractor and the trailer.
The tractor and the trailer are connected with a plurality of devices such as a power line, a brake steam line, a parking brake high-pressure air pipe and the like, which can affect and interfere the measurement of the outline parameters of the trailer, and such interferents are generally positioned near the central axis of the vehicle. The point cloud data in the interference area where such interference may exist needs to be removed first, see fig. 3, the process is as follows:
finding out the leftmost coordinate point in the three-dimensional point cloud data of the whole vehicle, wherein the horizontal distance between the leftmost coordinate point and the lane line on the left side is xleft(ii) a Finding out the rightmost coordinate point in the three-dimensional point cloud data of the whole vehicle and the coordinate point of the left lane lineHorizontal distance xright(ii) a The horizontal distance x between the central axis of the vehicle and the left lane line can be obtainedmiddle. Horizontal distance x between the three-dimensional point cloud data of the whole vehicle and the lane line on the left side is eliminatediSatisfy xmiddle-△x/2<xi<xmiddleAnd a coordinate point of +. DELTA.x/2. Δ x is an empirically predetermined width value of the area where the interferer may be present. In this example, xleft＝530mm，xright＝3070mm，xmiddle＝2065mm，△x＝400mm。
3) And calculating the key position of the trailer head.
After the tractor and the trailer are combined, the height values of different parts of the vehicle are observed from the head of the tractor to the tail of the trailer from a side view, and the characteristic is obvious. The height of the tractor cab is obviously reduced to the connection part of the tractor and the trailer, the height of the connection part of the tractor and the trailer is obviously increased to the trailer head, and most of tractors and trailers are combined to form the tractor trailer. The process is as follows:
sequentially traversing the height value h of each frame of point cloud data from the head of the tractor to the tail of the trailerimaxIf h is(i-2)max-himax>△h1∧h(i-1)max-h(i+1)max>△h1Then, the position of the frame is determined as the position where the height is obviously reduced, Δ h1A threshold value for the height significant drop value that is preset empirically. In the present example, Δ h1800 mm. Traversing the height value h of each frame of point cloud data from the position where the height value obviously drops to the trailer tail directionimaxIf h isimax-h(i-2)max>△h2∧h(i+1)max-h(i-1)max>△h2And judging that the position of the frame is the position where the height obviously rises, wherein the position is the key position of the trailer head. Delta h2Is a threshold value of a height significant rise value preset empirically. In the present example, Δ h2300mm, the upper part 4-1 in fig. 4 is a side view of the example measuring vehicle, and the lower part 4-2 is a side view of the example measuring vehicle with the lowest height value set of all point cloud data frames and the highest height of all point cloud data framesThe value sets are combined into graphs, 4-3 and 4-3 for the example measured position at which the vehicle height is significantly reduced and the position at which the height is significantly increased, respectively.
4) And calculating the key position of the tail of the tractor.
As shown in fig. 1, after the tractor is connected with the trailer, there is a significant gap between the trailer tail and the main body of the trailer, because the tractor is not rigidly connected with the trailer, and there is room for controllable relative movement between the tractor and the trailer in the case of vehicle turning, etc., which is a feature present in the combination of a tractor with a straight beam trailer 1-2, a gooseneck trailer 1-1, or any other type of trailer. And the obvious gaps 1-5 and 1-6 are the maximum values of the lengths of all gaps of the tractor head and trailer combination in a specific height interval, the specific height interval is called as a judgment interval 1-3 and 1-4, and the key position 4-5 of the tail of the tractor can be found out based on the characteristic. The process is as follows:
traversing each frame of point cloud data from the position 4-3 of the position with obviously reduced height to the trailer tail direction, and calculating the lowest height value h of each frame of point cloud dataimin. The set H of the lowest height values of all the point cloud data frames from the height obvious descending position to the height obvious ascending position between 4 and 4 can be obtainedminSimilarly, a set H of the highest height values of all the point cloud data frames from the height obvious drop to the height obvious rise can be obtainedmax. Calculate HminMaximum and H in the setmaxThe average of the minimum values in the set is denoted as hmean，hmeanI.e. the lower bound of the decision interval. The maximum value of all point cloud data frame height values from the position with obvious height rise to the tail of the trailer can be obtained from the previous step and is recorded as hmax，hmaxI.e. the upper bound of the decision interval. In this example, hmean＝352mm，hmax3858mm, the lower bound 4-7 and the upper bound 4-8 of the vehicle decision zone of this example.
Traversing each frame of point cloud data from the position with obviously raised height to the trailer tail direction, and calculating the lowest height value h of each frame of point cloud datatimin. The set H of the lowest height values of all point cloud data frames from the obvious height rise to the trailer tail can be obtainedtmin. Traverse HtminIf the minimum height h of a certain frame of point cloud datatiminWithin a decision interval, i.e. hmean<htimin<hmaxAnd the lowest height value h of the previous frame point cloud datat(i-1)minA value less than the lower limit of the decision interval, i.e. ht(i-1)min<hmeanThe position of the frame is the starting position of a gap, and the lowest height value h of each frame of point cloud data after the position is traversed in sequencet(i+1)min、ht(i+2)min…、ht(i+n)minIf the minimum height values of the point cloud data of the frame and the previous frame are within the judgment interval, namely hmean<ht(i-1)min<hmax∧hmean<htimin<hmaxThe length of the gap is added with 1, otherwise, the gap is considered to be ended, and the position of the frame is the ending position 4-4 of the gap. By analogy, the starting position, the ending position and the length value of all gaps in the judgment interval from the height obvious rising part to the trailer tail can be obtained.
In this example, the decision zone for the vehicle measured in this example is shown as 5-2 in FIG. 5, and the gaps within the decision zone are shown as 5-3, 5-4, 5-5 in FIG. 5. Finding out the maximum value of the length values in all gaps from the position 5-1 where the height obviously rises to the trailer tail judgment interval, wherein if the gap with the length is unique, the starting position of the gap is the key position of the trailer tail of the tractor; if the gap with the length is not unique, selecting a starting position with the gap closest to the horizontal distance of the obvious height rise as a key position of the tail of the tractor. In this example, the tractor tail key positions are shown at 5-6 in FIG. 5.
5) And segmenting and extracting point cloud data of the tractor and the trailer from the finished vehicle point cloud data.
Step H before calculationminMaximum h in the sethtmaxThe horizontal distance value from the position with obvious height rise to the coordinate point at the forefront part of the tractor head is zh1The horizontal distance value from the key position of the tail of the tractor to the foremost coordinate point of the head of the tractor is zh2. Recording the horizontal distance from any point in the original point cloud data of the whole vehicle to the lane line on the left side as xiDistance ofThe horizontal distance of the coordinate point at the forefront part of the tractor head is ziVertical height from horizontal ground yi. Coordinate points in the original point cloud data of the whole vehicle, which meet the following conditions, are the point cloud data belonging to the tractor:
therefore, the point cloud data of the tractor can be segmented and extracted. Recording the horizontal distance value from the ending position of the gap of the key point cloud data frame of the tail of the tractor to the foremost coordinate point of the head of the tractor as zh3. Coordinate points in the original point cloud data of the whole vehicle, which meet the following conditions, are the point cloud data belonging to the trailer:
in this way, the point cloud data of the trailer can be segmented and extracted. In this example, hhtmax＝733mm，zh1＝5579mm，zh2＝8571mm，zh3A side view of the data split of the vehicle measured in this example is shown in fig. 6, where: 6-1 is a connecting line of the point cloud data key segmentation positions of the example measuring vehicle tractor and the trailer, 6-2 is a data side view of the example measuring vehicle tractor, and 6-3 is a data side view of the example measuring vehicle trailer.
6) And respectively calculating the point cloud data of the tractor and the point cloud data of the trailer extracted in the previous step according to the method for calculating the overall dimension parameters of the common vehicle by the existing automatic overall dimension measuring equipment to obtain the overall dimension parameters of the tractor and the trailer. In this example, the length, width and height parameters of the vehicle tractors are measured to be 8571mm, 2493mm and 3650mm, and the length, width and height parameters of the trailers are 11237mm, 2488mm and 3858 mm.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (3)
1. A method for integrally measuring overall dimension parameters of a tractor and a trailer is characterized by comprising the following steps:
step 1: extracting integrated three-dimensional point cloud data of a tractor and a trailer;
step 2: eliminating an interference area at the joint of the tractor and the trailer;
and step 3: calculating a key position of the trailer head; the method comprises the following specific steps:
step 3.1: regarding coordinate points with the same horizontal distance from the coordinate point at the forefront of the tractor head as one frame of point cloud data fi(ii) a The height value h of each frame of point cloud data is calculated from the head of the tractor to the tail of the tractorimaxThe maximum value of the coordinate point in each frame of point cloud data in the height perpendicular to the ground is obtained;
step 3.2: sequentially traversing the height value h of each frame of point cloud data from the head of the tractor to the tail of the trailerimaxIf h is(i-2)max-himax>△h1∧h(i-1)max-h(i+1)max>△h1If so, judging that the position of the frame is the position of the height obvious drop, and determining that the delta h1 is a threshold value of the height obvious drop value preset according to experience;
step 3.3: traversing the height value h of each frame of point cloud data from the position of the obvious height drop position found in the step 3.2 to the trailer tail directionimaxIf h isimax-h(i-2)max>△h2∧h(i+1)max-h(i-1)max>△h2Judging that the position of the frame is the position where the height obviously rises, wherein the position is the key position of the trailer head; delta h2A threshold value of a height significant rise value preset according to experience;
and 4, step 4: calculating the tail key position of the tractor;
after the tractor is connected with the trailer, an obvious gap exists between the tail of the tractor and the main body part of the trailer, the obvious gap is the maximum length value of all gaps of the tractor and the trailer combination in a specific height interval, and the specific height interval is called as a judgment interval; finding out the tractor tail key position based on the characteristics, specifically as follows:
step 4.1: calculating the upper and lower boundaries of the judgment interval; traversing each frame of point cloud data from the position where the height is obviously reduced to the trailer tail direction, and calculating the lowest height value h of each frame of point cloud dataimin(ii) a The set H of the lowest height values of all the point cloud data frames from the height obvious decline position to the height obvious rise position can be obtainedminSimilarly, a set H of the highest height values of all the point cloud data frames from the height obvious drop to the height obvious rise can be obtainedmax(ii) a Calculate HminMaximum and H in the setmaxThe average of the minimum values in the set is denoted as hmean，hmeanNamely the lower boundary of the judgment interval; the maximum value of the height values of all point cloud data frames from the position with the obviously raised height to the tail of the trailer can be obtained from the step 3.3 and is recorded as hmax，hmaxNamely the upper boundary of the judgment interval;
step 4.2: calculating the length of each gap in the judgment interval; traversing each frame of point cloud data from the position with obviously raised height to the trailer tail direction, and calculating the lowest height value h of each frame of point cloud datatimin(ii) a The set H of the lowest height values of all the point cloud data frames from the obvious height rise to the trailer tail can be obtainedtmin(ii) a Traverse HtminIf the minimum height h of a certain frame of point cloud datatiminWithin a decision interval, i.e. hmean<htimin<hmaxAnd the lowest height value h of the previous frame point cloud datat(i-1)minA value less than the lower limit of the decision interval, i.e. ht(i-1)min<hmeanIf the frame is located at the starting position of a gap, sequentially traversing the lowest height h of each frame of point cloud data after the positiont(i+1)min、ht(i+2)min…、ht(i+n)minIf the minimum height values of the point cloud data of the frame and the previous frame are within the judgment interval, namely hmean<ht(i-1)min<hmax∧hmean<htimin<hmaxAdding 1 to the length value of the gap, otherwise, considering the gap to be ended, and determining the position of the frame as the ending position of the gap; by analogy, the starting position, the ending position and the length value of all gaps in the judgment interval from the height obviously rising part to the trailer tail can be obtained;
step 4.3: finding out the maximum value of the lengths in all gaps from the position where the height obviously rises to the trailer tail judgment section, and if the gap corresponding to the length is unique, determining the starting position of the gap as the key position of the tail of the tractor; if the gap corresponding to the length is not unique, selecting a starting position of the gap closest to the horizontal distance of the obvious height rise position as a key position of the tail of the tractor;
and 5: the point cloud data of the tractor and the trailer are segmented and extracted from the point cloud data of the whole vehicle, and the method specifically comprises the following steps:
step 5.1: segmenting and extracting point cloud data of the tractor; set H in calculation step 4.1minMaximum value h ofhtmaxThe horizontal distance value from the position with obvious height rise to the coordinate point at the forefront part of the tractor head is zh1The horizontal distance value from the key position of the tail of the tractor to the foremost coordinate point of the head of the tractor is zh2(ii) a Recording the horizontal distance from any point in the original point cloud data of the whole vehicle to the lane line on the left side as xiThe horizontal distance from the foremost coordinate point of the tractor head is ziVertical height from horizontal ground yi(ii) a Coordinate points in the original point cloud data of the whole vehicle, which meet the following conditions, are the point cloud data belonging to the tractor:
the point cloud data of the tractor is divided and extracted according to the method, wherein xleftRepresenting the horizontal distance, x, between the leftmost coordinate point and the left lane line in the three-dimensional point cloud data of the whole vehiclerightRepresenting the horizontal distance between the rightmost coordinate point and the left lane line in the three-dimensional point cloud data of the whole vehicle;
step 5.2: segmenting and extracting point cloud data of the trailer; rear closure of tractorThe horizontal distance value between the ending position of the gap to which the key position belongs and the foremost coordinate point of the tractor head is zh3(ii) a Coordinate points in the original point cloud data of the whole vehicle, which meet the following conditions, are the point cloud data belonging to the trailer:
dividing and extracting point cloud data of the trailer according to the above;
step 6: and (5) respectively calculating the tractor point cloud data and the trailer point cloud data extracted in the step (5) to obtain the overall dimension parameter of the tractor and the overall dimension parameter of the trailer.
2. The method for measuring the overall dimension parameters of the tractor and the trailer in a lump as set forth in claim 1, wherein: the three-dimensional point cloud data is acquired by laser radar type vehicle overall dimension automatic measuring equipment or light curtain type vehicle overall dimension automatic measuring equipment.
3. The method for measuring the overall dimension parameters of the tractor and the trailer in a lump as set forth in claim 1, wherein: the step 2 is specifically as follows:
step 2.1: finding out the leftmost coordinate point in the three-dimensional point cloud data of the whole vehicle, wherein the horizontal distance between the leftmost coordinate point and the lane line on the left side is xleft(ii) a Finding out the rightmost coordinate point in the three-dimensional point cloud data of the whole vehicle, wherein the horizontal distance between the coordinate point and the lane line on the left side is xright(ii) a The horizontal distance x between the central axis of the vehicle and the lane line on the left sidemiddleThe calculation formula of (2) is as follows:
xmiddle＝(xleft+xright)/2
step 2.2: horizontal distance x between the three-dimensional point cloud data of the whole vehicle and the lane line on the left side is eliminatediSatisfy xmiddle-△x/2<xi<xmiddleAnd a coordinate point of + Deltax/2, where Deltax is an empirically predetermined width value of a possible interferent area.
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