CN103514750A - DSRC-based vehicle following interference prevention method and device, and application system - Google Patents
DSRC-based vehicle following interference prevention method and device, and application system Download PDFInfo
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Abstract
The invention discloses a DSRC-based vehicle following interference prevention method and device, and an application system. The method comprises the following step: the signal receiving step, wherein a RSU is used to receive microwave signals sent by a plurality of OBUs comprising a first OBU and a second OBU; the positioning step, wherein the RSU is used to acquire the positioning information of each OBU according to each microwave signal; and a comparing step, wherein the positioning information of the OBUs are compared, so that the RSU select the prioritized OBU from the OBUs. The method and device of the invention are applied in the field of highway traffic, valid identification is performed on positions of vehicles through the vehicle positioning technology, so that the prioritized OBU is selected accurately and the vehicle having the OBU is prioritized, so the normal interaction process between the prioritized OBU and the RSU will not be interfered by OBU on other vehicles, so that the vehicle following interference problem of the vehicles can be effectively solved, and the probability of error handling can be reduced.
Description
Technical field
The application relates to intelligent transportation (ITS:Intelligent Transportation System) field, relates in particular to a kind of anti-car interference method, device and application system of following based on Dedicated Short Range Communications, (DSRC:Dedicated Short Range Communications).
Background technology
The DSRC application systems such as electric non-stop toll (ETC:Electronic Toll Collection) system adopt DSRC key equipment roadside unit (RSU:Road Side Unit) and board units (OBU:On-board Units) to charge to vehicle conventionally, detect or monitoring, these systems in operational process, occur sometimes OBU signal with car interference problem: last vehicle sails into behind default transaction region, start to carry out information interaction by its OBU and RSU, now follow another vehicle in this vehicle back may also can enter transaction region, and by its OBU, to RSU, send information at one time, normal reciprocal process between OBU on last vehicle and RSU is produced and disturbed, cause the processing procedure of DSRC application system occur wrong or omit, for example, in ETC system, these disturb and cause sometimes error in charging, detect the generation of the phenomenons such as mistake, for example some vehicle is repeated to charge, and to the not charge of some vehicle.
In order to ensure the normal operation of DSRC application system, urgently to be resolved hurrily anti-with car interference problem.
Summary of the invention
The application provides a kind of anti-car interference method, device and DSRC application system of following based on DSRC.
According to the application's first aspect, the application protects a kind of anti-car interference method of following based on DSRC, comprises the following steps:
Signal is accepted step: RSU receives the microwave signal of a plurality of OBU transmissions that comprise an OBU, the 2nd OBU;
Positioning step: RSU, according to each microwave signal, obtains the locating information of each OBU;
Comparison step: by the locating information of each OBU relatively, RSU selects the OBU of priority processing from described OBU.
In a kind of embodiment, in described comparison step, RSU selects the concrete mode of the OBU of priority processing to be from described OBU, from described OBU described in chosen distance the nearest OBU of RSU as the OBU of priority processing; After described comparison step, also comprise that transaction step: RSU preferentially sends charge instruction to the OBU of described priority processing.
In a kind of embodiment, in described comparison step, select after the OBU of described priority processing, also according to the distance between other OBU and RSU, described other OBU are extremely far sorted by near; In described transaction step, RSU also to described other OBU according to sending successively charge instruction by near to order far away.
In a kind of embodiment, RSU outdoor unit is 0 at the position coordinates of first direction, and in described positioning step, the locating information of an OBU comprises the position coordinates y1 of first direction, and the locating information of the 2nd OBU comprises the position coordinates y2 of first direction; In described comparison step, if | y1|<| y2|, select the OBU that an OBU is described priority processing, if | y1|>| y2|, selects the OBU that the 2nd OBU is described priority processing.
In a kind of embodiment, RSU outdoor unit is all 0 at the position coordinates of first direction and second direction, in described positioning step, the locating information of the one OBU comprises the position coordinates y1 of first direction and the position coordinates x1 of second direction, the locating information of the 2nd OBU comprises the position coordinates y2 of first direction and the position coordinates x2 of second direction, wherein, first direction is vertical with second direction; In described comparison step, if
select the OBU that an OBU is described priority processing, if
select the OBU that the 2nd OBU is described priority processing.
In a kind of embodiment, described positioning step adopts phase differential localization method.
According to the application's second aspect, the application has protected a kind of anti-car countermeasure set of following based on DSRC, comprises RSU, and described RSU comprises:
Signal is accepted module: for receiving the microwave signal of a plurality of OBU transmissions that comprise an OBU, the 2nd OBU;
Locating module: for the microwave signal sending according to each OBU, obtain the locating information of each OBU;
Comparison module: for passing through the relatively locating information of each OBU, select the OBU of priority processing from described OBU.
In a kind of embodiment, described comparison module is for the OBU as priority processing from the nearest OBU of RSU described in described OBU chosen distance; Described RSU also comprises transaction modules, for the preferential OBU to described priority processing, sends charge instruction.
According to the application's the third aspect, the application has protected a kind of DSRC application system, comprises the above-described anti-car countermeasure set of following based on DSRC.
In a kind of embodiment, described DSRC application system is bicycle road band barrier machine ETC system, multilane band barrier machine ETC system, bicycle road Free-flow system or multilane Free-flow system, described signal receiving module is arranged on the corresponding track of described bicycle road band barrier machine ETC system, multilane band barrier machine ETC system or bicycle road Free-flow system, or is arranged at least one the Free-flow section in multilane Free-flow system.
In a kind of embodiment, described DSRC system comprises at least one in vehicle detecting system, vehicle speed measuring system, model recognition system, image identification system, video capture system.
The application's beneficial effect is: the application is applied to highway communication field, by vehicle location and location comparison, select OBU on suitable vehicle as the OBU of priority processing, realized effective identification of vehicle front and back position, then first RSU can charge to the OBU of priority processing or the vehicle with this OBU be carried out to other forms of processing, to other OBU or with the vehicle of other OBU, temporarily do not process, make the OBU on other vehicles can't the normal reciprocal process between the OBU of priority processing and RSU be produced and be disturbed, thereby effectively solved vehicle with car interference problem.And the application selects the OBU of priority processing according to the particular location of each OBU, for example chosen distance RSU is nearest, farthest or have the OBU of specific range with RSU, the interference free performance of effective improvement system in actual application, reduce the probability of wrong processing, guaranteed the normal operation of DSRC application system.
Accompanying drawing explanation
Fig. 1 is the anti-process flow diagram with car interference method of a kind of embodiment of the application;
Fig. 2 is the side view that the vehicle of a kind of embodiment of the application is positioned at RSU signal coverage areas;
Fig. 3 is the receiving antenna layout of the localization method of a kind of embodiment of the application;
Fig. 4 is the anti-structured flowchart with car countermeasure set of a kind of embodiment of the application.
Specific embodiment
Below by specific embodiment, by reference to the accompanying drawings the application is described in further detail.
In the embodiment of the present application, RSU utilizes location technology to determine the locating information of carrying out the OBU on mutual a plurality of vehicles with RSU, thereby determine GeOBU position, by comparing GeOBU position, select suitable OBU as the OBU of priority processing again, first the OBU of this priority processing charged or the vehicle with this OBU is carried out to other forms of processing, to other OBU or with the vehicle of other OBU, temporarily not processing
Embodiment mono-:
The anti-information interaction of car interference method based between RSU and OBU of following of the present embodiment.Wherein, RSU comprises outdoor unit and indoor unit, RSU outdoor unit has dual-mode antenna, for sending microwave signal to OBU and receiving the microwave signal from OBU, RSU outdoor unit is arranged on road top or sidepiece conventionally, and RSU indoor unit is processed for the information of RSU outdoor unit being controlled and RSU outdoor unit is received and sent; OBU also has antenna, and for sending microwave signal to RSU and receiving the microwave signal from RSU, OBU is arranged in vehicle conventionally, for example, be fixed on the front windshield of vehicle.Please refer to Fig. 1 and Fig. 2, the method for the present embodiment mainly comprises with step:
S101: after in two vehicles all enter the RSU signal coverage areas shown in dotted line, the wake-up signal wakes that the OBU 2 installing on the OBU 1 installing on the first vehicle and the second vehicle is periodically sent by RSU, thus two OBU send between answer signal and RSU and set up communication link to RSU.
S102: take the first vehicle as example, RSU sends microwave signal to OBU 1, in this microwave signal, carry request data frame, the particular content of this request data frame is determined as required, be generally used for asking OBU 1 to return to certain information to RSU, such as the request data frame of the present embodiment, be used for asking information of vehicles (comprise the information such as license plate number, vehicle model, vehicle color one or more).
S103:OBU 1 receives after the microwave signal of RSU, it is resolved, then by internal calculation, obtain the information of vehicles that RSU asks and be packaged into reply data frame, then to RSU, returning to microwave signal B, the information such as ID that this microwave signal B comprises reply data frame and OBU 1.
S104: signal receiving step, RSU receives the microwave signal B that OBU 1 returns to RSU.
S105: positioning step: RSU obtains reply data frame after microwave signal B is resolved, and the locating information of utilizing this microwave signal B to obtain OBU 1 is the locating information of the first vehicle.In the present embodiment, RSU carries out the location of both direction and obtains the locating information that comprises two-dimensional coordinate OBU 1, the locating information that is OBU 1 comprises that this OBU 1 is at the position coordinates y1 of first direction and the position coordinates x1 of second direction, wherein second direction is interior and mutually vertical with first direction Dou road surface plane, first direction is parallel with road bearing of trend, and second direction is vertical with road bearing of trend.The method that obtains the locating information of OBU 1 comprises multiple, for example phase differential localization method or signal intensity localization method, the former utilizes in RSU corresponding phase difference value when different receiving antennas receive same microwave signal to position OBU 1, and the latter utilizes in RSU corresponding signal intensity size when receiving antenna receives microwave signal to position OBU1.
For example a kind of phase differential localization method of microwave signal is specially:
Please refer to Fig. 3, utilize receiving antenna 1, receiving antenna 2, the receiving antenna 3 of on same straight line, arranging to form antenna sets and receive the microwave signal that same OBU sends, the distance d between receiving antenna 1 and receiving antenna 2<sub TranNum="104">12</sub><λ, the distance d between receiving antenna 1 and receiving antenna 3<sub TranNum="105">13</sub>>N λ, arrival bearing and the angle between aerial array normal of the microwave signal that OBU sends are θ, i.e. the deflection of microwave signal.When microwave signal arrives respectively three receiving antennas, because distance between microwave signal and receiving antenna is distant, belong to receiving antenna far-field region, therefore be equivalent to each receiving antenna of the parallel arrival of microwave signal, the phase place of the microwave signal that the microwave signal that receiving antenna 2 receives receives than receiving antenna 1 lags behind<img TranNum="106" file="BDA00001773632900041.GIF" he="38" img-content="drawing" img-format="GIF" inline="yes" orientation="portrait" wi="80"/>being receiving antenna 2 with respect to the phase differential of receiving antenna 1 is<img TranNum="107" file="BDA00001773632900042.GIF" he="37" img-content="drawing" img-format="GIF" inline="yes" orientation="portrait" wi="110"/>the phase place of the microwave signal that the microwave signal that receiving antenna 3 receives receives than receiving antenna 1 lags behind<img TranNum="108" file="BDA00001773632900043.GIF" he="37" img-content="drawing" img-format="GIF" inline="yes" orientation="portrait" wi="79"/>being receiving antenna 3 with respect to the phase differential of receiving antenna 1 is<img TranNum="109" file="BDA00001773632900044.GIF" he="37" img-content="drawing" img-format="GIF" inline="yes" orientation="portrait" wi="110"/>
?
(formula one)
?
(formula two)
Wherein,
for obtaining phase differential by phase bit comparison
time the actual number of degrees, due to
therefore this numerical value has uniqueness.
In order to determine N value, can utilize following formula:
(formula three)
In above formula, d
12and d
13it is known,
can obtain actual read number by phase bit comparison, and
can calculate according to formula three.
In acceptable error range, if hypothesis:
Can obtain following formula to determine N in conjunction with formula three:
Consider
in include the error that in signal receiving path, every processing causes, by formula three, calculated
error numerical value be
error numerical value
therefore by formula three and formula two, calculate
approximately equal only, cannot be completely equal, as long as calculate
error in tolerance interval, just can determine θ with obtaining following formula in conjunction with formula two and formula four:
In above derivation, from formula two,
numerical value and the difference between default be
n value is larger,
error amount less, yet the excessive d of N value
13larger, the total length that causes positioning antenna increases and layout is difficult, so can choose 3≤N≤10, can either guarantee certain positioning precision, again convenient antenna layout.Finally, according to the numerical value of θ, in conjunction with setting height(from bottom) and the angle of each receiving antenna, calculate the locating information of OBU, it is at the concrete coordinate of overlay area, RSU antenna vertical projection point the place ahead.
According to carrying out one dimension location to OBU with upper type, if increase again one group of antenna sets vertical with above antenna sets, adopt same processing mode to carry out two-dimensional localization to OBU.
Be similar to step S102 to step S105, the locating information that the microwave signal A that RSU also returns to RSU according to OBU 2 has obtained OBU 2 is the locating information of the second vehicle, comprises that this OBU 2 is at the position coordinates y2 of first direction and the position coordinates x2 of second direction.
S106: comparison step, RSU compares the locating information of OBU 1 and OBU 2, according to different selection strategies, from two OBU, select the OBU of priority processing, for example from two OBU, the nearest OBU of chosen distance RSU is as the OBU of priority processing, or chosen distance RSU is farthest or have an OBU that the OBU of specific range is priority processing from two OBU.According to different coordinate systems, the comparative approach of the present embodiment has multiple, and for example, while the installation site of RSU outdoor unit being arranged on to the coordinate center of coordinate system according to Fig. 2, RSU outdoor unit is all 0 o'clock at the position coordinates of first direction and second direction, in this step comparison procedure, if
show that OBU 2 distance R SU outdoor units are relatively near, the first vehicle is followed at the second vehicle back or sidepiece, selects OBU 2 for the OBU of priority processing, on the contrary, if
show that OBU 1 distance R SU outdoor unit is relatively near, the second vehicle is followed at the first vehicle back or sidepiece, selects OBU 1 for the OBU of priority processing.
S107:RSU carries out corresponding priority processing to the OBU of priority processing or with the vehicle of this OBU, for example, when processing mode is for transaction, RSU preferentially sends charge instruction to the OBU of priority processing and prepares it to charge, certainly according to specific needs, RSU also can send according to presupposed solution other processing instruction, such as processing instruction, can be and detect instruction, monitored instruction, photographing instruction etc., be respectively used to other forms of processing such as the first vehicle detect, monitors, takes pictures, now to other OBU or with the vehicle of other OBU, temporarily do not deal with.
In some embodiment, above in each step RSU can with a plurality of vehicles on OBU carry out information interaction, receive after the microwave signal of each OBU transmission, according to these microwave signals, obtain respectively the locating information of each OBU, in the comparison step of step S106, RSU is again by the OBU that relatively the nearest OBU of locating information chosen distance RSU of each OBU is priority processing, also can to other OBU, by near, extremely far be sorted according to other OBU beyond the OBU of priority processing and the distance between RSU, then in the treatment step of step S107, first RSU sends after charge instruction to the OBU of priority processing, also to other OBU according to sending successively charge instruction by near to order far away, or first the processing instruction that sends other at this treatment step RSU according to presupposed solution carries out after other forms of processing the vehicle of the OBU with priority processing, the processing instruction that sends again other to the vehicle with other OBU according to being processed to order far away by near.
In practical application, information interaction between RSU and each OBU may have repeatedly, the microwave signal that OBU sends to RSU correspondingly also has a plurality of, these signals all comprise No. ID of OBU, in order to reach the object of location, in the microwave signal that OBU sends to RSU, at least should there is a microwave signal for location.
Embodiment bis-:
What the present embodiment was different from a upper embodiment is, in the process that RSU positions OBU, only realized the location of a direction, especially realized OBU be parallel to road bearing of trend first direction location and obtain the locating information that comprises a dimension coordinate, particularly, the present embodiment is in the positioning step of OBU 1 and OBU 2, the locating information that obtains OBU 1 comprises that OBU 1 is at the position coordinates y1 of first direction, the locating information of OBU 2 comprises the position coordinates y2 of first direction, in comparison step, if | y1|>| y2|, show that OBU2 distance R SU outdoor unit is relatively near, the first vehicle is followed at the second vehicle back or sidepiece, select OBU 2 for the OBU of priority processing, on the contrary, if | y1|<| y2|, show that OBU 1 distance R SU outdoor unit is relatively near, the second vehicle is followed at the first vehicle back or sidepiece, select OBU 1 for the OBU of priority processing.
Embodiment tri-:
As shown in Figure 4, the present embodiment comprises RSU for realizing the anti-car countermeasure set of following based on DSRC of embodiment mono-or embodiment bis-, and RSU mainly comprises signal receiving module 10, locating module 20, comparison module 30 and processing module 40.
Wherein signal is accepted module 10 and is arranged on RSU outdoor unit, and it comprises antenna, for receiving the microwave signal of a plurality of OBU transmissions that comprise an OBU 1, the 2nd OBU 2.
Locating module 20, for according to the microwave signal of each OBU transmission, obtains the locating information of each OBU.According to the difference of locator meams, locating module 20 can carry out the location of a direction and obtain the locating information that comprises a dimension coordinate OBU, also can carry out the location of both direction and obtain the locating information that comprises two-dimensional coordinate.
The anti-of the above embodiment of the application can be widely used in all kinds of DSRC application systems with car interference method, such as bicycle road band barrier machine ETC system, multilane band barrier machine ETC system, bicycle road Free-flow system, multilane Free-flow system and for vehicle being monitored in real time or the various types of vehicles supervisory system such as the vehicle speed measuring system of inspection in violation of rules and regulations, model recognition system, image identification system, video capture system.Wherein, signal receiving module is arranged on the corresponding track of bicycle road band barrier machine ETC system, multilane band barrier machine ETC system or bicycle road Free-flow system, or be arranged at least one the Free-flow section in multilane Free-flow system, can accurately realize non-parking charge to the nearest vehicle of distance R SU in transaction region, avoid following the OBU on another vehicle of vehicle back that the normal reciprocal process between the OBU on last vehicle and RSU is produced and disturbed, thereby avoided the generation of the phenomenons such as error in charging, detection mistake, guaranteed normally carrying out of charge.
Above embodiment bis-can be used for bicycle road DSRC application system, and the structure of RSU is more relative with information processing side simple, and cost is lower, and embodiment mono-can be used for bicycle road or multilane DSRC application system, and recognition result more accurately, reliably.
The application puts based on DSRC's that monkey chatter method is easy to operate, processing speed is fast and accuracy is high, because it does not change area and the quantity in transaction region, can't affect RSU to the charge of vehicle or other forms of normal process process, can not reduce the speed of a motor vehicle yet, more system cost can be significantly do not increased, therefore the various highway communications fields such as expressway tol lcollection, parking fee collective system can be widely used in.
It will be appreciated by those skilled in the art that, in above-described embodiment, all or part of step of the whole bag of tricks can come instruction related hardware to complete by program, this program can be stored in a computer-readable recording medium, and storage medium can comprise: ROM (read-only memory), random access memory, disk or CD etc.
Above content is the further description of in conjunction with specific embodiments the application being done, and can not assert that the application's concrete enforcement is confined to these explanations.For the application person of an ordinary skill in the technical field, not departing under the prerequisite of the application's design, can also make some simple deduction or replace.
Claims (10)
1. based on the anti-of Dedicated Short Range Communications,, with a car interference method, it is characterized in that, comprise the following steps:
Signal is accepted step: roadside unit receives the microwave signal of a plurality of board units transmissions that comprise the first board units, the second board units;
Positioning step: roadside unit, according to the microwave signal of each board units transmission, obtains the locating information of each board units;
Comparison step: by the locating information of each board units relatively, roadside unit is selected the board units of priority processing from described board units.
2. the method for claim 1, it is characterized in that, in described comparison step, roadside unit selects the concrete mode of the board units of priority processing to be from described board units, from described board units described in chosen distance the nearest board units of roadside unit as the board units of priority processing; After described comparison step, also comprise transaction step: roadside unit preferentially sends charge instruction to the board units of described priority processing.
3. method as claimed in claim 2, is characterized in that, selects after the board units of described priority processing in described comparison step, also according to the distance between other board units and roadside unit, described other board units is extremely far sorted by near; In described transaction step, roadside unit also to described other board units according to sending successively charge instruction by near to order far away.
4. method as claimed in claim 2, it is characterized in that, described roadside unit comprises outdoor unit, described outdoor unit is 0 at the position coordinates of first direction, in described positioning step, the locating information of the first board units comprises the position coordinates y1 of first direction, and the locating information of the second board units comprises the position coordinates y2 of first direction; In described comparison step, if | y1|<| y2|, selecting the first board units is the board units of described priority processing, if | y1>| y2|, selecting the second board units is the board units of described priority processing.
5. method as claimed in claim 2, it is characterized in that, described roadside unit comprises outdoor unit, described outdoor unit is all 0 at the position coordinates of first direction and second direction, in described positioning step, the locating information of the first board units comprises the position coordinates y1 of first direction and the position coordinates x1 of second direction, and the locating information of the second board units comprises the position coordinates y2 of first direction and the position coordinates x2 of second direction, wherein, first direction is vertical with second direction; In described comparison step, if
selecting the first board units is the board units of described priority processing, if
selecting the second board units is the board units of described priority processing.
6. the method as described in any one in claim 1 to 5, is characterized in that, described positioning step adopts phase differential localization method.
7. based on the anti-of Dedicated Short Range Communications,, with a car countermeasure set, it is characterized in that, comprise roadside unit, described roadside unit comprises:
Signal is accepted module: for receiving the microwave signal of a plurality of board units transmissions that comprise the first board units, the second board units;
Locating module: for according to each microwave signal, obtain the locating information of each board units;
Comparison module: for passing through the relatively locating information of each board units, select the board units of priority processing from described board units.
8. device as claimed in claim 7, is characterized in that, described comparison module is for the board units as priority processing from the nearest board units of roadside unit described in described board units chosen distance; Described roadside unit also comprises transaction modules, for the preferential board units to described priority processing, sends charge instruction.
9. a Dedicated Short Range Communications, application system, is characterized in that, comprises anti-with car countermeasure set based on Dedicated Short Range Communications, described in claim 7 or 8.
10. system as claimed in claim 9, it is characterized in that, described Dedicated Short Range Communications, application system is bicycle road band barrier machine electronic charging system without parking, multilane band barrier machine electronic charging system without parking, bicycle road Free-flow system or multilane Free-flow system, described signal receiving module is arranged on the corresponding track of described bicycle road band barrier machine electronic charging system without parking, multilane band barrier machine electronic charging system without parking or bicycle road Free-flow system, or is arranged at least one the Free-flow section in multilane Free-flow system.
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| CN105118098A (en) * | 2015-06-26 | 2015-12-02 | 深圳市金溢科技股份有限公司 | Method and system for preventing car following or adjacent lane interference, vehicle-mounted unit and road side unit |
| CN105184878A (en) * | 2015-09-30 | 2015-12-23 | 深圳市金溢科技股份有限公司 | Transaction method, road-side unit and equidirectional multiple lane system of eliminating adjacent lane interference |
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| CN112233347A (en) * | 2020-10-22 | 2021-01-15 | 上海商米科技集团股份有限公司 | Charging method and electronic equipment based on RFID remote radio frequency identification vehicle |
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