阅读说明：本技术 多雷达跨区域组网多目标跟踪识别方法及装置 (The trans-regional networking multiple target tracking recognition methods of more radars and device ) 是由 许古午 章庆 史灵清 于 2019-08-19 设计创作，主要内容包括：本发明提供的多雷达跨区域组网多目标跟踪识别方法及装置,涉及车辆道路检测领域,包括设置在高速公路上的若干雷达及视频检测系统；当目标进入到雷达设定的触发位置时触发视频检测数据,将雷达数据与视频数据关联,在高速公路可以合成目标车辆的车牌、车型等特征信息和车速等运动信息,再对目标通过多雷达数据融合,形成在高速上跨区域行驶的跟踪目标的运行轨迹。结合雷达和视频检测的优点,不仅突破了单台雷达检测范围的限制,将雷达的检测距离无限延伸,实现车辆特征信息和运动信息的传递；最终可以获取车辆在雷达网中的全部运动轨迹、交通行为等信息,实现多雷达跨区域组网多目标跟踪识别过程。(The trans-regional networking multiple target tracking recognition methods of more radars provided by the invention and device, are related to road vehicle detection field, including several radars and video detection system on a highway are arranged；Video detection data is triggered when target enters the trigger position of radar setting, radar data is associated with video data, the motion informations such as characteristic informations and speed such as license plate, vehicle of target vehicle can be synthesized in highway, the running track of the tracking target of the upper trans-regional traveling of high speed is formed in by multi-radar data fusion to target again.In conjunction with the advantages of radar and video detection, the limitation of separate unit detections of radar range is not only breached, the detecting distance of radar is infinitely extended, realizes the transmitting of vehicle characteristic information and motion information；The information such as total movement track, traffic behavior of the vehicle in radar fence may finally be obtained, realize the trans-regional networking multiple target tracking identification process of more radars.)

1. a kind of trans-regional networking multiple target tracking recognition methods of more radars, which comprises the steps of:

1) several radars and video detection system are uniformly installed on a highway, the radar and video detection system include one Video detector and several radars for being provided with device numbering；All radars installed on the highway and video detection system The detection zone of two radars of arbitrary neighborhood partly overlaps in system；

2) the radar fix system of each radar, the X-axis of radar fix system are established using the receiving antenna center of each radar as origin respectively Direction is opposite with target vehicle driving direction；When target vehicle enters first radar and video detection system on express highway section In the first radar detection zone when, in the first radar real-time detection region the velocity information of target vehicle and its in the first radar Location information in coordinate system generates the Target id for indicating target vehicle, and Target id, the velocity information that will indicate target vehicle System is returned to location information；First radar is provided with trigger position in its detection zone, when target vehicle travels The first radar triggers video detector when to trigger position, and video detector judges lane number and video where target vehicle Detector captures target vehicle image and simultaneously identifies license board information, and will include mesh when uniquely the matching of corresponding lane number is consistent The candid photograph result of mark vehicle license plate information returns to system；

3) radar and video detection system match fusion to the radar and video data of same target vehicle, generate target vehicle Complete information set includes Target id, driving speed information, place lane number, target vehicle location information and license plate number License plate fused data record；

4) the downstream radar traveling that target vehicle is numbered to neighbouring device, judges that target vehicle enters the overlapping of adjacent two radars Detection zone；

5) same object matching is done to the target vehicle for entering adjacent two radar overlap detection areas；

6) when being matched in adjacent two radar overlap detection areas when target vehicle as same target vehicle, by upstream radar Target id and license plate number, which are merged and exported, gives adjacent downstream radar, generates target information collection new in the detections of radar region of downstream It closes, i.e., target vehicle continues to do track following in adjacent downstream detections of radar region using the target information set；Work as target Vehicle can not be matched in adjacent two radar overlap detection areas as same target, then adjacent downstream radar generates new radar mesh ID is marked, which does not include license board information, until target vehicle travels the first thunder to next radar and video detection system The matching of Target id and license plate is done up to detection zone.

2. the trans-regional networking multiple target tracking recognition methods of more radars according to claim 1, which is characterized in that the step It is rapid 4) in by " device numbering " field in target vehicle real time data and target vehicle in adjacent two radar fixs in upstream and downstream X axis coordinate in system judges that target vehicle enters the overlap detection area of adjacent two radars；

The detection zone length for defining radar is L1, and the overlapping detection regions length of field of adjacent two radars in upstream and downstream is L2, radar Blind area distance is △ L, and the X axis coordinate of adjacent upstream detections of radar to target vehicle is x1, adjacent downstream detections of radar to target The X axis coordinate of vehicle is x2；

As △ L≤x1≤L2+ △ L, L1-L2≤x2≤L1, then determine the target vehicle for target in overlap detection area.

3. the trans-regional networking multiple target tracking recognition methods of more radars according to claim 1, which is characterized in that the step It is rapid 5) in overlap detection area object matching between adjacent two radars integration region, when target vehicle enter radar overlapping After detection zone, target in adjacent two radar overlapping regions is calculated according to the longitude and latitude of integration region target vehicle, car speed Speed difference and range difference；

When adjacent two radars are less than 2m apart from absolute value of the difference to what target vehicle detection arrived, while target vehicle detection is arrived Speed absolute value of the difference be less than 2km/h when, then determine adjacent two detections of radar target vehicle be the same target, and The same target that adjacent two detections of radar arrive can keep fusion number consistent with license plate number information in integration region, realize phase Vehicle tracking fusion between adjacent two radars.

4. the trans-regional networking multiple target tracking recognition methods of more radars according to claim 1, which is characterized in that the head A radar and video detection system are arranged at the bayonet of the upstream end of highway.

5. the trans-regional networking multiple target tracking recognition methods of more radars according to claim 4, which is characterized in that the view Frequency detector is gunlock, and the gunlock and the first radar are installed on jointly on gunlock bayonet rod piece.

6. a kind of trans-regional networking multiple target tracking identification device of more radars, which is characterized in that including radar and video detection system System, the first judging unit, second judgment unit, third judging unit and information fusion unit；

The radar and video detection system include it is several, be evenly arranged respectively along highway, including a video detector and Uniform along the highway and spaced apart radar for being provided with device numbering；All radars for being installed on the highway and The detection zone of two radars of arbitrary neighborhood partly overlaps in video detection system；

The radar is corresponding to radar fix for obtaining the velocity information of target vehicle and target vehicle in detection zone in real time Location information in system；

The radar of first number in radar and video detection system is defined for the first radar, in the detection zone of first radar It is provided with trigger position；

First judging unit, for judging whether target vehicle drives into trigger position in the detection zone of the first radar, And when judging result is that target vehicle drives into trigger position, triggering starting video detector records the first detections of radar area segments Video image；

The second judgment unit judges the lane number and video detector where target vehicle in video image Whether unique corresponding lane number matching is consistent；Lane number and video detector where judging result is target vehicle When unique corresponding lane number matches consistent, video detector captures target vehicle image and simultaneously identifies license board information, and will packet The candid photograph result of the license board information containing target vehicle returns to system_；

The third judging unit, for judging whether target vehicle enters the overlap detection area of adjacent two radars；When sentencing When disconnected result is that target vehicle enters overlap detection area, same target is done to the target vehicle for entering overlap detection area Match；

The information fusion unit, for target information of the same target vehicle in upstream radar of overlap detection area will to be entered Set, which is merged and exported, gives adjacent downstream radar, and target vehicle uses the target information collection in adjacent downstream detections of radar region Conjunction continues to do track following.

Technical field

The present invention relates to road vehicle detection fields, and in particular to a kind of more trans-regional networking multiple target tracking identifications of radar Method and device.

Background technique

Highway belongs to closed road, ensures the life of the passing driver and conductor of highway and property safety is state's meter The major issue of the people's livelihood also belongs to new period road traffic department key-point management and improved action.Further to promote high speed Highway administration unit reinforces the emergency disposal energy of highway emergency event to the control dynamics of highway network operation overall process Power, the demand to express highway all-way monitoring are more more and more urgent.

The maturation of high-definition video technology in recent years, freeway management are carried out digitizing high-definition monitoring video mostly to realize The monitoring management of overall process, but with the increase of video number, it is all manually to find that confirmation traffic accident and road are tight in time Working strength is very big if anxious situation, and setting HD video event detection system detects vehicle lay-off, traffic congestion etc. automatically Event, accident can also promote the using effect of monitor video system.The drawbacks of bringing is exactly that a HD video price compares It is expensive, and be affected by adverse circumstances, encounter that the weather detection accuracy such as misty rain snow are extremely low, and economic benefit ratio is not high；If two use Completely new equipment just needs the common camera laid before to replace, and causes the waste to resource.

In addition, although high-definition camera can accurately perceive the characteristic attributes such as vehicle, the license plate of vehicle, detection away from Precision is weaker when from movement properties such as, speed, and due to the optical characteristics of camera, is highly prone to ambient enviroment Interference, such as the boisterous weather conditions such as strong illumination, sleet mist can all influence the normal work of camera, it is caused to adopt The information result of collection is not accurate enough.

On the other hand, video monitoring (high-definition camera can be solved perfectly in the modern regional monitoring system based on radar detection Machine) equipment the problem of, radar can work 24 hours a day, and not influenced by rain, snow, mist and night, therefore, In Intelligent traffic administration system is widely used in field, but it can not accomplish to visualize, and have for the acquisition of information content Limit, for example the traffic informations such as speed or vehicle flowrate can only be acquired, the information such as license plate can not be acquired.In addition, the detection of separate unit radar Apart from limited, if section microwave detector can only detect a section, separate unit wide area radar can only detect a region, such as examine Survey 200 meters.

Summary of the invention

It is an object of that present invention to provide a kind of trans-regional networking multiple target tracking recognition methods of more radars and devices, pass through thunder It is associated with up to video detection data, synthesizes the motion informations such as the characteristic informations such as license plate, the vehicle of target vehicle and speed, then lead to The data fusion of excessive radar, not only breaches the limitation of separate unit detections of radar range, the detecting distance of radar is infinitely extended, It can also realize the transmitting of vehicle characteristic information and motion information, total movement rail of the vehicle in radar fence may finally be obtained The information such as mark, traffic behavior realize the identification tracking of target.

To reach above-mentioned purpose, the following technical solutions are proposed: a kind of more trans-regional networking multiple target trackings of radar by the present invention Recognition methods includes the following steps:

1) several radars and video detection system, the radar and video detection system packet are uniformly installed on a highway Include a video detector and several radars for being provided with device numbering, all radars installed on the highway and video inspection The detection zone of two radars of arbitrary neighborhood partly overlaps in examining system；

2) the radar fix system of each radar is established using the receiving antenna center of each radar as origin respectively, radar fix system X-direction is opposite with target vehicle driving direction；When target vehicle enters first radar and video detection on express highway section In system when the detection zone of the first radar, the velocity information of target vehicle is with it first in the first radar real-time detection region Location information in radar fix system generates the Target id for indicating target vehicle, and Target id, the speed that will indicate target vehicle Information and location information return to system；First radar is provided with trigger position in its detection zone, works as target vehicle The first radar triggers video detector when traveling is to trigger position, video detector judge lane number where target vehicle and Video detector captures target vehicle image and simultaneously identifies license board information, and will packet when uniquely the matching of corresponding lane number is consistent The candid photograph result of the license board information containing target vehicle returns to system；

3) radar and video detection system match fusion to the radar and video data of same target vehicle, generate target carriage Complete information set, include Target id, driving speed information, place lane number, target vehicle location information and license plate Number license plate fused data record；

4) the downstream radar traveling that target vehicle is numbered to neighbouring device, judges that target vehicle enters adjacent two radars Overlap detection area；

5) same object matching is done to the target vehicle for entering adjacent two radar overlap detection areas；

6) when being matched in adjacent two radar overlap detection areas when target vehicle as same target vehicle, by upstream thunder The Target id and license plate number reached, which is merged and exported, gives adjacent downstream radar, generates target letter new in the detections of radar region of downstream Breath set, i.e., target vehicle continues to do track following in adjacent downstream detections of radar region using the target information set；When Target vehicle can not be matched in adjacent two radar overlap detection areas as same target, then adjacent downstream radar generates new thunder Up to Target id, which does not include license board information, until target vehicle is travelled to the of next radar and video detection system Do the matching of Target id and license plate in one detections of radar region.

Further, existed in the step 4) by " device numbering " field in target vehicle real time data and target vehicle X axis coordinate in the adjacent two radar fix systems in upstream and downstream judges that target vehicle enters the overlapping detection regions of adjacent two radars Domain；

The detection zone length for defining radar is L1, and the overlapping detection regions length of field of adjacent two radars in upstream and downstream is L2, Radar shadown distance is △ L, and the X axis coordinate of adjacent upstream detections of radar to target vehicle is x1, and adjacent downstream detections of radar arrives The X axis coordinate of target vehicle is x2；

As △ L≤x1≤L2+ △ L, L1-L2≤x2≤L1, then determine the target vehicle for mesh in overlap detection area Mark.

Further, in the step 5) overlap detection area object matching between adjacent two radars corresponding circle of sensation Domain calculates phase according to the longitude and latitude of integration region target vehicle, car speed after target vehicle enters radar overlap detection area The speed difference and range difference of target in adjacent two radar overlapping regions；

When adjacent two radars are examined apart from absolute value of the difference less than 2m, while to target vehicle to what target vehicle detection arrived When the speed absolute value of the difference measured is less than 2km/h, determine that the target vehicle of adjacent two detections of radar is the same target, and And the same target that adjacent two detections of radar arrive can keep fusion number consistent with license plate number information in integration region, realize Vehicle tracking fusion between adjacent two radars.

Further, at the bayonet for the upstream end that highway is arranged in the first radar and video detection system.

Further, the video detector is gunlock, and the gunlock and the first radar are installed on gunlock bayonet bar jointly On part.

In addition, the invention also discloses a kind of more trans-regional networking multiple target tracking identification devices of radar, including radar and Video detection system, the first judging unit, second judgment unit, third judging unit and information fusion unit；

The radar and video detection system include it is several, be evenly arranged respectively along highway, including a video detection Device and uniform along the highway and spaced apart radar for being provided with device numbering；All thunders installed on the highway Reach and video detection system in the detection zones of two radars of arbitrary neighborhood partly overlap；

The radar is corresponding to radar for obtaining the velocity information of target vehicle and target vehicle in detection zone in real time Location information in coordinate system；

The radar for defining first number in radar and video detection system is the first radar, the detection zone of first radar Trigger position is provided in domain；

First judging unit, for judging whether target vehicle drives into trigger bit in the detection zone of the first radar It sets, and when judging result is that target vehicle drives into trigger position, triggering starting video detector records the first detections of radar area The video image of domain section；

The second judgment unit is examined for the lane number where in video image, judging target vehicle with video Surveying device, uniquely whether corresponding lane number matching is consistent；Lane number and video where judging result is target vehicle are examined When surveying device uniquely the matching of corresponding lane number is consistent, video detector captures target vehicle image and simultaneously identifies license board information, and Candid photograph result comprising target vehicle license board information is returned into system；

The third judging unit, for judging whether target vehicle enters the overlap detection area of adjacent two radars； When judging result is that target vehicle enters overlap detection area, same target is done to the target vehicle for entering overlap detection area Matching；

The information fusion unit, for target of the same target vehicle in upstream radar of overlap detection area will to be entered Information aggregate, which is merged and exported, gives adjacent downstream radar, and target vehicle is believed in adjacent downstream detections of radar region using the target Breath set continues to do track following.

From the above technical scheme, the trans-regional networking multiple target tracking of more radars that technical solution of the present invention provides is known Other method, obtain it is following the utility model has the advantages that

The trans-regional networking multiple target tracking recognition methods of more radars disclosed by the invention and device, are examined in conjunction with radar and video The advantages of survey, including several radars and video detection system on a highway are arranged, when target enters radar setting Video detection data is triggered when trigger position, radar data is associated with video data, can synthesize target carriage in highway The motion informations such as characteristic informations and speed such as license plate, vehicle, then data fusion when to target by more radars not only dashes forward The limitation for having broken separate unit detections of radar range infinitely extends the detecting distance of radar, realizes vehicle characteristic information and movement letter The transmitting of breath may finally obtain the information such as total movement track, traffic behavior of the vehicle in radar fence, realize more radars across Region networking multiple target tracking identification process.

Technical solution of the present invention is based on the basis of original common camera, is worked using the round-the-clock high reliability of radar Advantage, introduce more radar whole process intellectual analysis, detect the overall process of moving target, with radar totally grasp all fronts road operation Situation has detected that traffic accident generation is then immediately controlled video capture and is uploaded to backstage；Backstage personnel are connected to radar report Alert information then transfers corresponding monitoring confirmation accident authenticity, then sets out corresponding police strength, saves a large amount of human and material resources costs.

It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this It can be viewed as a part of the subject matter of the disclosure in the case that the design of sample is not conflicting.

Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that the foregoing and other aspects, reality Apply example and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the invention will be below Description in it is obvious, or learnt in practice by the specific embodiment instructed according to the present invention.

Detailed description of the invention

Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled. Now, example will be passed through and the embodiments of various aspects of the invention is described in reference to the drawings, in which:

Fig. 1 is implementation flow chart of the present invention；

Fig. 2 is that target vehicle of the present invention drives into radar and video detection system state diagram；

Fig. 3 is the fusion flow chart of radar forms data frame in the present invention；

Fig. 4 is radar fix system used in the examples figure.

Specific embodiment

In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.

Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations. Embodiment of the disclosure does not define including all aspects of the invention.It should be appreciated that a variety of conception and embodiment presented hereinbefore, And those of describe in more detail below design and embodiment can in many ways in any one implement, this is Because conception and embodiment disclosed in this invention are not limited to any embodiment.In addition, some aspects disclosed by the invention It can be used alone, or otherwise any appropriately combined used with disclosed by the invention.

Based in the prior art, vehicle can be accurately perceived although on the one hand passing through and installing high-definition camera on a highway The characteristic attributes such as vehicle, license plate, but the low precision when movement properties such as detection range, speed, and be easy by To the interference of ambient enviroment, the information result for causing it to acquire is inaccurate；On the other hand the area monitoring system based on radar detection Although the problem of video monitoring equipment can be solved perfectly in system, can not accomplish to visualize, the acquisition for information content It is limited；The present invention is directed to propose a kind of trans-regional networking multiple target tracking recognition methods of more radars, passes through radar and video detection The association and data fusion of data breach the limitation of separate unit detections of radar range, realize vehicle characteristic information and motion information Transmitting, identification obtain simultaneously track total movement track and traffic behavior of the vehicle in radar fence.

Embodiment shown in reference to the accompanying drawing, to the trans-regional networking multiple target tracking recognition methods of more radars of the invention And device further specifically introduces.

As shown in connection with fig. 1, the trans-regional networking multiple target tracking recognition methods of a kind of more radars, includes the following steps: 1) In Several radars and video detection system are uniformly installed, the radar and video detection system include several videos on highway Detector and several radars for being provided with device numbering；In all radars and video detection system installed on the highway The detection zone of two radars of arbitrary neighborhood partly overlaps；

2) the radar fix system of each radar is established using the receiving antenna center of each radar as origin respectively, radar fix system X-direction is opposite with target vehicle driving direction；When target vehicle enters first radar and video detection on express highway section In system when the detection zone of the first radar, the velocity information of target vehicle is with it first in the first radar real-time detection region Location information in radar fix system generates the Target id for indicating target vehicle, and Target id, the speed that will indicate target vehicle Information and location information return to system；First radar is provided with trigger position in its detection zone, works as target vehicle The first radar triggers video detector when traveling is to trigger position, video detector judge lane number where target vehicle and Video detector captures target vehicle image and simultaneously identifies license board information, and will packet when uniquely the matching of corresponding lane number is consistent The candid photograph result of the license board information containing target vehicle returns to system；

3) radar and video detection system match fusion to the radar and video data of same target vehicle, generate target carriage Complete information set, include Target id, driving speed information, place lane number, target vehicle location information and license plate Number license plate fused data record；

4) the downstream radar traveling that target vehicle is numbered to neighbouring device, judges that target vehicle enters adjacent two radars Overlap detection area；

5) same object matching is done to the target vehicle for entering adjacent two radar overlap detection areas；

6) when being matched in adjacent two radar overlap detection areas when target vehicle as same target vehicle, by upstream thunder The Target id and license plate number reached, which is merged and exported, gives adjacent downstream radar, generates target letter new in the detections of radar region of downstream Breath set, i.e., target vehicle continues to do track following in adjacent downstream detections of radar region using the target information set；When Target vehicle can not be matched in adjacent two radar overlap detection areas as same target, then adjacent downstream radar generates new thunder Up to Target id, which does not include license board information, until target vehicle is travelled to the of next radar and video detection system Do the matching of Target id and license plate in one detections of radar region.

Therefore step 6) is repeated, reaches and realizes the mesh shown in Fig. 2 in the trans-regional networking multiple target tracking identification of more radars Mark.In the specific implementation process, at the bayonet for the upstream end that highway is arranged in the first radar and video detection system； The video detector uses gunlock, and gunlock and the first radar are installed on jointly on gunlock bayonet rod piece.

The target vehicle of the first radar real-time detection location information in the first radar fix system is target in step 2) X-axis, Y axis coordinate of the vehicle in corresponding radar fix system；When the first detections of radar to target vehicle reaches trigger position, the One radar sends trigger signal to video detector by the transmission mode of RS485 serial ports, while radar and video detection system The trigger signal is recorded, while recording the location information of Target id and target vehicle that the first radar is sent.Triggering letter The information such as lane number, the target vehicle speed for needing to capture comprising gunlock in number.When video detector receives the sending of the first radar Start to judge after trigger signal, i.e., if the unique corresponding lane number of lane number where target vehicle and video detector Matching is consistent, is just captured.

After radar and video detection system obtain the total data of the first radar and video detector, the basis in step 2) (such as 0-2 seconds) target vehicle trigger position, place lane number and time-wise separation progress Data Matching, successful match, then First radar trigger signal of the target vehicle is merged with result is captured, then passes through the ginseng such as time, lane number, location information Number carries out the license plate data fusion of target vehicle, which is the license plate data source of more radar target fusions, most Can be generated eventually one comprising Target id, driving speed information, place lane number, target vehicle position and license plate number license plate Fused data record.License board information fusion after, the first detections of radar to vehicle contain vehicle unique identification (such as lane number And license plate number) and target vehicle basic information (such as longitude and latitude position, target vehicle with respect to the position of radar, driving speed information, Vehicle etc.).

Further, pass through " device numbering " field and mesh of radar in target vehicle real time data in the step 4) X axis coordinate of the vehicle in detections of radar region is marked, judges that target vehicle enters the overlap detection area of adjacent two radars；It is fixed The detection zone length of adopted radar is L1, and the overlapping detection regions length of field of adjacent two radars in upstream and downstream is L2, radar shadown away from It is x1, the X of adjacent downstream detections of radar to target vehicle from the X axis coordinate for △ L, adjacent upstream detections of radar to target vehicle Axial coordinate is x2；

As △ L≤x1≤L2+ △ L, L1-L2≤x2≤L1, then determine the target vehicle for mesh in overlap detection area Mark.

The integration region of overlap detection area object matching between adjacent two radars, works as target carriage in the step 5) After entering radar overlap detection area, adjacent two radars are calculated according to the longitude and latitude of integration region target vehicle, car speed The speed difference and range difference of target in overlapping region；When adjacent two radars to target vehicle detection arrive apart from absolute value of the difference Less than 2m, while when the speed absolute value of the difference arrived to target vehicle detection is less than 2km/h, then adjacent two detections of radar are determined Target vehicle be the same target, and the same target that arrives of adjacent two detections of radar can keep merging in integration region It numbers consistent with license plate number information, realizes that the vehicle tracking between adjacent two radars merges, subsequent successively adjacent downstream radar It is also matching fusion in the same way, realizes the transregional all-the-way tracking of more radars of target vehicle.

The fusion flow chart of radar forms data frame as shown in connection with fig. 3 and radar fix system shown in Fig. 4 figure, adjacent two The specific calculating process apart from absolute value of the difference less than 2 that radar arrives target vehicle detection are as follows:

System can be according to the longitude and latitude of every radar, due north deflection angle, target vehicle in corresponding radar fix system first Coordinate calculate the longitude and latitude of target vehicle.

Set in radar and video detection system any radar longitude as lon1, latitude lat1, due north deflection angle be β, Coordinate of the target vehicle in radar fix system is (x, y)；

Terrestrial equator radius: EARTH_RADIUS=6378137m, the earth is per once (radian) corresponding arc length: EARTH_ ARC=6378.137km* π/180=111199m；

The radar is at a distance from the target vehicle being located in radar monitoring region:

The angle of cut (radian) of radar and the target vehicle being located in radar monitoring region is α:

The due north deflection angle (radian) of target vehicle is a:

The degree (radian) of target vehicle and radar at the earth's surface with respect to centre of sphere difference is c:

Target vehicle latitude complementary angle is b:

B=arccos[cos 90-lon1 × cos c+sin (90-lon1) × sin c × cos a] (5)

The angle that target vehicle and radar differ in longitudinal is d:

Then:

The target vehicle longitude is lonM:

LonM=lon1+d (7)

Target vehicle latitude is latM:

LatM=90-b (8)

Secondly, all targets in the adjacent two radar fusion regions in traversal upstream and downstream, according to the longitude and latitude of each target vehicle Degree calculates two radars to the range difference of each target vehicle.

Such as calculating the distance between first object vehicle and the second target vehicle difference: it is assumed that first object vehicle Longitude and latitude is lonA, latA, and the longitude and latitude of the second target vehicle is lonB, latB；Known terrestrial equator radius: EARTH_ RADIUS=6378137m；

Then, the longitude and latitude difference between first object vehicle and the second target vehicle is respectively as follows:

Δ lon=lonA-lonB (9)

Δ lat=latA-latB (10)

As available from the above equation, the distance between first object vehicle and the second target vehicle S are as follows:

Judge the absolute value of S value and the size of 2m, while judging that first object vehicle and the second target vehicle are examined through radar The size of the speed difference V and 2km/h that measure；As ‖ S ‖ < 2m, ‖ V ‖ < 2km/h, adjacent two radars in upstream and downstream are directly judged The first object vehicle and the second target vehicle detected respectively is same target vehicle, further that upstream and downstream is two adjacent Vehicle tracking and data fusion between radar are successively made corresponding judgement to the subsequent radar in downstream and are handled, realize that more radars are transregional Domain networking, and then realize multiple target tracking identification.

The present invention is to solve to be easy to be done by environment using high-definition camera machine monitoring traveling state of vehicle on a highway It disturbs, information result is inaccurate and can not accomplish the limited technology of acquisition of visual presentation, information content using radar sensing system Problem also discloses a kind of trans-regional networking multiple target tracking identification device of more radars.

The trans-regional networking multiple target tracking identification device of more radars, including several thunders being evenly arranged along highway It reaches and video detection system；The radar and video detection system include a video detector and it is several along highway uniformly and The spaced apart radar for being provided with device numbering, and appoint in all radars and video detection system installed on highway The detection zone of adjacent two radars of anticipating partly overlaps；Wherein, radar for obtaining the speed of target vehicle in detection zone in real time Spend the location information of information and target vehicle in corresponding radar fix system；

The radar for defining first number in radar and video detection system is the first radar, the detection zone of first radar Trigger position is provided in domain；

The trans-regional networking multiple target tracking identification device of more radars, further includes:

First judging unit, for judging whether target vehicle drives into trigger position in the detection zone of the first radar, And when judging result is that target vehicle drives into trigger position, triggering starting video detector records the first detections of radar area segments Video image.

Second judgment unit judges the lane number and video detector where target vehicle in video image Whether unique corresponding lane number matching is consistent；Lane number and video detector where judging result is target vehicle When unique corresponding lane number matches consistent, video detector captures target vehicle image and simultaneously identifies license board information, and will packet The candid photograph result of the license board information containing target vehicle returns to system.

Third judging unit, for judging whether target vehicle enters the overlap detection area of adjacent two radars；When sentencing When disconnected result is that target vehicle enters overlap detection area, same target is done to the target vehicle for entering overlap detection area Match.

Information fusion unit, for target information of the same target vehicle in upstream radar of overlap detection area will to be entered Set, which is merged and exported, gives adjacent downstream radar, and target vehicle uses the target information collection in adjacent downstream detections of radar region Conjunction continues to do track following.

Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause This, the scope of protection of the present invention is defined by those of the claims.