CN114076927A - Object state identification method and server - Google Patents
Object state identification method and server Download PDFInfo
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- CN114076927A CN114076927A CN202010853042.5A CN202010853042A CN114076927A CN 114076927 A CN114076927 A CN 114076927A CN 202010853042 A CN202010853042 A CN 202010853042A CN 114076927 A CN114076927 A CN 114076927A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- 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
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention relates to the technical field of laser radar application, and discloses an object state identification method, which is used for judging the state of a target object in a parking space by using a laser radar, and comprises the steps of calibrating the laser radar and determining a calibration value, wherein the calibration value is the real distance from the laser radar to the ground; acquiring multiframe radar data; determining whether a target object is in a stable state based on the multi-frame radar data; determining the target object state based on the target object being in an unstable state. On the other hand, the application discloses a server, which is used for determining the state of a parking space target object and comprises a connecting module, a receiving module and a display module, wherein the connecting module is used for being connected with a plurality of laser radars and receiving a plurality of laser radar data; a memory for storing the lidar data and the target object state; and the processor is used for executing the right object state identification method. According to at least one embodiment of the present disclosure, the state of a parking space in a parking lot can be effectively identified.
Description
Technical Field
The invention relates to the technical field of laser radar application, in particular to an object state identification method and a server based on a laser radar.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is to transmit a detection signal (laser beam) to a target, then compare the received signal (target echo) reflected from the target with the transmitted detection signal, and after appropriate processing, obtain the relevant information of the target, such as target distance, orientation, height, speed, attitude, even shape, etc.
And (3) object state identification: the identification of the object state generally includes estimating and identifying the state of the object according to a video stream or a picture, and then obtaining the dynamic state of the current object. At present, the object state identification generally combines the image processing algorithm and other steps in the image identification field, the algorithm is complex, the sensor price is high, and the identification rate depends on the image quality and the environmental condition.
Disclosure of Invention
In view of this, an embodiment of the present invention provides an object state identification method.
In a first aspect, an embodiment of the present invention provides an object state identification method, configured to determine a state of a target object in a parking space by using a laser radar, calibrate the laser radar, and determine a calibration value, where the calibration value is a real distance from the laser radar to the ground; acquiring multiframe radar data; determining whether a target object is in a stable state based on the multi-frame radar data; determining the target object state based on the target object being in an unstable state.
In some embodiments, calibrating the lidar includes: determining whether the lidar requires calibration; automatically calibrating or manually calibrating the lidar based on the lidar requiring calibration; wherein said manually calibrating said lidar comprises writing calibration values to a fixed memory area of said lidar.
In some embodiments, the target object state comprises: no target object, target object entry, target object exit and target object presence.
In a second aspect, an embodiment of the present invention provides a server, configured to determine a status of a parking space target object, including a connection module, configured to connect with multiple lidar modules and receive multiple lidar data; a memory for storing the lidar data and the target object state; and the processor is used for executing the object state identification method.
According to at least one embodiment of the present disclosure, the state of a parking space in a parking lot can be effectively identified.
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 is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a diagram of a typical application scenario according to an embodiment of the present application.
Fig. 2 is an exemplary workflow diagram according to an embodiment of the present application.
Fig. 3 is a functional exemplary block diagram of a server according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. 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 application. It should be clear that embodiments and features of embodiments in the present application can be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
The embodiment of the application provides an object state identification method and system, so that the state of a parking space is monitored, and the real-time condition of the parking space in a parking lot can be better controlled. In some embodiments, the parking space monitoring system and method can be applied to shopping malls, districts, scenic spots, roadside, communities, hotels, underground parking lots in public places, open parking lots, mechanical parking lots or intelligent parking lots. It should be understood that the object state identification method and system are not limited to be used for monitoring the state of the parking space, and the state identification of objects in other spaces is also applicable, for example, the space may be the same as spaces such as airports, shelves, work tables and the like, except for the parking space.
Fig. 1 is a diagram of a typical application scenario according to an embodiment of the present application. As shown in FIG. 1, the scene includes a plurality of lidar 101-1,101-2 … 101-N and a plurality of parking spaces 202. Wherein the lidar 101 comprises a light emitter capable of emitting a detection light to a specific position of the parking space 202 and receiving a reflection signal, and calculating distance information from the lidar 101 to the parking space 202 based on the reflection signal. In some embodiments, the particular location may be any point on the parking space 202, such as a center point. The specific location may also be a common point that the vehicle can cover when parked in the parking space. In some embodiments, the light source for emitting the probe light is a laser light source or a Light Emitting Diode (LED) light source.
In some embodiments, lidar 101 may have a one-to-one correspondence with parking spaces 202.
In some embodiments, the server 100 is configured to receive distance information acquired by the lidar 101, where the distance information includes, but is not limited to, any one of the following: parking spaces corresponding to the laser radar 101 and distance information from the laser radar 101 to the corresponding parking spaces. The server 100 may determine a parking space state corresponding to the laser radar based on the distance information. In some embodiments, the server 100 may be a server or a server group, where the server group may be centralized or distributed. The server 100 may be local or remote. The server 100 may also be a cloud platform including, but not limited to, any one or combination of a public cloud, a private cloud, a hybrid cloud, and a community cloud.
The embodiment of the application discloses an object state identification method, which is used for judging the state of a target object in a parking space by using a laser radar. In one of the application scenes, the installation height of the laser radar is 115cm, the distance between the laser radar and the garage edge line is 50cm, and the included angle range between the laser radar and the horizontal plane is 12-20 degrees, so that the laser radar can irradiate light spots to the central position. And the laser radar is used for irradiating the center position of the parking space and acquiring the distance from the laser radar to the ground. The position of the facula of the laser radar is determined by using the infrared camera and the high reflection paper, the horizontal direction angle of the laser radar installation is adjusted, the facula of the laser radar is guaranteed to be in the center position of the garage, and the actual distance (the bevel edge distance) from the laser radar to the ground is recorded.
Calibrating the laser radar and determining a calibration value, wherein the calibration value is the real distance from the laser radar to the ground. Calibrating the lidar includes: determining whether the lidar requires calibration; automatically calibrating or manually calibrating the lidar based on the lidar requiring calibration; wherein said manually calibrating said lidar comprises writing calibration values to a fixed memory area of said lidar.
And acquiring multi-frame radar data. Continuously collecting N (the flexibly adjustable interval is 30-60 frames) frame data, judging different parking space grounds according to data fluctuation, mainly distinguishing three types of parking space grounds, namely, carrying out different calibration modes according to different conditions, wherein the data fluctuation is within-15-15 cm, within-30-30 cm and within-60-60 cm.
And when the data fluctuation is within-15-15 cm, averaging the N frame data and assigning the data to a calibration value, wherein the data is relatively stable at the moment, which shows that the current parking space is the normal parking space ground. When the data wave is set within-30-30 cm, N frames of data are sorted and the minimum 10 frames and the maximum 10 frames of data are subtracted, after which the remaining data are averaged, in this case for example an epoxy paint high antipodal parking space floor. And when the data fluctuation is within-60-60 cm, sequencing N frames of data, and then taking a histogram of the rest data, wherein the data is the parking space ground with light reflection after raining. If the absolute value exceeds the range of 60cm, the intensity of the signal received by the laser radar is smaller than 100 or the intensity of the received signal is very close to overexposure, the laser radar is considered to have a fault or a high-blackness object is located at a position close to the radar, calibration cannot be carried out under the condition, and alarm information is given.
Determining whether a target object is in a stable state based on the multi-frame radar data; determining the target object state based on the target object being in an unstable state.
Wherein determining whether the target object is in a steady state based on the multi-frame radar data comprises: determining a range of the multi-frame radar data, wherein the range is a difference value between a maximum value and a minimum value in the multi-frame radar data; determining whether the range is greater than a first threshold; determining that the target object is in an unstable state based on the range being greater than a first threshold; determining that the target object is in a steady state based on the range being less than a first threshold. In one embodiment, the range of 20 consecutive frames is determined, and if the range is less than 30cm, the current steady state is considered, and the steady state is divided into two categories. One type is that no object exists in the parking space, and the data at the moment is in a stable state; the other type is that a stationary object exists in the parking space, the difference between the average value of the current 20 frames of data and the ground is more than 40cm, and the data fluctuation is small.
In one embodiment, determining that the target object is in a steady state comprises: determining a distance difference value between the mean value of the multi-frame radar data and the calibration value; determining that the stable state is a parking space without a target object based on the fact that the distance difference value is smaller than a first distance threshold value; and determining that the stable state is that the parking space has the target object and the target object is static based on the fact that the distance difference value is larger than a first distance threshold value.
In an embodiment of the present application, the general target object states include: no target object, target object entry, target object exit and target object presence.
The target object states include: determining a slope, a slope sum of the multiframe radar data, a first distance difference value of the multiframe radar data and the calibration value, and a second distance difference value of the multiframe radar data and the multiframe radar data at the last moment based on the multiframe radar data; determining a previous object state of the target object at a moment; determining the target object state based on the slope, the slope sum, the distance difference, and the pre-object state.
Determining the target object state comprises: determining that the target object state is a no-target object state based on that the pre-object state is a no-target object and the absolute value of the first distance difference is smaller than a second distance threshold;
determining that the target object state is a target object entering state based on that the pre-object state is a non-target object, the absolute value of the first distance difference is greater than a third distance threshold, and the sum of the slopes is less than a first slope and a threshold; determining that the target object state is a target object exit state based on that the pre-object state is a non-target object, the absolute value of the first distance difference is greater than a third distance threshold, and the slope sum is greater than a second slope sum threshold; and determining that the target object state is the existence of the target object based on the condition that the absolute value of the slope sum is smaller than a second slope sum threshold and the absolute value of the second distance difference is smaller than a second distance threshold.
In one embodiment, the determining the object state: the former state is a stable state without an object, and if the absolute value of the difference value between the distance data detected by the current laser radar and the calibration value (the distance value between the laser radar and the ground) is less than 30cm, the object is considered to be absent; the former state is a stable state without an object, and if the absolute value of the difference value between the distance data detected by the current laser radar and the calibration value (the distance value between the laser radar and the ground) is greater than 80cm and the slope sum is less than-30, an object is considered to enter; the former state is a stable state without an object, and if the absolute value of the difference value between the current data and the calibration value (ground distance value) is greater than 80 and the slope sum is greater than 30, the object exits; if the absolute value of the slope sum is less than 30 and the absolute value of the difference value between the current data and the data value at the previous moment is less than 30, an object is considered to be present; if the absolute value of the slope sum is greater than 100 and the signal intensity of the laser radar is less than 70, the current state is considered to be an uncertain state; if the former time is a steady state, the difference between the current time and the calibration value (ground distance value) is more than 40, and the slope of the latter time is positive and more than 30, the state is considered as that the object enters quickly, does not stay and exits.
In one embodiment, the target object state includes: determining that the target object state is an object entering state based on that the pre-object state is a non-target object and the slope is less than a first slope threshold; determining that the target object state is an object exit state based on the fact that the pre-object state is that the target object exists and the slope is smaller than a second slope threshold; determining that the target object state is the existence of the target object based on the fact that the pre-object state is the entrance of the target object and the absolute value of the slope is smaller than a third slope threshold; determining that the target object is in a target object entering state based on the pre-object state being that the target object enters and the slope being greater than a third slope threshold and less than a fourth slope threshold; determining that the target object is in a target exit state based on the fact that the pre-object state is that the target object enters, and the slope is smaller than a negative value of a third slope threshold or larger than a fourth slope threshold; determining that the target object state is a no-target object state based on that the pre-object state is that the target object exits and the absolute value of the slope is smaller than a third slope threshold; determining that the target object is in a target exit state based on that the pre-object state is a target object exit and the slope is less than a negative value of the fourth slope; determining that the target object state is a target object entering state based on the fact that the previous object state is the target object exit, and the slope is smaller than a negative value of the third slope and larger than a negative value of the fourth slope; and determining that the target object state is a target object entering state based on that the pre-object state is the target object exit and the slope is greater than a third slope.
In one embodiment, when the state at the previous moment is no object, if the current slope is smaller than-40, it is determined that an object enters at present, the state is set as an object entering state, and the current value is recorded; when the state at the last moment is an object, if the current slope is greater than 40, the current object is considered to exit, the state is set to be an object exiting state, and the current value is recorded; the last time state is an object entering state, if the absolute value of the current slope is less than 5, the current state is considered to be an object existing state, if the slope is more than 5 and less than 15, the current state is considered to be a continuously entering state, and other states are considered to be object exiting states; the state at the last moment is the state that the object exits, if the absolute value of the current slope is less than 5, the current state is considered to be the state that the object does not exist, if the slope is less than-15, the current state is considered to be the state of continuously exiting, and other states are considered to be the state that the object enters; the other states are marked as unknown states.
The embodiment of the present application further discloses an object state identification system for use laser radar to judge the state of a target object in a parking space, as shown in fig. 3, including: a calibration module 301, configured to calibrate the lidar and determine a calibration value, where the calibration value is a real distance from the lidar to the ground; a radar data acquisition module 302, configured to acquire multi-frame radar data; a steady state judgment module 303, configured to determine whether the target object is in a steady state based on the multi-frame radar data; a target object state determination module 304, configured to determine the target object state based on that the target object is in an unstable state.
The calibration module is further to: determining whether the lidar requires calibration; automatically calibrating or manually calibrating the lidar based on the lidar requiring calibration; wherein said manually calibrating said lidar comprises writing calibration values to a fixed memory area of said lidar.
The steady state determination module is further configured to: determining a range of the multi-frame radar data, wherein the range is a difference value between a maximum value and a minimum value in the multi-frame radar data; determining whether the range is greater than a first threshold; determining that the target object is in an unstable state based on the range being greater than a first threshold;
determining that the target object is in a steady state based on the range being less than a first threshold.
The target object state module is to: determining a slope, a slope sum of the multiframe radar data, a first distance difference value of the multiframe radar data and the calibration value, and a second distance difference value of the multiframe radar data and the multiframe radar data at the last moment based on the multiframe radar data; determining a previous object state of the target object at a moment; determining the target object state based on the slope, the slope sum, the distance difference, and the pre-object state.
The embodiment of the application also discloses a server used for determining the state of the parking space target object, and a connection module used for being connected with the plurality of laser radars and receiving the data of the plurality of laser radars; a memory for storing the lidar data and the target object state; and the processor is used for executing object state judgment and other methods.
In the embodiment of the present application, the slope is a difference value of adjacent data, and the slope sum is a sum of difference values of adjacent data of 20 frames of data. It should be understood that the slope and slope sum definitions and corresponding difference values are not limited thereto and may be as commonly understood in the art.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an object state identification method for use laser radar to judge target object state in parking stall, its characterized in that:
calibrating the laser radar and determining a calibration value, wherein the calibration value is the real distance from the laser radar to the ground;
acquiring multiframe radar data;
determining whether a target object is in a stable state based on the multi-frame radar data;
determining the target object state based on the target object being in an unstable state.
2. The method of claim 1, wherein calibrating the lidar comprises:
determining whether the lidar requires calibration;
automatically calibrating or manually calibrating the lidar based on the lidar requiring calibration;
wherein said manually calibrating said lidar comprises writing calibration values to a fixed memory area of said lidar.
3. The method of claim 1, wherein the lidar is configured to illuminate a center location of the space to obtain a distance of the lidar to the ground.
4. The method of claim 1, wherein the determining whether a target object is in a steady state based on the multi-frame radar data comprises:
determining a range of the multi-frame radar data, wherein the range is a difference value between a maximum value and a minimum value in the multi-frame radar data;
determining whether the range is greater than a first threshold;
determining that the target object is in an unstable state based on the range being greater than a first threshold;
determining that the target object is in a steady state based on the range being less than a first threshold.
5. The method of claim 4, wherein determining that the target object is in a steady state comprises:
determining a distance difference value between the mean value of the multi-frame radar data and the calibration value;
determining that the stable state is a parking space without a target object based on the fact that the distance difference value is smaller than a first distance threshold value;
and determining that the stable state is that the parking space has the target object and the target object is static based on the fact that the distance difference value is larger than a first distance threshold value.
6. The method of claim 5, wherein the target object state comprises: no target object, target object entry, target object exit and target object presence.
7. The method of claim 6, wherein said determining said target object state comprises:
determining a slope, a slope sum of the multiframe radar data, a first distance difference value of the multiframe radar data and the calibration value, and a second distance difference value of the multiframe radar data and the multiframe radar data at the last moment based on the multiframe radar data;
determining a previous object state of the target object at a moment;
determining the target object state based on the slope, the slope sum, the distance difference, and the pre-object state.
8. The method of claim 7, wherein the determining the target object state comprises:
determining that the target object state is a no-target object state based on that the pre-object state is a no-target object and the absolute value of the first distance difference is smaller than a second distance threshold;
determining that the target object state is a target object entering state based on that the pre-object state is a non-target object, the absolute value of the first distance difference is greater than a third distance threshold, and the sum of the slopes is less than a first slope and a threshold;
determining that the target object state is a target object exit state based on that the pre-object state is a non-target object, the absolute value of the first distance difference is greater than a third distance threshold, and the slope sum is greater than a second slope sum threshold;
and determining that the target object state is the existence of the target object based on the condition that the absolute value of the slope sum is smaller than a second slope sum threshold and the absolute value of the second distance difference is smaller than a second distance threshold.
9. The method of claim 7, wherein the determining the target object state comprises:
determining that the target object state is an object entering state based on that the pre-object state is a non-target object and the slope is less than a first slope threshold;
determining that the target object state is an object exit state based on the fact that the pre-object state is that the target object exists and the slope is smaller than a second slope threshold;
determining that the target object state is the existence of the target object based on the fact that the pre-object state is the entrance of the target object and the absolute value of the slope is smaller than a third slope threshold;
determining that the target object is in a target object entering state based on the pre-object state being that the target object enters and the slope being greater than a third slope threshold and less than a fourth slope threshold;
determining that the target object is in a target exit state based on the fact that the pre-object state is that the target object enters, and the slope is smaller than a negative value of a third slope threshold or larger than a fourth slope threshold;
determining that the target object state is a no-target object state based on that the pre-object state is that the target object exits and the absolute value of the slope is smaller than a third slope threshold;
determining that the target object is in a target exit state based on that the pre-object state is a target object exit and the slope is less than a negative value of the fourth slope;
determining that the target object state is a target object entering state based on the fact that the previous object state is the target object exit, and the slope is smaller than a negative value of the third slope and larger than a negative value of the fourth slope;
and determining that the target object state is a target object entering state based on that the pre-object state is the target object exit and the slope is greater than a third slope.
10. A server is used for determining the state of a target object of a parking space, and is characterized in that,
the connecting module is used for being connected with the plurality of laser radars and receiving a plurality of laser radar data;
a memory for storing the lidar data and the target object state;
a processor configured to perform the method of claims 1-9.
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| CN202010853042.5A CN114076927A (en) | 2020-08-22 | 2020-08-22 | Object state identification method and server |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116540284A (en) * | 2023-07-06 | 2023-08-04 | 河北新合芯电子科技有限公司 | Indoor navigation positioning method, device, system and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116540284A (en) * | 2023-07-06 | 2023-08-04 | 河北新合芯电子科技有限公司 | Indoor navigation positioning method, device, system and storage medium |
| CN116540284B (en) * | 2023-07-06 | 2023-10-20 | 河北新合芯电子科技有限公司 | Indoor navigation positioning method, device, system and storage medium |
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