Expressway truck intrusion detection method based on thundersight trajectory fusion

The invention overcomes the problems that the accuracy and stability of a vehicle track prediction method in the prior art are insufficient and the detection of the lane changing behavior of the vehicle cannot be met, and provides the expressway truck intrusion detection method based on the Raysight track fusion, and the detection accuracy of the expressway truck intrusion detection is improved by using detection equipment such as radar equipment and video equipment installed on the expressway. Traffic data information of vehicles on an expressway region section is collected, track point data of the vehicles on the region section are recognized, track splicing is carried out on the track point data to form a track section, and track fusion and matching are carried out on data collected by radar equipment and video equipment; the method comprises the following steps: performing vehicle trajectory prediction on data of a missing time period, combining real-time data and prediction data to obtain a vehicle holog