The invention discloses an urban omnidirectional intersection vehicle track real-time extraction method based on multiple three-dimensional laser radars. The method comprises the following steps: acquiring vehicle track data in a sensing area of multiple data acquisition units; wherein the sensing area of the plurality of data acquisition units covers the urban omnidirectional intersection area; vehicle position information in the vehicle trajectory data in each sensing area is converted into the same coordinate system, and an overlapping area is judged; dividing the vehicle trajectory data of the overlapping region into complete radar trajectory data and incomplete radar trajectory data; fusing the incomplete radar trajectory data according to trajectory features of the vehicle trajectory data; and according to the complete radar trajectory data in the overlapping region and the vehicle trajectory data except the overlapping region, or the fused vehicle trajectory data in the overlapping region and the vehicle trajectory data except the overlapping region, determining complete vehicle trajectory data of the urban omnidirectional intersection in real time. According to the invention, a stable and reliable solution can be provided for the omni-directional vehicle track at the complex large intersection.
本发明公开了一种基于多三维激光雷达的城市全向交叉口的车辆轨迹实时提取方法,其包括:获取多个数据采集单元感知区域内的车辆轨迹数据;其中,多个数据采集单元感知区域覆盖城市全向交叉口区域;将各感知区域内车辆轨迹数据中的车辆位置信息转换到同一坐标系中、并判断重叠区域;将重叠区域的车辆轨迹数据划分为完备雷达轨迹数据和不完备雷达轨迹数据:并根据各车辆轨迹数据的轨迹特征,对不完备雷达轨迹数据进行融合;根据重叠区域内完整雷达轨迹数据和除重叠区外的车辆轨迹数据、或重叠区域内融合后的车辆轨迹数据和除重叠区外的车辆轨迹数据,实时确定城市全向交叉口完整的车辆轨迹数据。本发明能够对复杂大型交叉口全向车辆轨迹提供稳定,可靠的解决方案。
Vehicle track real-time extraction method and system for urban omnidirectional intersection
一种城市全向交叉口的车辆轨迹实时提取方法和系统
2022-10-14
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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