The invention discloses a traffic incident detection method for a roadside millimeter wave radar. The method comprises the following steps: acquiring vehicle point cloud data of a current frame through the millimeter wave radar; carrying out clustering and multi-target tracking operation on the vehicle point cloud data to form a vehicle target point set of a current frame; marking a vehicle target point corresponding to the detected parking event based on the vehicle target point set; marking a vehicle target point corresponding to the detected congestion event based on the vehicle target point set; marking a vehicle target point corresponding to the detected overspeed event based on the vehicle target point set; wherein a to-be-parked list and a parking list are defined in the parking event marking process; the parking event marking process comprises the steps of traversing whether a to-be-stopped vehicle is a stopped vehicle in a to-be-stopped list or not according to a vehicle target point set, and if yes, adding the to-be-stopped vehicle to a stopping list. According to the invention, efficient and accurate traffic incident detection of the millimeter wave radar is realized.
本发明公开了一种用于路侧毫米波雷达的交通事件检测方法,包括:通过毫米波雷达获取当前帧的车辆点云数据;对车辆点云数据进行聚类、多目标跟踪操作形成当前帧的车辆目标点集;基于车辆目标点集,对检测到的停车事件对应的车辆目标点进行标记;基于车辆目标点集,对检测到的拥堵事件对应的车辆目标点进行标记;基于车辆目标点集,对检测到的超速事件对应的车辆目标点进行标记;其中,停车事件标记过程中定义了一将要停车列表和一停车列表;停车事件标记过程包括:根据车辆目标点集遍历将要停车列表中是否存在将要停止车辆成为停止车辆,若存在,将该将要停止车辆添加到停止列表。本发明实现了毫米波雷达的高效、准确的交通事件检测。
Traffic incident detection method for roadside millimeter wave radar
用于路侧毫米波雷达的交通事件检测方法
2024-08-09
Patent
Electronic Resource
Chinese
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