The invention relates to a vehicle-pedestrian conflict automatic identification method based on a roadside laser radar, and belongs to the field of traffic safety. The method comprises the steps of obtaining the three-dimensional point cloud data of all targets on a road through the roadside laser radar; extracting a track through point registration, background filtering, target clustering, target classification, lane recognition and target tracking; generating a speed distance curve SDP of a vehicle from the track; determining a threshold value according to the SDP, the distance between the vehicle and the pedestrian, a parking sight distance and a distance between the vehicle and a pedestrian crossing, anddistinguishing the collision behaviors and safety behaviors; and transmitting the generated information to a vehicle-installed sensor through the roadside laser radar, and sending out the early warning information to remind a driver. According to the method, on the basis of the roadside laser radar point cloud data, the track is extracted through point registration, background filtering, point clustering, target classification, lane recognition and data association, and then the speed distance curve SDP of the vehicle is generated for vehicle-pedestrian conflict analysis, so that the safety accidents are reduced.
本发明涉及一种基于路侧激光雷达的车辆‑行人冲突自动识别方法,属于交通安全领域,通过路侧激光雷达获取道路上的所有目标的三维点云数据;通过点配准、背景滤除、目标聚类、目标分类、车道识别和目标追踪来提取轨迹;由轨迹生成车辆的速度距离曲线SDP;由SDP和车辆与行人的距离、停车视线距离、车辆距人行横道的距离来确定阈值,区分碰撞行为和安全行为;通过路侧激光雷达将生成的信息传达到车载传感器发出预警信息来提醒驾驶人。本发明以路侧激光雷达点云数据为基础,通过点配准、背景滤波、点聚类、目标分类、车道识别和数据关联来进行轨迹的提取,进而生成车辆的速度距离曲线SDP用于车辆‑行人冲突分析,来减少安全事故的发生。
Vehicle-pedestrian conflict automatic identification method based on roadside laser radar
一种基于路侧激光雷达的车辆-行人冲突自动识别方法
2022-02-25
Patent
Elektronische Ressource
Chinesisch
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