The invention relates to the field of channel control methods of traffic roads, in particular to a roundabout locking early warning method, which comprises the following steps of: acquiring point cloud data of roundabout driving by completely covering a drivable area of a whole roundabout through scanning areas of a plurality of laser radars; converting the point cloud data scanned by the plurality of laser radars to the same coordinate system based on the calibration parameters; splicing and aggregating the scanned point cloud data of different areas, and performing target detection based on the spliced and aggregated point cloud data; multi-target tracking is carried out based on a target detection result, a unique tracking identifier is allocated to each tracked target, a bounding box of a current frame of target and a bounding box of a previous frame of target are associated, and the two associated targets are kept to have the same tracking identifier; and according to the detected target position, carrying out statistics on the statistical magnitude of the real-time vehicles in the roundabout area defined in advance, and when the statistical magnitude reaches a threshold value, carrying out early warning. The roundabout bearing capacity critical value can be sensed in advance.
本发明涉及交通道路的航道控制方法领域,具体涉及一种环岛锁死预警方法,包括:通过多个激光雷达的扫描区域完全覆盖整个环岛的可行驶区域,获取环岛行驶的点云数据;基于标定参数将多个激光雷达扫描的点云数据转换到同一个坐标系下;对扫描到的不同区域的点云数据进行拼接、聚合,基于拼接、聚合后的点云数据进行目标检测;基于目标检测结果进行多目标追踪,并为每个追踪的目标分配唯一追踪标识,将当前帧目标的包围框和上一帧目标的包围框进行关联,关联上的两个目标保持具有相同的追踪标识;根据检测到的目标位置统计预先划定的环岛区域内的实时车辆的统计量,当统计量达到阈值时进行预警。本发明能够提前感知环岛承载能力临界值。
Roundabout locking early warning method
一种环岛锁死预警方法
2024-08-30
Patent
Electronic Resource
Chinese
Roundabout road traffic early warning method and system, terminal equipment and storage medium
European Patent Office | 2021
|Roundabout perception: review of standards and guidelines for advanced warning
British Library Conference Proceedings | 2010
|Bracknell roundabout -- Construction of roundabout under railway
Engineering Index Backfile | 1956
|New Type of Roundabout: Roundabout with “Depressed” Lanes for Right Turning – “Flower Roundabout”
DOAJ | 2011
|