The invention discloses a roadside sensing method based on Leiyu fusion, and the method comprises the following steps: selecting a main sensor according to the state of a current sensor; the NTP server is used to synchronize the timestamps of the thundersight devices; performing space synchronization on the thunder vision equipment by using coordinate system conversion; matching and fusing the radar and the camera; updating the track of the road target vehicle; counting the traffic flow according to the lane and the vehicle type classification; and detecting and reporting the abnormal event. According to the invention, real-time updating of track information of road target speed, distance, longitude and latitude, type, ID, lane number and license plate number in the whole range of 400m can be realized, real-time statistics of traffic flow in different lanes and types can be realized, and real-time reporting of abnormal events such as high speed, low speed, converse driving, illegal parking, congestion, pedestrian intrusion, non-motor vehicle intrusion and the like can be realized; when the main sensor breaks down, the system still operates stably, and the stability of the system is enhanced; accurate correction within a 400ms error range between sensors can be realized.
本发明公开一种基于雷视融合的路侧感知方法,包括如下步骤:根据当前传感器状态,选择主传感器;利用NTP服务器对雷视设备的时间戳进行同步;利用坐标系转换对雷视设备进行空间同步;将雷达与相机进行匹配融合;对道路目标车辆的轨迹进行更新;按车道和车类型分类对车流量进行统计;对异常事件进行检测与上报。采用本发明,可实现400m全程范围内道路目标速度、距离、经纬度、类型、ID、车道号和车牌号轨迹信息的实时更新、分车道分类型车流量实时统计以及高速、低速、逆行、违停、拥堵、行人闯入、非机动车闯入等异常事件的实时上报;在主传感器出现故障时系统依旧稳定运行,增强了系统的稳定性;可实现传感器间出现400ms误差范围内的准确校正。
Roadside sensing method based on Leiyu fusion
一种基于雷视融合的路侧感知方法
2024-11-08
Patent
Electronic Resource
Chinese
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