Method and device for sensing running state of vehicle in tunnel in real time

The invention discloses a method and device for sensing the running state of a vehicle in a tunnel in real time, and relates to the field of traffic safety. The method comprises the following steps: acquiring a snapshot result of a bayonet snapshot device at an entrance position of a tunnel and detection results of a plurality of millimeter wave radars arranged between the entrance position of the tunnel and an exit position of the tunnel; and carrying out fusion processing on a snapshot result of the bayonet snapshot device and a detection result of each millimeter wave radar to realize matching tracking monitoring of the vehicle. According to the embodiment of the invention, the state of the vehicle in the tunnel is monitored based on the checkpoint snapshot device and the millimeter-wave radars, the matching of the snapshot result of the checkpoint snapshot device and the detection result of each millimeter-wave radar is realized by setting the overlapped detection area, the state of the vehicle in the tun