CN110208805A - A kind of tramcar obstacle detection method - Google Patents
A kind of tramcar obstacle detection method Download PDFInfo
- Publication number
- CN110208805A CN110208805A CN201910511449.7A CN201910511449A CN110208805A CN 110208805 A CN110208805 A CN 110208805A CN 201910511449 A CN201910511449 A CN 201910511449A CN 110208805 A CN110208805 A CN 110208805A
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- China
- Prior art keywords
- tramcar
- data
- detection method
- obstacle detection
- train
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9328—Rail vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention discloses a kind of tramcar obstacle detection method, comprising the following steps: 1) obtains radar data at regular intervals；2) it is whether complete that received data are verified, according to radar protocol conversion operation format；3) it according to the historical track of each object, predicts its Future Trajectory, it is dangerous to determine whether object can generate train；4) danger is marked relative to the position of train and prompted；5) relevant information of danger is recorded into storage.Tramcar obstacle detection method of the invention can detect the barriers such as train, public vehicles, the pedestrian in front of train in vehicle control syetem under any climatic environment, and disturbance in judgement object prompts the extent of injury of train safety to driver's voice or light, so that relatively reliable safety of driving a vehicle；Present system algorithm arithmetic speed is fast, has preferable real-time, and lower to hardware performance requirements, can be applied to the numerous areas such as automatic Pilot, be with a wide range of applications.
Description
Technical field
The invention belongs to automatic Pilot technical fields, and in particular to a kind of tramcar obstacle detection method.
Background technique
With the appearance of tramcar, the trip of people is also more convenient.For a long time, traffic safety, which is often maintained, is taking charge of
In the observation of machine individual, and human eye can not prejudge the arrival of dangerous objects under tired out or extreme climate environment in time, from
And it causes the accident.
In conclusion existing issue is: depending merely on eye-observation and have too many difficulties to cope with, not can guarantee traffic safety.
Summary of the invention
Goal of the invention: in view of the deficienciess of the prior art, the object of the present invention is to provide a kind of tramcar barriers
Detection method.
Technical solution: in order to achieve the above-mentioned object of the invention, The technical solution adopted by the invention is as follows:
A kind of tramcar obstacle detection method, comprising the following steps:
1) radar data is obtained at regular intervals；
2) it is whether complete that received frame data are verified, according to radar protocol conversion operation format；
3) it according to the historical track of each object, predicts its Future Trajectory, it is dangerous to determine whether object can generate train；
4) danger is marked relative to the position of train and prompted；
5) relevant information of danger is recorded into storage.
Preferably, obtaining data by serial communication in step 1).
Preferably, whether the frame data that verifying is obtained from radar in step 2) are complete and legal, if complete and legal
Data Format Transform is then carried out, if data are legal imperfect, storing data simultaneously converge with new data and re-starts verifying,
If data are illegal, current frame data is abandoned.
Preferably, being formatted for complete and legal frame data, it will send over comprising mark, sit
The frame data of mark, section length and width information, are converted to the system data for posting time, object tag, are used for subsequent arithmetic and analysis.
Preferably, in step 3), judgement for danger the following steps are included:
(1) region certain before headstock is set as by region-of-interest according to travel speed；
(2) tracking of filing is carried out to the object for entering the region；
(3) using≤50ms as the period, monitoring object motion track；
(4) running track of the anticipation analysis object correlation within the following specified time, if object presentation meets regulation curvature
Tendencies toward shrinkage, then be considered as safe object, otherwise, be considered as dangerous objects.
Preferably, whether judgment object is dangerous in step 3), if it is determined that danger, then show boundary in driver's cabin
Voice prompting is highlighted and/or carried out on face, if it is determined that not dangerous object, then carry out on driver's cabin display interface
It common display and does not prompt.
Preferably, the relevant information of the danger includes frame image, time tag, location information, speed in step 5)
Spend information, dimension information and historical track.
The utility model has the advantages that compared with prior art, the invention has the following advantages that
Tramcar obstacle detection method of the invention can be detected in vehicle control syetem under any climatic environment
Train front obstacle (train, public vehicles, pedestrian etc.), and disturbance in judgement object to the extent of injury of train safety to driver's language
Sound or light prompt, so that relatively reliable safety of driving a vehicle.Present system algorithm arithmetic speed is fast, has preferable real-time, and
It is lower to hardware performance requirements, it can be applied to the numerous areas such as automatic Pilot, be with a wide range of applications.
Detailed description of the invention
Fig. 1 is tramcar obstacle detection method flow chart.
Specific embodiment
Combined with specific embodiments below, the present invention is furture elucidated, and embodiment is under the premise of the technical scheme of the present invention
Implemented, it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
A kind of tramcar obstacle detection method, specifically includes the following steps:
1) radar data is obtained by serial communication at regular intervals；
2) it verifies whether received data are complete frame data, the lattice convenient for operation is converted into according to radar agreement
Formula；
Specifically, whether the frame data that verifying is obtained from radar are complete and legal, data are carried out if complete and is legal
Format conversion, if data are legal imperfect, storing data simultaneously converge with new data and re-starts verifying, if data are not
It is legal, then abandon current frame data.
Complete and legal frame data are formatted, will be sended over comprising mark, coordinate, section length and width
The frame data of information are converted to the system data for posting time, object tag, are convenient for subsequent arithmetic and analysis.
3) it according to the historical track of each object, predicts its Future Trajectory, it is dangerous to determine whether object can generate train；
Firstly, region certain before headstock is set as region-of-interest according to travel speed；Secondly to the entrance region
Object carries out tracking of filing；Again, with 50ms (or shorter time) for the period, monitoring object motion track；4th, according to aforementioned
Running track of the algorithm anticipation analysis object correlation within the following specified time；Due to data acquisition equipment exist be closer to
The case where contract, is considered as safety, otherwise, object is dangerous objects if the tendencies toward shrinkage for meeting regulation curvature is presented in object.
If it is determined that danger, then be highlighted on driver's cabin display interface and/or carry out voice prompting, such as
Fruit is judged as not dangerous object, then carries out common display on driver's cabin display interface and do not prompt.
4) danger is marked relative to the position of train and prompted；
Using radar itself as origin, the position of all targets of radar detecting is marked on the page, for dangerous object
Body is shown with highlighted color or voice, reminds driver alternatively, preventing accident in time.
5) relevant information of danger is recorded into storage, convenient for the subsequent analysis to result.
The relevant information of danger includes frame image, time tag, location information, velocity information, dimension information and history
Track etc..
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of tramcar obstacle detection method, which comprises the following steps:
1) radar data is obtained at regular intervals；
2) it is whether complete that received frame data are verified, according to radar protocol conversion operation format；
3) it according to the historical track of each object, predicts its Future Trajectory, it is dangerous to determine whether object can generate train；
4) danger is marked relative to the position of train and prompted；
5) relevant information of danger is recorded into storage.
2. tramcar obstacle detection method according to claim 1, it is characterised in that: logical by serial ports in step 1)
Letter obtains data.
3. tramcar obstacle detection method according to claim 1, it is characterised in that: in step 2), verify from thunder
Whether the frame data up to acquisition are complete and legal, and Data Format Transform is carried out if complete and is legal, if data are legal not
Completely, storing data and converge with new data and re-start verifying, if data are illegal, abandon current frame data.
4. tramcar obstacle detection method according to claim 3, it is characterised in that: for complete and legal frame
Data format, by send over comprising mark, coordinate, section length and width information frame data, be converted to when posting
Between, the system data of object tag, be used for subsequent arithmetic and analysis.
5. tramcar obstacle detection method according to claim 1, it is characterised in that: in step 3), for danger
The judgement of object the following steps are included:
1) region certain before headstock is set as by region-of-interest according to travel speed；
2) tracking of filing is carried out to the object for entering the region；
3) using≤50ms as the period, monitoring object motion track；
4) running track of the anticipation analysis object correlation within the following specified time, if the contraction for meeting regulation curvature is presented in object
Trend is then considered as safe object, otherwise, is considered as dangerous objects.
6. tramcar obstacle detection method according to claim 1 or 5, it is characterised in that: in step 3), judge object
Whether body is dangerous, if it is determined that danger, then be highlighted and/or carried out voice on driver's cabin display interface and mention
Show, if it is determined that not dangerous object, then carry out common display on driver's cabin display interface and do not prompt.
7. tramcar obstacle detection method according to claim 1, it is characterised in that: the related letter of the danger
Breath includes frame image, time tag, location information, velocity information, dimension information and historical track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910511449.7A CN110208805A (en) | 2019-06-13 | 2019-06-13 | A kind of tramcar obstacle detection method |
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| CN201910511449.7A CN110208805A (en) | 2019-06-13 | 2019-06-13 | A kind of tramcar obstacle detection method |
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| CN110208805A true CN110208805A (en) | 2019-09-06 |
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| CN201910511449.7A Pending CN110208805A (en) | 2019-06-13 | 2019-06-13 | A kind of tramcar obstacle detection method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114561A (en) * | 2019-12-19 | 2020-05-08 | 中铁轨道交通装备有限公司 | Tramcar auxiliary driving system based on ADAS technology and control method |
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Application publication date: 20190906 |
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