CN202649468U - Target vehicle running state measurement system - Google Patents
Target vehicle running state measurement system Download PDFInfo
- Publication number
- CN202649468U CN202649468U CN 201220013396 CN201220013396U CN202649468U CN 202649468 U CN202649468 U CN 202649468U CN 201220013396 CN201220013396 CN 201220013396 CN 201220013396 U CN201220013396 U CN 201220013396U CN 202649468 U CN202649468 U CN 202649468U
- Authority
- CN
- China
- Prior art keywords
- module
- target vehicle
- laser radar
- car
- gnss
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 28
- 238000007499 fusion processing Methods 0.000 claims abstract description 10
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 4
- 238000007781 pre-processing Methods 0.000 abstract 2
- 238000012544 monitoring process Methods 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
一种安装在车辆上的目标车辆行驶状态测量系统，其特征在于：包括激光雷达传感器(1)，GNSS定位传感器(2)，网络通信端口(3)，串行通信端口(4)，计算机(5)；所述计算机(5)内安装了激光雷达通信模块(6)，GNSS定位传感器通信模块(7)，激光雷达数据预处理模块(8)，目标识别与跟踪模块(9)，GNSS定位数据预处理模块(10)，多传感器数据融合处理模块(11)，显示模块(12)；上述各个模块对激光雷达传感器(1)与GNSS定位传感器(2)采集的信息数据进行计算处理，得到目标车辆的实时行驶状态信息(17)，实现对目标车辆行驶状态的实时测量。
A kind of target vehicle running state measurement system installed on the vehicle, it is characterized in that: comprise lidar sensor (1), GNSS positioning sensor (2), network communication port (3), serial communication port (4), computer ( 5); Laser radar communication module (6), GNSS positioning sensor communication module (7), laser radar data preprocessing module (8), target recognition and tracking module (9), GNSS positioning are installed in the computer (5) Data preprocessing module (10), multi-sensor data fusion processing module (11), display module (12); above-mentioned each module calculates and processes the information data collected by laser radar sensor (1) and GNSS positioning sensor (2), obtains The real-time running state information (17) of the target vehicle realizes real-time measurement of the running state of the target vehicle.
Description
Technical field
The utility model relates to vehicle running state monitoring field, more specifically, relates to a kind of being installed on the vehicle, the system that can measure in real time near the transport condition of target vehicle this car.
Background technology
At present, existing vehicle running state measurement mechanism normally is installed in tested vehicle inside, travel speed, direction, track, mileage to tested vehicle gather, store and analyze, be generally used for the field such as remote monitoring, Based Intelligent Control of vehicle, this device partly is comprised of positioning acquisition module, wireless communication module, central processing unit, memory device etc. usually.Application number is namely to disclose such vehicle running state pen recorder in 200520082004.5 the Chinese patent literature, the information such as the travel speed of this device employing GPS alignment sensor collection vehicle, position, mileage, and it is stored and send to Surveillance center by the GPRS wireless communication module, be convenient to relevant departments and supervise and dispatch.But, in applications such as some vehicle-state monitoring, vehicle assistant drive, active safeties, this car need obtain the transport condition information of peripheral object vehicle, and the said apparatus that is installed on the target vehicle can't pass to this car with measured vehicle running state information in time.Existing target recognition and tracking technology mostly can only be measured relative position and the relative velocity of target vehicle and this car, can't obtain absolute position and the absolute velocity of target vehicle.Thereby existing vehicle running state measurement mechanism has functional limitation, can not provide more sufficient information for vehicle-state monitoring, vehicle assistant drive and active safety control strategy well.
Summary of the invention
The purpose of this utility model will overcome the deficiencies in the prior art exactly, and a kind of system that can measure in real time driving state of target vehicle is provided.
According to measuring system of driving state of target vehicle of the present utility model, it is characterized in that: comprise laser radar sensor, GNSS alignment sensor, network service port, communication port, computing machine; The laser radar communication module has been installed, GNSS alignment sensor communication module, laser radar data pretreatment module, target recognition and tracking module, GNSS locator data pretreatment module, multisensor data fusion processing module, display module in the described computing machine; Described laser radar communication module by the network service port with the road traffic environment information acquisition of Laser Radar Scanning in computing machine; Described laser radar data pretreatment module is carried out rough handling to the road traffic environment information of Laser Radar Scanning, and the data after will processing send to the target recognition and tracking module; Described target recognition and tracking module can be carried out Real time identification and tracking to target vehicle by data are carried out computing, obtains the relative position information of target vehicle and this car; This car locating information acquisition that described GNSS alignment sensor communication module is obtained the GNSS alignment sensor by communication port is in computing machine; Described GNSS locator data pretreatment module is processed latitude and longitude coordinates, speed, the course information that obtains this car to this car locating information; Described multisensor data fusion processing module is carried out the fusion calculation processing to relative position information and Ben Che latitude and longitude coordinates, speed, the course information of target vehicle and this car, obtain the real time running status information of target vehicle, and send it in the display module and show, realize the real-time measurement to driving state of target vehicle.
By being installed on this system on this car, adopt laser radar that road traffic environment is scanned, the laser beam flying one-period of laser radar emission obtains frame scan data, these frame scan data are object and the set of the range points between the laser radar in the sweep limit, these range points represent the contour of object in the road traffic environment, the range points data that scanning is obtained send to computing machine and process, computing machine is crossed algorithm model according to these range points data communication devices and is calculated the identification target vehicle, and target vehicle followed the tracks of, calculate the relative position information of target vehicle and this car; Adopt the GNSS alignment sensor to gather the locating information of this car, and the locating information data that collect are sent to computing machine process, computing machine obtains the information such as latitude and longitude coordinates, speed, course of this car by computing; The multisensor data fusion processing module is carried out fusion calculation according to certain algorithm model to information such as the position of the relative position information of target vehicle and this car and Ben Che, speed, courses, obtains the information such as absolute position, absolute velocity, absolute course of target vehicle; Thereby realize the real-time measurement to driving state of target vehicle, can be this car and assist the control strategy of driving with active safety that input information is provided.
Preferably, described laser radar sensor adopts the two-dimensional laser radar sensor, and it is installed in the car body outside, and the road traffic environment of vehicle-surroundings is scanned, and the plane of scanning motion is parallel to the ground, and plane of scanning motion height will satisfy the condition that intersects with target vehicle.
Preferably, described GNSS alignment sensor adopts the GPS alignment sensor.
Obviously, measuring system of driving state of target vehicle of the present utility model has been realized the real-time Measurement accuracy to driving state of target vehicle.This device is according to the scan-data recognition and tracking target vehicle of laser radar, calculate the relative position information of itself and this car, and the GNSS alignment sensor information on this car of merging also can further calculate absolute position, absolute velocity and the absolute course information of target vehicle, recognition and tracking target vehicle reliably, the real time running state of measurement target vehicle exactly is for vehicle assistant drive and active safety control strategy provide effective input information.
Description of drawings
Fig. 1 is the schematic diagram of the most preferred embodiment of a kind of measuring system of driving state of target vehicle of the present utility model.
Accompanying drawing 1 mark:
1. laser radar sensor 10.GNSS locator data pretreatment module
2.GNSS alignment sensor 11. multisensor data fusion processing modules
3. network service port one 2. display modules
4. communication port 13. road traffic environment information
5. the relative position information of computing machine 14. target vehicles and this car
6. 15. car GNSS of laser radar communication module locating information
7.GNSS 16. car latitude and longitude coordinates of alignment sensor communication module, speed, course information
8. the real time running status information of laser radar data pretreatment module 17. target vehicles
9. target recognition and tracking module
Embodiment
Figure 1 shows that a most preferred embodiment of the present utility model.
As shown in Figure 1, measuring system of driving state of target vehicle of the present utility model comprises laser radar sensor 1, GNSS alignment sensor 2, network service port 3, communication port 4, computing machine 5; Described laser radar sensor 1 is installed in the car body outside, road traffic environment is scanned, and the plane of scanning motion is parallel to the ground, and plane of scanning motion height will satisfy the condition that intersects with target vehicle; The described computing machine 5 interior laser radar communication modules 6 of having installed, GNSS alignment sensor communication module 7, laser radar data pretreatment module 8, target recognition and tracking module 9, GNSS locator data pretreatment module 10, multisensor data fusion processing module 11, display module 12; Described laser radar communication module 6 collects in the computing machine 5 by the road traffic environment information 13 of network service port 3 with laser radar sensor 1 scanning, the data that the road traffic environment information 13 of 8 pairs of laser radar sensors of described laser radar data pretreatment module, 1 scanning will be carried out after rough handling also will be processed send to target recognition and tracking module 9, target recognition and tracking module 9 can be carried out real-time recognition and tracking to target vehicle by data being carried out computing, obtains the relative position information 14 of target vehicle and this car; Described GNSS alignment sensor communication module 7 collects this car GNSS locating information 15 that GNSS alignment sensor 2 obtains in the computing machine 5 by communication port 4, and 10 couples of this car GNSS of described GNSS locator data pretreatment module locating information 15 is processed and obtained this car latitude and longitude coordinates and course information 16; The relative position information 14 of 11 pairs of target vehicles of described multisensor data fusion processing module and this car and Ben Che latitude and longitude coordinates and course information 16 are carried out fusion calculation and are processed, obtain the real time running status information 17 of target vehicle, and send it in the display module 12 and show, realize the real-time measurement to driving state of target vehicle.
The measuring system of driving state of target vehicle principle of work of the present embodiment is as follows:
Computing machine receives and processes the road traffic environment information of laser radar sensor transmission and this car GNSS locating information that the GNSS alignment sensor sends, the information data that target recognition and tracking module in the computing machine sends according to laser radar sensor is carried out the recognition and tracking of target vehicle, calculates the relative position information of target vehicle and this car; This car GNSS locating information that GNSS locator data pretreatment module in the computing machine sends according to the GNSS alignment sensor calculates the data such as the position, speed, course of this car; The multisensor data fusion processing module is carried out the real time running status information that computing draws target vehicle according to data such as the position of the relative position information of target vehicle target and this car and Ben Che, speed, courses, realizes the real-time measurement to driving state of target vehicle.
Although the above helps to understand the utility model to description of the present utility model by reference to the accompanying drawings, the utility model never is limited to this illustrated embodiment.On the contrary, in claims limited range, can make various improvement and replacement to the utility model.
Claims (3)
1. measuring system of driving state of target vehicle that is installed on the vehicle, it is characterized in that: comprise laser radar sensor (1), GNSS alignment sensor (2), network service port (3), communication port (4), computing machine (5);
Laser radar communication module (6) has been installed in the described computing machine (5), GNSS alignment sensor communication module (7), laser radar data pretreatment module (8), target recognition and tracking module (9), GNSS locator data pretreatment module (10), multisensor data fusion processing module (11), display module (12);
Described laser radar communication module (6) collects in the computing machine (5) by the road traffic environment information (13) of network service port (3) with laser radar sensor (1) scanning, the data that described laser radar data pretreatment module (8) will be carried out after rough handling also will be processed the road traffic environment information (13) of laser radar sensor (1) scanning send to target recognition and tracking module (9), target recognition and tracking module (9) can be carried out real-time recognition and tracking to target vehicle by data being carried out computing, obtains the relative position information (14) of target vehicle and this car;
This car GNSS locating information (15) that described GNSS alignment sensor communication module (7) is obtained GNSS alignment sensor (2) by communication port (4) collects in the computing machine (5), and described GNSS locator data pretreatment module (10) is processed this car GNSS locating information (15) and obtained this car latitude and longitude coordinates, speed, course information (16);
Described multisensor data fusion processing module (11) is carried out the fusion calculation processing to relative position information (14) and this car latitude and longitude coordinates, speed, the course information (16) of target vehicle and this car, obtain the real time running status information (17) of target vehicle, and send it in the display module (12) and show, realize the real-time measurement to driving state of target vehicle.
2. measuring system of driving state of target vehicle as claimed in claim 1, it is characterized in that: described laser radar sensor (1) adopts the two-dimensional laser radar sensor, it is installed in the car body outside, the vehicle-surroundings road traffic environment is scanned, and the plane of scanning motion is parallel to the ground, and plane of scanning motion height will satisfy the condition that intersects with target vehicle.
3. measuring system of driving state of target vehicle as claimed in claim 1 or 2 is characterized in that: described GNSS alignment sensor (2) employing GPS alignment sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220013396 CN202649468U (en) | 2012-01-13 | 2012-01-13 | Target vehicle running state measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220013396 CN202649468U (en) | 2012-01-13 | 2012-01-13 | Target vehicle running state measurement system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202649468U true CN202649468U (en) | 2013-01-02 |
Family
ID=47418557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220013396 Expired - Lifetime CN202649468U (en) | 2012-01-13 | 2012-01-13 | Target vehicle running state measurement system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202649468U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102542634A (en) * | 2012-01-13 | 2012-07-04 | 北京理工大学 | Measuring system of driving state of target vehicle |
| CN110967711A (en) * | 2018-09-28 | 2020-04-07 | 纳宝实验室株式会社 | Data acquisition method and system |
-
2012
- 2012-01-13 CN CN 201220013396 patent/CN202649468U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102542634A (en) * | 2012-01-13 | 2012-07-04 | 北京理工大学 | Measuring system of driving state of target vehicle |
| CN102542634B (en) * | 2012-01-13 | 2014-05-21 | 北京理工大学 | A system for measuring the driving state of a target vehicle |
| CN110967711A (en) * | 2018-09-28 | 2020-04-07 | 纳宝实验室株式会社 | Data acquisition method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102542634B (en) | A system for measuring the driving state of a target vehicle | |
| CN205049180U (en) | Highway detecting system that transfinites | |
| CN104812645B (en) | Device for controlling a vehicle and method | |
| CN108196260B (en) | Method and device for testing multi-sensor fusion system of unmanned vehicle | |
| CN109084786B (en) | Map data processing method | |
| CN105741546B (en) | The intelligent vehicle Target Tracking System and method that roadside device is merged with vehicle sensor | |
| CN101694084B (en) | Ground on-vehicle mobile detecting system | |
| CN103714603B (en) | Based on the bus passenger flow statistical system of infrared distance sensor | |
| CN112731440B (en) | High-speed railway slope deformation detection method and device | |
| CN202134106U (en) | Intelligent vehicle-mounted road condition collector | |
| CN110615017A (en) | Rail transit automatic detection system and method | |
| CN106249736A (en) | A kind of automatic guided vehicle based on magnetic nail digital map navigation | |
| CN108819943A (en) | A kind of autonomous follow the bus system and method based on two dimensional code | |
| CN104932359A (en) | Vehicle remote unattended loss assessment system based on CAE technology and loss assessment method thereof | |
| CN108914815A (en) | Bridge floor vehicular load identification device, bridge and bridge load are distributed recognition methods | |
| CN207649604U (en) | A kind of intelligent landform survey system based on unmanned plane | |
| CN106710281A (en) | Vehicle positioning data acquisition method and device | |
| CN102914290A (en) | Metro gauge detecting system and detecting method thereof | |
| CN102141375A (en) | Line full section automatic detection system | |
| CN109001756A (en) | Multi-line laser radar obstacle detection system and method based on embedded device | |
| CN104408972A (en) | Mine vehicle anti-collision device based on DGPS (differential global positioning system) and control method thereof | |
| CN111717244A (en) | Train automatic driving sensing method and system | |
| CN202649468U (en) | Target vehicle running state measurement system | |
| CN104464055A (en) | PSD linear array and ultrasonic linear array combined passenger flow volume calculation system | |
| CN111174785B (en) | A positioning system and positioning method for a cableway shuttle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130102 Effective date of abandoning: 20140521 |
|
| RGAV | Abandon patent right to avoid regrant |