The invention relates to a lane changing identification and prediction method, system and device for extracting a vehicle trajectory based on roadside laser radar data, and a storage medium. The method comprises the following steps: (1) carrying out background filtering on a point cloud picture scanned by a laser radar; (2) clustering the point cloud data of the in-transit target; (3) classifying vehicles and people by adopting an artificial neural network; (4) tracking the same target in continuous frames; (5) predicting the lane changing behavior of the vehicle according to the threshold value of the selected evaluation index. According to the method, the lane changing or turning behaviors of the vehicle can be predicted in real time with relatively high precision, and a related vehicle lane changing early warning system can be developed by utilizing the lane changing information, so the development of intelligent traffic engineering is increased.
本发明涉及一种基于路侧激光雷达数据提取车辆轨迹的变道识别与预测方法、系统、设备及存储介质,包括步骤如下:(1)对激光雷达扫描出的点云图进行背景滤除;(2)对在途目标的点云数据进行聚类;(3)采用人工神经网络对车辆和人进行分类;(4)在连续帧中追踪同一目标;(5)根据所选取评价指标的阈值对车辆的变道行为进行预测。本发明能够以较高的精度对车辆的变道或转弯行为进行实时预测,利用这些变道信息可以开发出相关的车辆变道预警系统,为智慧交通工程发展添砖加瓦。
Lane changing identification and prediction method, system and device for extracting vehicle trajectory by using roadside laser radar data, and storage medium
一种使用路侧激光雷达数据提取车辆轨迹的变道识别与预测方法、系统、设备及存储介质
2021-09-03
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06K Erkennen von Daten , RECOGNITION OF DATA / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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