Research on Vehicle Identification Method and Vehicle Speed Measurement Method Based on Multi-rotor UAV Equipped with Lidar

At present, vehicle identification and speed measurement are mainly based on fixed measurement platform, which is difficult to meet the needs of emergency sites. In this paper, a multirotor unmanned aerial vehicle (UAV) is equipped with lidar as the measurement platform, and the method of vehicle identification and vehicle speed measurement based on lidar data is studied. Based on the existing vehicle types, a method of vehicle classification based on the characteristics of lidar data is proposed. Then, the characteristic parameters for vehicle identification and the calculation methods are given. Finally, the recognition of vehicle types is realized. On this basis, by studying the relationship between the height, width and length of the existing vehicles, a method of vehicle speed measurement based on lidar data is proposed. Flight test results show that the accuracy of vehicle identification is higher, and the error of vehicle speed measurement meets the national standard of speed meter.