The invention discloses a vehicle queuing length detection method based on a roadside laser radar, and the method comprises the following steps: 1), obtaining vehicle scanning points in a road space through the roadside laser radar, and collecting to-be-processed three-dimensional point cloud data; 2) performing data preprocessing on the point cloud data in sequence, and selecting regions of interest through space coordinate interception; 3) carrying out ground point filtering on the point cloud data in the region of interest; 4) vehicle target detection; 5) continuously tracking the clustered vehicle targets; 6) performing lane identification on the detected vehicle target; 7) calculating the speed information of each vehicle based on the laser radar point cloud data of the adjacent frames; and 8) through the speed and coordinate information of each vehicle in the road space, determining queue tail vehicle information of each lane so as to calculate real-time queue length information of each lane. According to the method, the congestion degree of the signalized intersection can be accurately grasped, path decision making is facilitated, the overall vehicle passing efficiency is effectively improved, and congestion is reduced.

    本发明公开了一种基于路侧激光雷达的车辆排队长度检测方法,该方法包括以下步骤:1)利用路侧激光雷达获取道路空间中车辆扫描点,采集到待处理的三维点云数据;2)对点云数据依次进行数据预处理,通过空间坐标截取对兴趣区域选择;3)对兴趣区域内的点云数据进行地面点滤除;4)车辆目标检测;5)对聚类后的车辆目标进行连续追踪;6)对检测的车辆目标进行车道识别;7)基于相邻帧的激光雷达点云数据,计算每一辆车辆的速度信息;8)通过道路空间中每一辆车辆的速度和坐标信息,确定每个车道的队尾车辆信息,从而计算出每条车道的实时排队长度信息。本发明可以准确把握信号交叉口的拥堵程度,有利于进行路径决策,有效提高整体的车辆通行效率,减少拥堵。


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    Titel :

    Vehicle queuing length detection method based on roadside laser radar


    Weitere Titelangaben:

    一种基于路侧激光雷达的车辆排队长度检测方法


    Beteiligte:
    DU ENNIAN (Autor:in) / JIANG HAO (Autor:in) / ZHU TIANHANG (Autor:in) / ZHENG JIANYING (Autor:in)

    Erscheinungsdatum :

    2023-10-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06V



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