The invention discloses a roadside-laser-radar-based vehicle queuing length real-time estimation method and system. The method comprises the steps: acquiring all position points scanned by a roadsidelaser radar for vehicles on a road, and obtaining to-be-processed three-dimensional point cloud data; sequentially performing background filtering on the to-be-processed three-dimensional point clouddata; performing clustering processing on the three-dimensional point cloud data after background filtering; performing target identification on the clustered three-dimensional point cloud data, and identifying vehicles on the road; performing lane recognition based on a result after target recognition; estimating the speed of each vehicle on the road based on the three-dimensional point cloud data of the adjacent frames of the laser radar; and on the basis of the speed of each vehicle on the road, determining the tail vehicle on each lane, and further estimating the queuing length on each lane. The vehicle queuing length is estimated in real time, new traffic control measures are executed in real time according to the vehicle queuing length, the overall vehicle passing efficiency is optimized, and problems of vehicle congestion, queuing spreading and the like during peak hours are solved.
本发明公开了基于路侧激光雷达的车辆排队长度实时估计方法及系统,获取由路侧激光雷达对道路上车辆扫描的所有位置点,得到待处理的三维点云数据;对待处理的三维点云数据依次进行背景滤除;对背景滤除后的三维点云数据进行聚类处理;对聚类处理后的三维点云数据进行目标识别,识别出道路上的车辆;基于目标识别后的结果进行车道识别;基于激光雷达相邻帧的三维点云数据,估计道路上每一辆车的速度;基于道路上每一辆车的速度,确定每个车道上的末尾车辆,进而估计每个车道上的排队长度。实时估计出车辆排队长度,针对车辆排队长度实时执行新的交通管控措施,优化整体的车辆通行效率,解决高峰时期车辆拥堵、排队蔓延等问题。
Roadside-laser-radar-based vehicle queuing length real-time estimation method and system
基于路侧激光雷达的车辆排队长度实时估计方法及系统
2020-08-14
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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