CN112034449A - System and method for realizing vehicle running track correction based on physical space attribute - Google Patents

System and method for realizing vehicle running track correction based on physical space attribute Download PDF

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Publication number
CN112034449A
CN112034449A CN202010769036.1A CN202010769036A CN112034449A CN 112034449 A CN112034449 A CN 112034449A CN 202010769036 A CN202010769036 A CN 202010769036A CN 112034449 A CN112034449 A CN 112034449A
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vehicle
information
data information
dimensional
data
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CN112034449B (en
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冯保国
顾莉
孙晓宁
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Hebei Deguroon Electronic Technology Co ltd
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Hebei Deguroon Electronic Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a system and a method for realizing vehicle running track correction based on physical space attributes, wherein the system comprises the following steps: the system comprises a vehicle tracking detection sensor, vehicle characteristic identification equipment and a roadside service platform, wherein the vehicle tracking detection sensor is used for collecting vehicle dynamic data information and performing data fusion with the vehicle characteristic data information obtained by the vehicle characteristic identification equipment, the roadside service platform is used for performing fuzzy matching on the three-dimensional outline size of a vehicle according to the vehicle characteristic data information and establishing three-dimensional stereo digital projection of the vehicle, then the three-dimensional stereo digital projection information of protective facilities along the road and the three-dimensional outline information of the vehicle are fused and subjected to space variable calculation, the motion track of the vehicle is corrected by utilizing the space stereo attribute principle, a clutter interference filtering technology is started, stacking interference and crack interference are eliminated, and the positioning requirement of the vehicle is met. The invention solves the problems of target confusion, tracking loss, stacking interference and crack interference easily occurring in the continuous tracking and positioning process of the existing vehicle.

Description

System and method for realizing vehicle running track correction based on physical space attribute
Technical Field
The invention relates to the technical field of target tracking, behavior track analysis, inertial navigation, automatic driving and automatic control, in particular to a system and a method for realizing vehicle running track correction based on physical space attributes.
Background
At present, the highway is mainly used for accurately managing special vehicles, and a vehicle-mounted GPRS or Beidou satellite positioning module is arranged for the special vehicles to realize the positioning and abnormal behavior management of the special vehicles. However, the technology cannot realize accurate management of common vehicles at present, and in addition, the traditional positioning management system can lose the positioning function in a special area or a tunnel, cannot realize the monitoring management application requirement without dead angles in the whole process, and brings inconvenience to road operation managers and vehicle owners.
Need carry out the control of speed of a motor vehicle and running state to the vehicle that traveles on the highway, collect car basic information, current license plate snapshot system mainly triggers or two kinds of working methods of self-triggering by the outside, realizes the image snapshot function to the vehicle, and the outside triggers working method mainly by: the vehicle detection device comprises a coil vehicle detector, a speed measuring radar sensor, a multi-target radar sensor, a laser radar sensor and the like, when a vehicle passes through a detection area pre-drawn by the detector, the sensor can give a license plate vehicle feature recognition device and a trigger signal (generally IO control quantity), and the license plate vehicle feature recognition device starts a camera shutter of the vehicle to capture an image of the vehicle when receiving the trigger information number.
The tracking of the characteristic information of the vehicle is realized by utilizing radar sensing, the characteristic information comprises the information such as the size, the type, the speed, the moving direction and the like of the vehicle, and due to the fact that the traffic flow of a high-speed road section is large, the information of vehicle conditions is complex, overtaking and meeting are frequent, the vehicle is easily shielded by other large-sized vehicles or the vehicle body is too long. In the moving process of the vehicle, when the radar tracks the same vehicle at different time and different positions, the area for scanning the outer contour of the vehicle is changed continuously. The obtained original data of the vehicle are also changed continuously, so that the original data of the vehicle obtained by the radar at different time points and different positions are all lost, and accurate continuous tracking cannot be realized.
The tracking of the characteristic information of the vehicle is realized by utilizing radar sensing, but due to the motion state of the vehicle relative to the radar sensor and different working principles of the radar sensor, the digital projection generated by the vehicle has irregular movement, and the phenomena of body twisting, running outside a road, running in a lane on the other side, even running with two vehicles superposed together and running with three vehicles in two lanes side by side can occur. This phenomenon is impossible to realize in real traffic and has severely exceeded the limits of physical conditions. Therefore, real physical attributes are added to all tracked target objects, roads and facilities along the lines, so that the behavior and change rules and motion states of the vehicle in the system can be consistent with the real objects and environments in the real scene.
Disclosure of Invention
Therefore, the invention provides a system and a method for realizing vehicle running track correction based on physical space attributes, and aims to solve the problems that in the existing vehicle continuous tracking and positioning process, the target is easy to be disordered, the tracking is lost, the stacking interference and the crack interference are easy to occur.
In order to achieve the above purpose, the invention provides the following technical scheme:
according to a first aspect of the present invention, a system for implementing a vehicle driving track modification based on physical space attributes is disclosed, the system comprising: the system comprises a vehicle tracking detection sensor, vehicle characteristic identification equipment and a roadside service platform, wherein the vehicle tracking detection sensor is arranged on the side edge of a road to track and detect passing vehicles, original data information of all vehicles in a detection area range is collected in a real-time scanning mode and is transmitted to the roadside service platform to be analyzed and processed in real time to obtain primary data information of the vehicles, the roadside service platform processes, converts and fuses the primary data information of the vehicles and map data in the area for the first time to obtain complete vehicle dynamic data information with longitude and latitude information, a preset synchronous trigger data fusion rule is started to continuously track and monitor the vehicles entering the detection range, unique ID identification number information in the vehicle dynamic data information is converted into a trigger signal of the vehicle characteristic identification equipment, and after the vehicles enter a preset vehicle characteristic acquisition trigger area, the vehicle feature recognition equipment extracts vehicle feature data information according to a trigger instruction sent by a roadside service platform, the roadside service platform further fuses the vehicle feature data information and vehicle dynamic data information, the roadside service platform sends the vehicle feature data to a vehicle three-dimensional outline size recognition matching module for fuzzy matching of the vehicle feature data information, the three-dimensional outline size information of a vehicle is determined to form complete vehicle data information with the vehicle three-dimensional outline size, vehicle three-dimensional stereo digital projection information is established according to the three-dimensional outline size information of the vehicle, three-dimensional stereo digital projection information is established for protecting facilities along the road, a vehicle three-dimensional stereo space variable model and the road three-dimensional stereo digital projection information are fused and space variable calculation is carried out, and the motion track of the vehicle is corrected by utilizing a space stereo attribute principle, and a clutter interference filtering technology is started, stack interference and crack interference are eliminated, and the positioning requirement of the vehicle is met.
Further, the vehicle tracking detection sensor includes but is not limited to a combination of one or more sensors of a laser radar sensor and a millimeter radar vehicle detector, the vehicle tracking detection sensor acquires original data information of all target vehicles within a detection range in a high-speed scanning mode, the data is sent to a roadside service platform for real-time analysis and processing to acquire preliminary data information of the vehicles and generate unique ID digital identification information within the detection range, the roadside service platform performs simultaneous analysis and processing, interference filtering, mutual fusion and superposition conversion on the preliminary data information and map data information within the region to acquire complete vehicle dynamic data information with longitude and latitude information and becomes D1 data information, and the dynamic data information includes but is not limited to longitude and latitude information, lane information, vehicle speed information and vehicle speed information of each tracked target vehicle, The system comprises real-time speed information, motion direction information, direction angle information, acceleration information, XYZ relative distance information and ID digital identification information which is unique to the vehicle in the detection range of the roadside vehicle tracking detection sensor.
Further, the vehicle feature recognition device is provided with vehicle feature recognition devices above each lane according to the number of lanes, and corresponds to the number of lanes and the positions of the lanes one by one, the system numbers each lane one by one and sets a synchronous trigger data fusion area, after the vehicle tracking detection sensor detects that the vehicle enters the trigger fusion area, the system changes the unique ID serial number information corresponding to the vehicle into a trigger signal of the vehicle feature recognition device and transmits the trigger signal to the vehicle feature recognition device through a roadside service platform, the vehicle feature recognition device acquires the vehicle feature data information, and the vehicle feature data information includes: the system comprises the following steps that the colors, the series, the types, the brands, the trademarks, the license plates and the types of vehicles are obtained, vehicle characteristic data information shot by a vehicle characteristic identification device is transmitted to a roadside service platform through a communication network, the roadside service platform fuses real-time vehicle dynamic data information transmitted by a vehicle tracking detection sensor and vehicle characteristic data information transmitted by the vehicle characteristic identification device, each vehicle can have unique complete data information after fusion, and the system generates unique vehicle identity information in the system for each vehicle with the complete information by adopting a vehicle identity information compiling principle and records the unique vehicle identity information as data D2.
Further, the roadside service platform sends the vehicle characteristic data information into a vehicle three-dimensional outline size identification matching module, fuzzy matching is carried out on the vehicle characteristic data information in a database of the vehicle three-dimensional outline size identification matching module according to vehicle type information, brand information, model information and age information of the vehicle, the vehicle three-dimensional outline size identification matching module receives the vehicle characteristic information sent by the system, information matching is carried out on the vehicle characteristic information and vehicle model characteristic data information stored in a pre-system one by utilizing vehicle characteristic matching key elements, vehicle data information with the highest matching degree is found out, other data information of the vehicle including accurate vehicle type information and three-dimensional outline size information of the vehicle is called, and the roadside service platform fuses the matched vehicle three-dimensional outline size data with vehicle dynamic data information and vehicle characteristic data information to obtain complete vehicle data information with the vehicle three-dimensional outline size, denoted as D3 data information.
Further, the roadside service platform respectively analyzes length, width and height data in the three-dimensional stereo size of the vehicle as a combined stereo limiting range for point fusion of the same target vehicle, comprehensively fuses vehicle point trace data at different positions contained in the combined limiting range to generate complete, unique and stereo vehicle point trace data information for continuous tracking and positioning of the target vehicle, peels off redundant vehicle point trace information outside the stereo limiting range, judges whether the peeled point trace information is in the stereo limiting range of other vehicles, if so, the peeled point trace information is utilized, and if not, the peeled point trace information is considered as interference and is filtered.
Further, the roadside service platform finds out vehicle data information with the highest matching degree, calls other data information of the vehicle, including accurate vehicle type information and three-dimensional outline size information of the vehicle, and gives three-dimensional stereo digital projection information to the target vehicle.
Further, the process of setting up the road three-dimensional stereo digital projection information is as follows: setting virtual road digital information projection in the system; assigning a category attribute to a road boundary or an infrastructure protection facility; and endowing different types of infrastructure protection facilities with corresponding digital three-dimensional space projection variable information to form road three-dimensional stereo digital projection information.
Further, vehicle three-dimensional stereo digital projection information is imported into the road three-dimensional stereo digital projection information, and vehicle motion trail correction is carried out;
acquiring raw data information of a target vehicle through a roadside sensor, comprising: digital pulse signals, radio wave signals, light wave signals;
the method comprises the steps of forming a primary digital projection signal of a vehicle through primary processing of original data, and fusing the signal with vehicle three-dimensional stereo digital information in vehicle characteristic information acquired by a vehicle characteristic identification device to form three-dimensional stereo digital projection information of the vehicle in a system;
acquiring center coordinate point information of the vehicle through three-dimensional digital projection information;
calling road three-dimensional digital projection information and importing vehicle three-dimensional digital projection information and vehicle center point information;
the road three-dimensional stereo digital projection information is used as the boundary and the allowed movement range of the tracked vehicle three-dimensional stereo digital projection information, the system can correlate the road and the three-dimensional stereo space information of the vehicle, a complete space digital model is established, and the vehicle can not run out of the boundary;
the roadside service platform judges whether the similar projection information of one vehicle belongs to the same vehicle or not, if so, the projections are fused into one, and if not, the projections are eliminated.
Furthermore, the vehicle three-dimensional stereo digital projection information is imported into the road three-dimensional stereo digital projection information, then fusion and space variable calculation are carried out, the motion trail of the vehicle is corrected by utilizing a space stereo attribute principle, a clutter interference filtering technology is carried out, stack interference and crack interference are eliminated, after clutter is eliminated, the positioning precision of the vehicle reaches a lane level, and more than two vehicles running in the same direction, the same speed and the transverse side by side or more than two vehicles running in the same direction and the same speed and the longitudinal side by side can be accurately distinguished through calculation of physical space attributes.
According to a second aspect of the present invention, a method for implementing vehicle travel track modification based on physical space attributes is disclosed, the method comprising:
the vehicle tracking detection sensor is arranged on the road side, tracks and detects passing vehicles in a detection range, collects the original data information of all vehicles in the detection area range in a real-time scanning mode, and the original data information is processed by a road side service platform to obtain the preliminary data information of the vehicles;
the road side service platform analyzes and processes the map data and the vehicle preliminary data information in the area, filters interference, fuses each other, and performs superposition conversion to obtain real-time dynamic data of the vehicle in the area, generates complete vehicle dynamic data information with longitude and latitude information, and records the complete vehicle dynamic data information as D1 data information;
after the vehicle tracking detection sensor detects that the vehicle enters a vehicle feature acquisition triggering area, the unique ID digital identification information corresponding to the vehicle is changed into a digital triggering control command and transmitted to the vehicle feature identification device through the roadside service platform, the vehicle feature identification device acquires feature data information of the vehicle, and the vehicle feature data information comprises: color, model, brand, trademark, license plate, category of vehicle;
the road side service platform fuses vehicle dynamic data information transmitted by the vehicle tracking detection sensor and vehicle characteristic data information transmitted by the vehicle characteristic identification equipment, each vehicle has unique complete data information after fusion, and the system generates unique vehicle identity information in the system for each vehicle with the complete information by adopting a vehicle identity information compiling principle and records the unique vehicle identity information as data D2;
the roadside service platform sends the vehicle characteristic data into a vehicle three-dimensional contour size recognition matching module to perform fuzzy matching on the vehicle characteristic data information, determines the three-dimensional contour size information of the vehicle, and forms complete vehicle data information with the three-dimensional contour size of the vehicle;
the roadside service platform fuses vehicle data information with the three-dimensional outline dimensions of the vehicle with vehicle dynamic data information and vehicle characteristic data information to form complete vehicle digital information which is recorded as data D3 and is endowed with three-dimensional stereo digital projection information of the target vehicle;
building three-dimensional digital projection information for protection settings along the road, fusing the three-dimensional digital projection information of the protection facilities along the road and the three-dimensional contour information of the vehicle, calculating space variables, and correcting the motion trail of the vehicle by using a space stereo attribute principle;
the clutter interference filtering technology is started, the stacking interference and the crack interference are eliminated, after the clutter is eliminated, the positioning accuracy of the vehicle reaches the lane level, more than two vehicles running in the same direction, the same speed and transversely side by side or more than two vehicles running in the same direction and longitudinally side by side at the same speed can be accurately separated through calculation of physical space attributes, and the positioning requirement of the vehicle is met.
The invention has the following advantages:
the invention discloses a system and a method for realizing vehicle running track correction based on physical space attributes, which can effectively filter out a plurality of real false target point track data caused by a millimeter wave radar sensor adopting a two-dimensional plane scanning mode and wave diffraction and diffusion phenomena in the moving process of the same vehicle and the phenomenon that a plurality of vehicles running in parallel and in the same direction are mistakenly fused into one vehicle, or the laser scanning radar sensor and the AI structured video sensor can not recognize the target again because of the target loss caused by various occlusion, the system for realizing the vehicle point track data fusion technology, the track correction and the target vehicle separation by the three-dimensional model space variable calculation can easily distinguish the vehicles which run on different lanes in the same direction, the same speed and the parallel or longitudinal direction within a certain time period. Even if one or two vehicle point trace data in the original radar detection data of the vehicle are lost or appear, the vehicle tracking and positioning and the accuracy of multi-data fusion cannot be interfered. Even if the vehicles run in different positions, different directions and side by side, the system can accurately track, position and distinguish any one of the vehicles. The method comprises the steps of giving three-dimensional digital projection information to a vehicle, establishing the three-dimensional digital projection information by using protective facilities along a road, leading a three-dimensional space variable model of the vehicle into the three-dimensional digital projection information of the road to correct the motion track of the vehicle, starting a clutter interference filtering technology, eliminating stacking interference and crack interference, limiting the motion range of the vehicle on a virtual road, and preventing the vehicle from running out of the boundary, so that the positioning precision of the vehicle reaches the lane level, and the use of platforms with higher requirements, such as unmanned driving, automatic driving, big data platforms, map software and the like, is met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a block diagram of a vehicle continuous tracking and positioning system based on fuzzy matching of vehicle sizes according to an embodiment of the present invention;
FIG. 2 is a flowchart of a vehicle continuous tracking and positioning system based on fuzzy matching of vehicle sizes according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of different scanning results of different positions of a vehicle of the vehicle continuous tracking and positioning system based on vehicle size fuzzy matching according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle target point tracking by the vehicle continuous tracking and positioning system based on vehicle size fuzzy matching according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of mutual occlusion of vehicles in the vehicle continuous tracking and positioning system based on fuzzy matching of vehicle sizes according to the embodiment of the present invention;
fig. 6 is a diagram of a vehicle three-dimensional contour determination step of a vehicle continuous tracking and positioning system based on vehicle size fuzzy matching according to an embodiment of the present invention.
FIG. 7 is a road boundary or infrastructure projection view of a system for vehicle trajectory modification based on physical space attributes, according to an embodiment of the present invention;
fig. 8 is a protective guard projection view of a system for vehicle trajectory modification based on physical spatial attributes according to an embodiment of the present invention;
fig. 9 is a three-dimensional projection diagram of a system road boundary or a base for vehicle trajectory correction based on physical space attributes according to an embodiment of the present invention;
fig. 10-13 are schematic diagrams of a process of fusion and superposition of vehicle three-dimensional stereo digital projection information and road three-dimensional stereo digital projection information of a system for correcting vehicle track based on physical space attributes according to an embodiment of the present invention
In the figure: the method comprises the following steps of 1-vehicle tracking detection sensor, 2-vehicle feature recognition equipment, 3-roadside service platform, 4-third-party cloud service platform, 5-data center, 6-detection area, 7-trigger snapshot area and 8-overlapping detection area.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1 and fig. 2, the present embodiment discloses a system for implementing vehicle travel track modification based on physical space attributes, the system comprising: the system comprises a vehicle tracking detection sensor 1, vehicle feature identification equipment 2 and a roadside service platform 3, wherein the vehicle tracking detection sensor 1 is arranged on the side of a road to track and detect passing vehicles, original data information of all vehicles in a detection area 6 is collected in a real-time scanning mode and is transmitted to the roadside service platform 3 to be analyzed and processed in real time to obtain preliminary data information of the vehicles, the roadside service platform 3 processes, converts and fuses the preliminary data information of the vehicles and map data in the area for the first time to obtain complete vehicle dynamic data information with longitude and latitude information, a preset synchronous trigger data fusion rule is started to continuously track and monitor the vehicles entering the detection area, and unique ID identification number information in the vehicle dynamic data information is converted into a trigger signal of the vehicle feature identification equipment 2, after a vehicle enters a preset vehicle characteristic acquisition triggering area, vehicle characteristic identification equipment 2 extracts vehicle characteristic data information according to a triggering instruction sent by a roadside service platform 3, the roadside service platform 3 further fuses the vehicle characteristic data information with vehicle dynamic data information, the roadside service platform 3 sends the vehicle characteristic data to a vehicle three-dimensional outline size identification matching module for fuzzy matching of the vehicle characteristic data information to determine the three-dimensional outline size information of the vehicle to form complete vehicle data information with the vehicle three-dimensional outline size, vehicle three-dimensional stereo digital projection information is established according to the three-dimensional outline size information of the vehicle, three-dimensional stereo digital projection information is established for protecting facilities along the road, a vehicle three-dimensional stereo space variable model and the road three-dimensional stereo digital projection information are fused and space variable calculation is carried out, and the motion trail of the vehicle is corrected by utilizing the space three-dimensional attribute principle, a clutter interference filtering technology is started, the stacking interference and the crack interference are eliminated, and the positioning requirement of the vehicle is met.
The vehicle tracking detection sensor 1 includes, but is not limited to, one or more of a laser radar sensor, a millimeter radar vehicle detector, and the like. The vehicle tracking detection sensor 1 obtains original data information of all target vehicles in a detection range in a high-speed scanning mode, the data is sent to the road side service platform 3 to be analyzed and processed in real time to obtain preliminary data information of the vehicles, unique ID digital identification information in a detection area 6 is generated, and then the system can continuously track, position and monitor the target vehicles in real time. And the adjacent detection areas 6 are provided with overlapped detection areas 8, so that continuous tracking detection of the vehicle is realized. The vehicle tracking detection sensor 1 transmits the acquired vehicle original data information to the roadside service platform 3 through a network, and the roadside service platform 3 temporarily stores the vehicle original data information.
The roadside service platform 3 is a high-performance edge computing server, and completes the functions of mutual communication with each device, data transmission, data processing, synchronous triggering of the vehicle feature recognition device 2, multi-data fusion, data mutual transmission, acquisition of vehicle feature information through graphic analysis, accurate time service of a positioning system and continuous target tracking.
The roadside service platform 3 analyzes and processes original vehicle data acquired and scanned by the vehicle tracking detection sensor 1 in real time to obtain preliminary data information and map data information in an area, simultaneously analyzes and processes the preliminary data information and the map data information, filters interference, fuses mutually, and performs superposition conversion on the preliminary data information and the map data information in the area to obtain complete vehicle dynamic data information with longitude and latitude information to form D1 data information, wherein the dynamic data information comprises but is not limited to the longitude and latitude information, the information of a lane where each tracked target vehicle is located, real-time speed information, motion direction information, direction angle information, acceleration information, XYZ relative distance information and unique ID digital identification information of the vehicle in the detection range of the roadside vehicle tracking detection sensor 1
In order to prevent false triggering of license plate vehicle feature recognition equipment 2 caused by parallel and shielding of vehicles and further cause false matching and false fusion of vehicle feature information and dynamic information acquired for the same vehicle, the vehicle feature recognition equipment 2 is provided with vehicle feature recognition equipment 2 corresponding to lanes on each lane according to the number of the lanes, a triggering snapshot area 7 is defined on each lane, and after a vehicle tracking detection sensor 1 detects that the vehicle enters the triggering snapshot area 7, unique ID digital identification information corresponding to the vehicle is changed into a digital triggering control command and is transmitted to the vehicle feature recognition equipment 2 through a roadside service platform 3. The vehicle feature recognition device 2 captures feature information of a vehicle including: color, model, brand, trademark, license plate, category of vehicle. Meanwhile, the characteristic information of the vehicle can also be identified and read by an ETC roadside antenna to an on-board unit (OBU) installed on the vehicle to acquire the complete characteristic information and data information of the vehicle, which are not repeated herein.
The vehicle characteristic information collected by the vehicle characteristic identification device 2 is transmitted to the roadside service platform 3 through a network, the roadside service platform 3 fuses vehicle dynamic data transmitted by the vehicle tracking detection sensor 1 and vehicle characteristic information transmitted by the vehicle characteristic identification device 2, each vehicle has unique complete data information after fusion, and the system generates unique vehicle identity information in the system for each vehicle with the complete information by adopting a vehicle identity information compiling principle and records the unique vehicle identity information as data D2.
Referring to fig. 3, due to the working principle of the roadside vehicle tracking detection sensor 1, vehicles pass through the vehicle tracking detection sensor 1 from far to near and then from near to far, and in the process, when the same vehicle is at different positions at different times, the area scanned by the vehicle tracking detection sensor 1 on the outer contour of the vehicle is constantly changed, and the obtained raw data of the vehicle is also constantly changed, so that the raw data of the vehicle obtained by the roadside vehicle tracking detection sensor 1 at different time points and different positions are all lost. Because the lack of the target can cause errors when the same vehicle is continuously tracked and positioned and when multiple data are merged, referring to fig. 5, if the front and back of the vehicle are seriously parallel, the target can be temporarily lost and cannot be compensated, so that the whole stability of the system is reduced.
Due to the shape of the object, the surface reason and the operation reason of the millimeter wave radar, after radar data processing, two or more target points may appear, but the points only represent one object. Referring to fig. 4, there are three traces. Three points will be regarded as three target objects for continuous tracking. If the characteristic information of the vehicle is fused and bound with one of the three points, the phenomenon of false loss of the target vehicle can be caused once the complaint occurs, and the target vehicle can not be continuously tracked and positioned, although the three points can be fused by using a millimeter wave radar point trace fusion technology to form a target point, the technology has great defects if the fusion distance is set to be too large as: a fusion range of 8 meters or even 15 meters (the distance is the length value of the truck), the system can easily fuse two or more vehicles running in parallel in the same direction into one vehicle at a certain time period, so that the artificial cause of the vehicles running in parallel in the same direction is eliminated. If the amount is too small, the effect is not obtained, and the problem still remains.
The roadside service platform 3 sends the vehicle characteristic data information to the vehicle three-dimensional contour dimension recognition matching module, and fuzzy matching is carried out according to the vehicle type information, brand information, model information and age information of the vehicle and the vehicle characteristic information in the database of the vehicle three-dimensional contour dimension recognition matching module. The vehicle type model dimensions pre-stored in the database are recalled. The data is used for classifying common vehicles running on roads in a database, each type of vehicle has unique characteristic information to be in one-to-one correspondence, each type of vehicle can be endowed with three-dimensional dimensions according to actual dimensions, and the dimensions comprise: length, width and height data information. The target model dimension database includes, but is not limited to, the following types of information: pedestrians, bicycles, tricycles, motorcycles, tractors, farm trucks, cars, off-road vehicles, vans, minivans, minibuses, buses, vans, pickup trucks, commercial vehicles, non-motor vehicles, sports cars, sedans, coupes, vans, pickup trucks, minivans, medium vans, trailers, tank cars, sprinklers, and the like.
Referring to fig. 6, the vehicle three-dimensional contour dimension recognition and matching module receives vehicle feature information sent by the system, performs information matching with vehicle model feature data information stored in the system in advance one by using vehicle feature matching key elements, finds out vehicle data information with the highest matching degree, and calls other data information of the vehicle, including accurate vehicle type information and three-dimensional contour dimension information of the vehicle. And the roadside service platform 3 fuses the matched vehicle three-dimensional contour size data, the vehicle dynamic data information and the vehicle characteristic data information to obtain complete vehicle data information with the vehicle three-dimensional contour size, and records the complete vehicle data information as D3 data information.
The system calls the three-dimensional physical size data information of the target vehicle in the D3, respectively analyzes the length data, the width data and the height data in the three-dimensional size as a combined three-dimensional limit range for point fusion of the same target vehicle, comprehensively fuses the vehicle point trace data at different positions contained in the combined limit range to generate complete, unique and three-dimensional vehicle point trace data information for continuous tracking and positioning of the target vehicle. And stripping redundant vehicle trace point information outside the three-dimensional limit range, judging whether the stripped trace point information is in the three-dimensional limit range of other vehicles, and if so, utilizing the stripped trace point information. If not, it is considered as interference and filtered out. The method can effectively filter out a plurality of real false target point trace data caused by the fact that the millimeter wave radar sensor adopts a two-dimensional plane scanning mode and wave diffraction and diffusion phenomena in the moving process of the same vehicle, and the phenomenon that a plurality of vehicles running in parallel and in the same direction are mistakenly fused into one vehicle. Or the target is lost due to various shelters and can not be identified again by the aid of the laser scanning radar sensor and the AI structured video sensor, and the system for vehicle point and trace data fusion technology, track correction and target vehicle separation can easily distinguish vehicles running in the same direction, the same speed and the parallel direction or the longitudinal direction on different lanes within a certain time period through the three-dimensional model space variable calculation. Even if one or two vehicle point trace data in the original radar detection data of the vehicle are lost or appear, the vehicle tracking and positioning and the accuracy of multi-data fusion cannot be interfered. Even if the vehicles run in different positions, different directions and side by side, the system can accurately track, position and distinguish any one of the vehicles. In addition, the data fused by the three-dimensional vehicle trace limit range is incorporated into the D3 data to improve the accuracy and reliability of the D3 data. And the system and the data obtained by the D3 use a target tracking and positioning principle and an inertial navigation principle to associate the target so as to realize the functions of continuous tracking and positioning of the target vehicle and the like.
The roadside service platform 3 sends the vehicle characteristic data information into a vehicle three-dimensional outline size recognition matching module, fuzzy matching is carried out on the vehicle characteristic information in a database of the vehicle three-dimensional outline size recognition matching module according to the vehicle type information, the brand information, the model information and the year information of the vehicle, the vehicle data information with the highest matching degree is found out, other data information of the vehicle including accurate vehicle type information and three-dimensional outline size information of the vehicle is called, and three-dimensional digital projection information is given to the target vehicle.
Due to the different operating principles of the vehicle tracking detection sensor 1 and the moving state of the vehicle relative to the vehicle tracking detection sensor 1, the digital projection generated by the vehicle may have irregular behavior, such as twisting around, running outside the road, running in the lane on the other side, or even running with two vehicles superimposed on each other, or running with three vehicles running side by side in two lanes. This phenomenon is impossible to realize in real traffic and has severely exceeded the limits of physical conditions. It is therefore necessary to add real physical attributes to all tracked target objects, roads and along-line facilities. These physical attributes include: the system has the advantages that the physical attributes are given to vehicles, roads and infrastructures in the system, virtual vehicle digital projection or road projection and other object projection can be achieved, and the expression and change rules and the motion state in the system can be consistent with actual objects and environments in real scenes.
The tracked target vehicle is given vehicle digital projection information with three-dimensional stereo space by starting a target radar video fusion technology and starting a vehicle size fuzzy matching technology, and an uninvaded simulated vehicle contour body is formed by taking a virtual digital stereo space formed by digital variables X, Y, Z in the three-dimensional stereo space as a boundary or a 'barrier', namely, spatial variables contained in other vehicle digital projection and digital projection along line protection facilities are not allowed to invade into the stereo space variable formed by the target vehicle, so that the physical attribute of the three-dimensional stereo vehicle contour with the boundary is simulated in the system.
The infrastructure of the roadway and the boundaries along the roadway are insurmountable unless a vehicle on the roadway has a significant traffic accident that breaks the guardrail or other infrastructure outside of the roadway. Because in the traditional roadside sensor data processing technology, only the tracked vehicle or other target is concerned, and the processing of the infrastructure information closely related to the tracked vehicle or other target is omitted. Therefore, the tracked vehicle or other target objects can virtually and digitally project information in the system, and the phenomenon that the tracked vehicle or other target objects run out of the road and run to the opposite lane in the reverse direction can occur. The method needs to associate and limit on an infrastructure structure to establish road three-dimensional stereo digital projection information, and the establishment process of the three-dimensional stereo digital projection information comprises the following steps:
referring to fig. 7, virtual road digital information projection is set in the system;
referring to fig. 8, the road boundary or infrastructure is given a category attribute: such as: rigid guard rails adopted in expressways, cement protection piers on bridges, closed walls in tunnels or shelters, green plant isolation belts in national and provincial roads, metal guard rails and protective nets of urban traffic or common roads and the like;
endowing different types of infrastructure protection facilities with corresponding digital three-dimensional space projection variable information: only giving the three-dimensional space variable of the infrastructure can not only realize that the driving area of the vehicle on the road is clearly limited, but also the variable is greatly different from the attribute variable of the actual object, mainly because the object space variable is only used for calculating and limiting the object motion area in the space environment, and does not do the simulation of the real object;
referring to fig. 9, the rigid guard rail: digital three-dimensional space projection information: length (X): here length or length defined in the system, width (Y): 0.3 m high (Z): 1.2 meters;
cement protection pier: digital three-dimensional space projection information: length (X): here length or length defined in the system, width (Y): 0.3 m high (Z): 1.2 meters;
and (3) closing the wall: digital three-dimensional space projection information: length (X): here length or length defined in the system, width (Y): 0.3 m high (Z): 3 m;
green plant isolation zone: digital three-dimensional space projection information: length (X): here length or length defined in the system, width (Y): 1 meter high (Z): 1.5 m;
metal guard rails: digital three-dimensional space projection information: length (X): here length or length defined in the system, width (Y): 0.1 high (Z): 1 meter.
And importing the three-dimensional digital projection information of the vehicle into the three-dimensional digital projection information of the road to correct the motion track of the vehicle.
Step one, acquiring raw data information of a target vehicle through a vehicle tracking detection sensor 1 is shown in fig. 10, where the raw data information generally includes: digital pulse signals, radio wave signals and light wave signals, such as a new type of reflected waves of a vehicle can be formed after a millimeter wave radar scans the vehicle, and digital projection signals of the vehicle in a system can be formed after the reflected wave signals are processed;
secondly, a preliminary digital projection signal of the vehicle is formed through preliminary processing of the original data, and then the signal is fused with vehicle three-dimensional stereo digital information in the vehicle characteristic information acquired by the license plate snapshot camera to form three-dimensional stereo digital projection information of the vehicle in the system, as shown in fig. 11;
step three, obtaining the center coordinate point information of the vehicle through the three-dimensional digital projection information as shown in fig. 12;
step four, the road three-dimensional stereo space digital projection information is obtained, and the vehicle three-dimensional stereo digital projection information and the vehicle center point information are imported as shown in fig. 13.
The three-dimensional data information of the vehicle and the road is superposed and fused through the steps, the road three-dimensional space digital projection information is used as the boundary and the allowed movement range of the tracked vehicle three-dimensional space digital projection information, the system can associate the road and the vehicle through the method, a complete space digital model is established, and then the system can continuously repeat the steps of 1-4 to complete the processing and data output of all data.
The system utilizes the vehicle three-dimensional space data and the central point data output above to form effective tracking data information and track information through a point track correlation and tracking algorithm, and the motion range of the vehicle is limited on a virtual road and cannot run out of the road. The system continuously scans the vehicle to obtain new original digital information of the vehicle, processes the new original digital information according to the method, and outputs new trace point (position) information of the vehicle, wherein the trace point information is subject to the position information of the central point of the vehicle. In addition, the system can continuously judge whether more vehicle original digital projection information appears in the three-dimensional stereo space of the vehicle (for example, when the vehicle runs on a medium-sized or large-sized truck and other special vehicles at different positions, after data acquired by the roadside sensor is processed by the system, digital projection information of two or more vehicles can be generated in the system digital space projection, but the projection information belongs to one vehicle), if the vehicle original digital projection information appears in the three-dimensional stereo space of the vehicle, the redundant vehicle digital projection information is fused into one vehicle by the system, and the fusion range is within the three-dimensional stereo space digital projection limit of the vehicle. If not, the system excludes it.
The system continuously scans and acquires the original data of the vehicle, and continuously calls and generates new data as reference and data processing objects. The system excludes clutter outside the three-dimensional stereo space digital projection variables of the vehicle, but the system cannot determine whether the clutter is a projection generated by a real vehicle or an interference wave generated due to wave reflection and diffraction principles. The information such as the driving rule, the motion state, the spatial attribute and the like of the vehicle running on the actual road is still used as a system for judging whether the three-dimensional stereo digital projection of the vehicle is generated by a real vehicle and is continuously operated or filtered by an interference source.
The vehicles can keep safe driving distance at the front, back, left and right sides no matter in a smooth traffic state, a congested traffic state and a blocked traffic state unless major traffic accidents happen, so that the vehicles are stacked together. According to traffic regulations, when the speed of a motor vehicle runs on a highway and exceeds 100 kilometers per hour, the motor vehicle should keep a distance of more than 100 meters with a vehicle ahead of the same lane, and when the speed of the motor vehicle is lower than 100 kilometers per hour, the distance with the vehicle ahead of the same lane can be properly shortened, but the minimum distance is not less than 50 meters. However, when vehicles overtake the highway, the distance between the vehicles is reduced to a range of 10 meters to 15 meters. The distance between the front and the rear of the vehicle is usually kept in the range of 3-5 meters on the urban road due to the high-density low-speed driving state. The lateral distance between the vehicles when two vehicles are running in parallel, whether on motorways or urban roads and provincial roads, is between 1 and 2 meters. The distance between the vehicles running on the expressway and the safety protection infrastructure is 1.5-4.75 meters, and the distance between the vehicles on the national provinces and the urban roads and the road boundary infrastructure is 1-2 meters. The running speed of the highway vehicle is 80-120Km/h, and the national and provincial roads and the urban roads are 30-80 Km/h. Therefore, through the above description, a safety model and a space model can be established and basic conditions can be judged for the real rules, states, space positions and the roads where the vehicles run on different roads.
Different vehicle safety driving models can be called by judging whether the system is used on expressways, national provinces roads or city roads. The present embodiment takes a vehicle running on a highway as an example for explanation:
when new vehicle three-dimensional stereo digital projections appear around the tracked vehicle three-dimensional stereo digital projection, if the distance between the two does not meet the minimum distance in the safe driving standard model, the vehicle digital projection is considered as a false target system and filtered. And if the safe driving distance of the vehicle is met, the target is considered to be a real target and the tracking is continuously kept and the data information of the target is output. By the method, clutter interference caused by various reasons can be effectively filtered. And various data output by the system become more stable and reliable. The method can enable the vehicle to run in a specified area and effectively filter various clutter interferences, so that the track formed by the system by obtaining the central point of the vehicle and tracking and positioning become straighter and more accurate, the problems of large saw-tooth property and overlarge vehicle motion track and positioning deviation can be avoided, the positioning accuracy of the vehicle can reach the lane level by the method, and the use of platforms with higher requirements such as unmanned driving, automatic driving, large data platforms, map software and the like can be met. The roadside service platform 3 sends the fused vehicle information to the data center 5 and the third party cloud service platform 4, so that the vehicles can be intelligently managed and controlled, the overall dispatching command capability is improved, and the intelligent highway big data platform is built.
Example 2
The embodiment discloses a method for realizing vehicle running track correction based on physical space attributes, which comprises the following steps:
the vehicle tracking detection sensor 1 is arranged on the road side, tracks and detects passing vehicles in a detection range, collects the original data information of all vehicles in the detection area 6 in a real-time scanning mode, and the original data information is processed by the road side service platform 3 to obtain the preliminary data information of the vehicles;
the roadside service platform 3 analyzes and processes the map data and the vehicle preliminary data information in the area, filters interference, fuses with each other, and performs superposition conversion to obtain real-time dynamic data of the vehicle in the area, generates complete vehicle dynamic data information with longitude and latitude information, and records the complete vehicle dynamic data information as D1 data information;
after the vehicle tracking detection sensor 1 detects that the vehicle enters a vehicle feature acquisition triggering area, the unique ID digital identification information corresponding to the vehicle is changed into a digital triggering control command and is transmitted to the vehicle feature identification device 2 through the roadside service platform 3, the vehicle feature identification device 2 acquires feature data information of the vehicle, and the vehicle feature data information comprises: color, model, brand, trademark, license plate, category of vehicle;
the roadside service platform 3 fuses vehicle dynamic data information transmitted by the vehicle tracking detection sensor 1 and vehicle characteristic data information transmitted by the vehicle characteristic identification device 2, each vehicle has unique complete data information after fusion, and the system generates unique vehicle identity information in the system for each vehicle with complete information by adopting a vehicle identity information compiling principle and records the unique vehicle identity information as data D2;
the roadside service platform 3 sends the vehicle characteristic data into a vehicle three-dimensional contour size recognition matching module for fuzzy matching of vehicle characteristic data information, determines the three-dimensional contour size information of the vehicle and forms complete vehicle data information with the three-dimensional contour size of the vehicle;
the roadside service platform 3 fuses vehicle data information with the three-dimensional contour dimension of the vehicle with vehicle dynamic data information and vehicle characteristic data information to form complete vehicle digital information which is recorded as data D3, and the vehicle is tracked, positioned and monitored remotely. And associating the target by utilizing a target tracking and positioning principle and an inertial navigation principle to realize continuous tracking and positioning of the target vehicle.
The roadside service platform 3 sends the vehicle characteristic data into a vehicle three-dimensional contour size recognition matching module for fuzzy matching of vehicle characteristic data information, determines the three-dimensional contour size information of the vehicle and forms complete vehicle data information with the three-dimensional contour size of the vehicle;
the roadside service platform 3 fuses vehicle data information with the three-dimensional contour size of the vehicle with vehicle dynamic data information and vehicle characteristic data information to form complete vehicle digital information and endow the target vehicle with three-dimensional stereo digital projection information;
building three-dimensional digital projection information for protection settings along the road, fusing the three-dimensional digital projection information of the protection facilities along the road and the three-dimensional contour information of the vehicle, calculating space variables, and correcting the motion trail of the vehicle by using a space stereo attribute principle;
the clutter interference filtering technology is started, the stacking interference and the crack interference are eliminated, and after the clutter is eliminated, the positioning precision of the vehicle reaches the lane level, and the positioning requirement of the vehicle is met.
The roadside service platform 3 sends the fused vehicle information to the data center 5 and the third party cloud service platform 4, so that the vehicles can be intelligently managed and controlled, the overall dispatching command capability is improved, and the intelligent highway big data platform is built.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (10)

1. The system for realizing the correction of the vehicle running track based on the physical space attribute is characterized by comprising the following steps: the system comprises a vehicle tracking detection sensor, vehicle characteristic identification equipment and a roadside service platform, wherein the vehicle tracking detection sensor is arranged on the side edge of a road to track and detect passing vehicles, original data information of all vehicles in a detection area range is collected in a real-time scanning mode and is transmitted to the roadside service platform to be analyzed and processed in real time to obtain primary data information of the vehicles, the roadside service platform processes, converts and fuses the primary data information of the vehicles and map data in the area for the first time to obtain complete vehicle dynamic data information with longitude and latitude information, a preset synchronous trigger data fusion rule is started to continuously track and monitor the vehicles entering the detection range, unique ID identification number information in the vehicle dynamic data information is converted into a trigger signal of the vehicle characteristic identification equipment, and after the vehicles enter a preset vehicle characteristic acquisition trigger area, the vehicle feature recognition equipment extracts vehicle feature data information according to a trigger instruction sent by a roadside service platform, the roadside service platform further fuses the vehicle feature data information and vehicle dynamic data information, the roadside service platform sends the vehicle feature data to a vehicle three-dimensional outline size recognition matching module for fuzzy matching of the vehicle feature data information, the three-dimensional outline size information of a vehicle is determined to form complete vehicle data information with the vehicle three-dimensional outline size, vehicle three-dimensional stereo digital projection information is established according to the three-dimensional outline size information of the vehicle, three-dimensional stereo digital projection information is established for protecting facilities along the road, a vehicle three-dimensional stereo space variable model and the road three-dimensional stereo digital projection information are fused and space variable calculation is carried out, and the motion track of the vehicle is corrected by utilizing a space stereo attribute principle, and a clutter interference filtering technology is started, stack interference and crack interference are eliminated, and the positioning requirement of the vehicle is met.
2. The system for implementing the vehicle track correction based on the physical space attribute as claimed in claim 1, wherein the vehicle tracking detection sensor includes but is not limited to one or more sensors selected from a laser radar sensor and a millimeter radar vehicle detector, the vehicle tracking detection sensor obtains raw data information of all target vehicles within a detection range by means of high-speed scanning, the data is sent to a roadside service platform for real-time analysis and processing to obtain preliminary data information of the vehicle and generate unique ID digital identification information within the detection range, the roadside service platform obtains complete vehicle dynamic data information with longitude and latitude information after performing simultaneous analysis and processing, interference filtering, mutual fusion and superposition conversion on the preliminary data information and map data information within the detection range, and the data information becomes D1 data information, the dynamic data information includes, but is not limited to, longitude and latitude information, lane information, real-time speed information, motion direction information, direction angle information, acceleration information, XYZ relative distance information, and ID digital identification information of the vehicle unique within the detection range of the roadside vehicle tracking detection sensor of each tracked target vehicle.
3. The system for realizing vehicle travel track modification based on physical space attributes according to claim 1, wherein the vehicle feature recognition device is arranged above each lane according to the number of lanes, and corresponds to the number of lanes and the positions of the lanes one by one, the system numbers each lane one by one and sets a synchronous trigger data fusion area, after the vehicle tracking detection sensor detects that the vehicle enters the trigger fusion area, the system changes the unique ID identification number information corresponding to the vehicle into a trigger signal of the vehicle feature recognition device and transmits the trigger signal to the vehicle feature recognition device through a roadside service platform, and the vehicle feature recognition device obtains vehicle feature data information, wherein the vehicle feature data information includes: the system comprises the following steps that the colors, the series, the types, the brands, the trademarks, the license plates and the types of vehicles are obtained, vehicle characteristic data information shot by a vehicle characteristic identification device is transmitted to a roadside service platform through a communication network, the roadside service platform fuses real-time vehicle dynamic data information transmitted by a vehicle tracking detection sensor and vehicle characteristic data information transmitted by the vehicle characteristic identification device, each vehicle can have unique complete data information after fusion, and the system generates unique vehicle identity information in the system for each vehicle with the complete information by adopting a vehicle identity information compiling principle and records the unique vehicle identity information as data D2.
4. The system for realizing the correction of the vehicle running track based on the physical space attribute as claimed in claim 1, wherein the roadside service platform sends the vehicle characteristic data information to the vehicle three-dimensional contour dimension recognition matching module, performs fuzzy matching according to the vehicle type information, the brand information, the model information, the age information of the vehicle and the vehicle characteristic information in the database of the vehicle three-dimensional contour dimension recognition matching module, receives the vehicle characteristic information sent by the system, performs information-by-information matching with the vehicle model characteristic data information stored in the previous system by using the vehicle characteristic matching key element, finds out the vehicle data information with the highest matching degree, and calls other data information of the vehicle including the accurate vehicle type information and the three-dimensional contour dimension information of the vehicle, and the roadside service platform matches the matched vehicle three-dimensional contour dimension data with the vehicle dynamic data information and the vehicle characteristic number And carrying out fusion according to the information to obtain complete vehicle data information with the three-dimensional outline size of the vehicle, and recording the complete vehicle data information as D3 data information.
5. The system for realizing vehicle driving track correction based on physical space attributes as claimed in claim 4, wherein the roadside service platform respectively resolves the length, width and height data in the three-dimensional stereo size of the vehicle as a merged stereo limited range for merging the same target vehicle point, comprehensively merges the vehicle point trace data at different positions contained in the merged limited range, generates a complete and unique vehicle point trace data information for continuous tracking and positioning of the target vehicle, peels off the redundant vehicle point trace information outside the stereo limited range, and the peeled point trace information will judge whether the information is in the stereo limited range of other vehicles, if so, the information will be utilized, and if not, the information will be considered as interference and filtered.
6. The system for implementing the correction of the vehicle driving track based on the physical space attribute as claimed in claim 5, wherein the roadside service platform finds out the vehicle data information with the highest matching degree, calls other data information of the vehicle, including the precise vehicle type information and the three-dimensional contour dimension information of the vehicle, and gives the target vehicle three-dimensional stereo digital projection information.
7. The system for implementing the correction of the vehicle running track based on the physical space attribute as claimed in claim 1, wherein the setting up process of the road three-dimensional stereo digital projection information is as follows: setting virtual road digital information projection in the system; assigning a category attribute to a road boundary or an infrastructure protection facility; and endowing different types of infrastructure protection facilities with corresponding digital three-dimensional space projection variable information to form road three-dimensional stereo digital projection information.
8. The system for realizing the correction of the vehicle running track based on the physical space attribute as claimed in claim 7, wherein the vehicle three-dimensional stereo digital projection information is imported into the road three-dimensional stereo digital projection information for carrying out the correction of the vehicle motion track;
acquiring raw data information of a target vehicle through a roadside sensor, comprising: digital pulse signals, radio wave signals, light wave signals;
the method comprises the steps of forming a primary digital projection signal of a vehicle through primary processing of original data, and fusing the signal with vehicle three-dimensional stereo digital information in vehicle characteristic information acquired by a vehicle characteristic identification device to form three-dimensional stereo digital projection information of the vehicle in a system;
acquiring center coordinate point information of the vehicle through three-dimensional digital projection information;
calling road three-dimensional digital projection information and importing vehicle three-dimensional digital projection information and vehicle center point information;
the road three-dimensional stereo digital projection information is used as the boundary and the allowed movement range of the tracked vehicle three-dimensional stereo digital projection information, the system can correlate the road and the three-dimensional stereo space information of the vehicle, a complete space digital model is established, and the vehicle can not run out of the boundary;
the roadside service platform judges whether the similar projection information of one vehicle belongs to the same vehicle or not, if so, the projections are fused into one, and if not, the projections are eliminated.
9. The system according to claim 7, wherein the three-dimensional stereo digital projection information of the vehicle is introduced into the three-dimensional stereo digital projection information of the road, and then the fusion and the spatial variable calculation are performed, the motion trajectory of the vehicle is corrected by using the spatial stereo property principle, the clutter interference filtering technology is performed to eliminate the stack interference and the gap interference, the positioning accuracy of the vehicle reaches the lane level after the clutter is eliminated, and two or more vehicles running in parallel in the same direction, the same speed and the transverse direction or two or more vehicles running in parallel in the same direction and the longitudinal direction can be accurately distinguished by the calculation of the physical spatial property.
10. The method for realizing the correction of the vehicle running track based on the physical space attribute is characterized by comprising the following steps:
the vehicle tracking detection sensor is arranged on the road side, tracks and detects passing vehicles in a detection range, collects the original data information of all vehicles in the detection area range in a real-time scanning mode, and the original data information is processed by a road side service platform to obtain the preliminary data information of the vehicles;
the road side service platform analyzes and processes the map data and the vehicle preliminary data information in the area, filters interference, fuses each other, and performs superposition conversion to obtain real-time dynamic data of the vehicle in the area, generates complete vehicle dynamic data information with longitude and latitude information, and records the complete vehicle dynamic data information as D1 data information;
after the vehicle tracking detection sensor detects that the vehicle enters a vehicle feature acquisition triggering area, the unique ID digital identification information corresponding to the vehicle is changed into a digital triggering control command and transmitted to the vehicle feature identification device through the roadside service platform, the vehicle feature identification device acquires feature data information of the vehicle, and the vehicle feature data information comprises: color, model, brand, trademark, license plate, category of vehicle;
the road side service platform fuses vehicle dynamic data information transmitted by the vehicle tracking detection sensor and vehicle characteristic data information transmitted by the vehicle characteristic identification equipment, each vehicle has unique complete data information after fusion, and the system generates unique vehicle identity information in the system for each vehicle with the complete information by adopting a vehicle identity information compiling principle and records the unique vehicle identity information as data D2;
the roadside service platform sends the vehicle characteristic data into a vehicle three-dimensional contour size recognition matching module to perform fuzzy matching on the vehicle characteristic data information, determines the three-dimensional contour size information of the vehicle, and forms complete vehicle data information with the three-dimensional contour size of the vehicle;
the roadside service platform fuses vehicle data information with the three-dimensional outline dimensions of the vehicle with vehicle dynamic data information and vehicle characteristic data information to form complete vehicle digital information which is recorded as data D3 and is endowed with three-dimensional stereo digital projection information of the target vehicle;
building three-dimensional digital projection information for protection settings along the road, fusing the three-dimensional digital projection information of the protection facilities along the road and the three-dimensional contour information of the vehicle, calculating space variables, and correcting the motion trail of the vehicle by using a space stereo attribute principle;
the clutter interference filtering technology is started, the stacking interference and the crack interference are eliminated, after the clutter is eliminated, the positioning accuracy of the vehicle reaches the lane level, more than two vehicles running in the same direction, the same speed and transversely side by side or more than two vehicles running in the same direction and longitudinally side by side at the same speed can be accurately separated through calculation of physical space attributes, and the positioning requirement of the vehicle is met.
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