The first step is to find out how the sensor scans, and the relationship between scanning direction and rotation and road and vehicle position;

The second step is to understand the data format, what distance data is needed, and how to read Matlab in batches and convert it into decimal;

The third step is to analyze how to establish a coordinate system (as simple and practical as possible) and how to determine the peripheral coordinates of the car by using the distance data in the coordinate system;

Fourthly, using the peripheral coordinates of vehicles, several plane equations can be obtained, which can be used as general descriptions of vehicle geometry, reasonably classify vehicle types (large, medium, small, three or more detailed four or five categories), and also distinguish lanes.

Step five, how to judge abnormal data (just set boundary conditions according to common sense, and consider it abnormal if it exceeds)

Step 6: For simplicity, it can be assumed that the vehicle speed is constant (expressway), and the influence of vehicle speed is considered in the model. Simply put, the speed affects the scanning time and the length of the car.