CN112289039A - Pedestrian detection method for sidewalk based on laser radar - Google Patents

Abstract

The invention discloses a pedestrian detection method for a sidewalk based on a laser radar, which comprises a pedestrian indicator lamp arranged on the ground of the sidewalk and a two-dimensional linear laser radar arranged in the middle of one side of the sidewalk, wherein the two-dimensional linear laser radar is in wireless signal connection with the pedestrian indicator lamp, the two-dimensional linear laser radar carries out distance detection at intervals of a fixed period T and outputs collected data f^k={(d^k _iI · Δ θ), a processor is arranged inside the two-dimensional linear laser radar, and the processor is provided with a pedestrian detection algorithm, wherein the detection algorithm comprises the following steps: converting data into two-dimensional linear laser with coordinate origin located in the laserCoordinates in a center-of-arrival world coordinate system, (2) data clipping: removing data beyond the range of the sidewalk; (3) data filtering: removing isolated discrete data; (4) and (3) data judgment: according to f^kAnd judging whether the pedestrian exists on the sidewalk or not according to the data.

Description

Pedestrian detection method for sidewalk based on laser radar

Technical Field

The invention relates to a pedestrian detection method for a sidewalk based on a laser radar, and belongs to the field of intelligent transportation.

Background

The sidewalk is a walking range of a specified pedestrian crossing the lane marked by a marking line such as a zebra stripe or other methods on the lane, is an important measure for preventing the pedestrian from being injured by the vehicle during fast running and designating a place on the lane where the speed needs to be reduced to allow the pedestrian to cross the street by the marking line, taking people as the basis and protecting the weakest pedestrian among traffic participants. However, in practice, pedestrians are injured by vehicles on the sidewalk, so that the property and life of people are injured, the safety of the sidewalk needs to be strengthened, the pedestrians can be prompted to the automobile driver in a striking mode when passing through the sidewalk, the automobile driver can be slowed down and allowed to pass through the sidewalk in time, meanwhile, the driver can be allowed to pass through the sidewalk without pedestrians, and the passing efficiency of the automobile is guaranteed.

Disclosure of Invention

The invention aims to solve the problems and provides a pedestrian detection method for a sidewalk based on a laser radar.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a pedestrian detection method for sidewalks based on laser radar is characterized by comprising the following steps: including setting up the pavement subaerial pedestrian pilot lamp to and install pavement one side median two-dimensional linear laser radar, the length of pavement be L, the width be W, two-dimensional linear laser radar with pedestrian pilot lamp pass through the radio signal and contact, two-dimensional linear laser radar interval fixed cycle T carry out distance detection and output data f of gathering^k={(d^k _iI · Δ θ)), where k =0, 1, 2., is a detection serial number, i =0, 1, 2., is a data serial number of a single detection, and Δ θ is a detection angle increment of the two-dimensional linear lidar, a processor is disposed inside the two-dimensional linear lidar, the processor is provided with a pedestrian detection algorithm, and the detection algorithm includes the following steps:

(1) data (d)^k _iI · Δ θ) is converted into coordinates (d) having origin of coordinates located in the world coordinate system of the center of the two-dimensional linear laser radar^k _i·cos(i·Δθ)，d^k _i·sin(i·Δθ));

(2) Data clipping: if | d^k _m·cos(m·Δθ)|>W/2, or d^k _m·sin(m·Δθ)>L is then at f^kDeletion in (d)^k _m,mΔ θ), m represents f^kA sequence number of a certain data in (1);

(3) data filtering: if [ d ]^k _n·cos(n·Δθ)-d^k _n-1·cos(n·Δθ-Δθ)]²+[d^k _n·sin(n·Δθ)-d^k _n-1·sin(n·Δθ-Δθ)]²>D, then at f^kDeletion in (d)^k _nn.DELTA.theta), n represents f^kD is a distance threshold;

(4) and (3) data judgment: if f is^kIf the data is not available, the pedestrian is not available on the sidewalk; otherwise, the pedestrian is indicated to be on the sidewalk, the controller informs the pedestrian indicating lamp through a wireless signal, and the pedestrian indicating lamp is lightened or flickered to prompt a driver of the automobile.

The invention has the following beneficial effects: on one hand, the pedestrian on the sidewalk is detected through a laser ranging technology, the driver is prompted to decelerate and walk, the defect of artificial observation is overcome, and the improvement of traffic safety is ensured; on the other hand, under the condition that no pedestrian exists, the driver can be assured to normally pass, and the passing efficiency is ensured.

Drawings

Fig. 1 is a schematic diagram of the principle of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

referring to fig. 1, the pedestrian detection method based on laser radar comprises a pedestrian indicator lamp 2 arranged on the ground of the sidewalk and used for normally lighting or flashing to prompt a driver of a car under the condition that a pedestrian exists, wherein the length of the sidewalk is L, the width of the sidewalk is W, and a two-dimensional linear laser radar 1 installed in the middle of one side of the sidewalk is used for detecting the pedestrian on the sidewalk. The two-dimensional linear laser radar 1 is in wireless signal connection with the pedestrian indicating lamp 2, and when the two-dimensional linear laser radar 1 detects a pedestrian, the pedestrian indicating lamp 2 is informed through a wireless signal.

The two-dimensional linear laser radar 1 carries out distance detection at intervals of a fixed period T and outputs the distance detectionOutputting collected data f^k={(d^k _iI · Δ θ)), where k =0, 1, 2., is a detection serial number, i =0, 1, 2., is a data serial number of a single detection, Δ θ is a detection angle increment of the two-dimensional linear laser radar 1, and a detection start direction of the two-dimensional linear laser radar 1, that is, a 0-degree direction is set to be perpendicular to a direction of the sidewalk.

The two-dimensional linear laser radar 1 is internally provided with a processor, the processor is provided with a pedestrian detection algorithm, and the detection algorithm comprises the following steps:

(1) data (d)^k _iI · Δ θ) is converted into coordinates (d) having an origin of coordinates located in a world coordinate system at the center of the two-dimensional linear laser radar 1^k _i·cos(i·Δθ)，d^k _i·sin(i·Δθ));

The direction of the x axis of the world coordinate system is vertical to the direction of the sidewalk, and the y axis points to the direction of the sidewalk.

(2) Data clipping: if | d^k _m·cos(m·Δθ)|>W/2, or d^k _m·sin(m·Δθ)>L is then at f^kDeletion in (d)^k _m,m·Δθ)；

Step (2) is to delete the detection data beyond the range of the sidewalk, and m represents f^kA sequence number of a certain data in (2).

(3) Data filtering: if [ d ]^k _n·cos(n·Δθ)-d^k _n-1·cos(n·Δθ-Δθ)]²+[d^k _n·sin(n·Δθ)-d^k _n-1·sin(n·Δθ-Δθ)]²>D, then at f^kDeletion in (d)^k _n,n·Δθ)；

Step (3) is to filter the measurement noise, n represents f^kD is a distance threshold.

(4) And (3) data judgment: if f is^kIf the data is not available, the pedestrian is not available on the sidewalk; otherwise, the pedestrian is shown on the sidewalk, the controller informs the pedestrian indicator lamp 2 through a wireless signal to light or flash to promptA driver of a car.

When no pedestrian exists on the sidewalk, the data f^kThere should be no data as a criterion for judging pedestrians.

Claims (1)

1. A pedestrian detection method for sidewalks based on laser radar is characterized by comprising the following steps: including setting up the pavement subaerial pedestrian pilot lamp to and install pavement one side median two-dimensional linear laser radar, the length of pavement be L, the width be W, two-dimensional linear laser radar with pedestrian pilot lamp pass through the radio signal and contact, two-dimensional linear laser radar interval fixed cycle T carry out distance detection and output data f of gathering^k={(d^k _iI · Δ θ)), where k =0, 1, 2., is a detection serial number, i =0, 1, 2., is a data serial number of a single detection, and Δ θ is a detection angle increment of the two-dimensional linear lidar, a processor is disposed inside the two-dimensional linear lidar, the processor is provided with a pedestrian detection algorithm, and the detection algorithm includes the following steps:

(1) data (d)^k _iI · Δ θ) is converted into coordinates (d) having origin of coordinates located in the world coordinate system of the center of the two-dimensional linear laser radar^k _i·cos(i·Δθ)，d^k _i·sin(i·Δθ));

(2) Data clipping: if | d^k _m·cos(m·Δθ)|>W/2, or d^k _m·sin(m·Δθ)>L is then at f^kDeletion in (d)^k _mm.DELTA.theta), m represents f^kA sequence number of a certain data in (1);

(3) data filtering: if [ d ]^k _n·cos(n·Δθ)-d^k _n-1·cos(n·Δθ-Δθ)]²+[d^k _n·sin(n·Δθ)-d^k _n-1·sin(n·Δθ-Δθ)]²>D, then at f^kDeletion in (d)^k _nn.DELTA.theta), n represents f^kD is a distance threshold;

and (3) data judgment: if f is^kIf the data is not available, the pedestrian is not available on the sidewalk; otherwise, the pedestrian is indicated to be on the sidewalk, the controller informs the pedestrian indicating lamp through a wireless signal, and the pedestrian indicating lamp is lightened or flickered to prompt a driver of the automobile.

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