The invention discloses a vehicle queuing length real-time detection method based on correlation of a millimeter wave radar and a camera, and the method comprises the steps: firstly, collecting millimeter wave radar point cloud data and a camera image at the same time; secondly, performing clustering tracking processing on the millimeter wave radar point cloud data, and outputting speed, position, id number and lane number information of the vehicle; performing feature extraction on the image data, and outputting lane line and vehicle type information; then, associating the radar information and the image information of the same vehicle under the condition that the time and the lane number are the same, and obtaining radar data containing an image feature information label; and finally, estimating the queuing length of each lane under the condition that a static vehicle exists at the vehicle stop line of the road intersection. The method overcomes the defect that the millimeter-wave radar cannot identify the target, reduces the error caused by the millimeter-wave radar clustering estimation of the vehicle length, and improves the estimation precision of the vehicle queuing length.
本发明公开了基于毫米波雷达和相机关联的车辆排队长度实时检测方法,首先,同时采集毫米波雷达点云数据和相机图像;然后,对毫米波雷达点云数据进行聚类跟踪处理,并输出车辆的速度、位置、id号、车道号信息;对图像数据进行特征提取,输出车道线和车辆类型信息;接着,在时间和车道号相同情况下,关联同一辆车的雷达信息和图像信息,得到包含图像特征信息标签的雷达数据;最后,在道路交叉口车辆停止线处存在静止车辆的情况下,估算每个车道的排队长度。本方法弥补毫米波雷达无法识别目标的不足,减少毫米波雷达聚类估算车长造成的误差,进而提高车辆排队长度估算精度。
Vehicle queuing length real-time detection method based on millimeter wave radar and camera association
基于毫米波雷达和相机关联的车辆排队长度实时检测方法
2023-01-20
Patent
Elektronische Ressource
Chinesisch
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