CN106128126B - The method and system of rush hour chance red light number are reduced using plane cognition technology - Google Patents
The method and system of rush hour chance red light number are reduced using plane cognition technology Download PDFInfo
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- CN106128126B CN106128126B CN201610719341.3A CN201610719341A CN106128126B CN 106128126 B CN106128126 B CN 106128126B CN 201610719341 A CN201610719341 A CN 201610719341A CN 106128126 B CN106128126 B CN 106128126B
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Abstract
The present invention provides a kind of method and system reducing rush hour chance red light number using plane cognition technology, technology is precisely continuously tracked by plane, the accurate each motor vehicle of tracing detection of energy is from upstream to highest when passing through crossing and has met red light several times；The precise results that technology obtains precisely are continuously tracked according to plane, can precisely adjust control parameter and reduce the stop frequency that motor vehicle meets red light by crossing；Also, when area detector breaks down, failure alarm signal can be sent out in time, and staff is prompted to safeguard as early as possible.
Description
Technical field
It is specifically a kind of red using plane cognition technology reduction rush hour chance the present invention relates to technical field of intelligent traffic
The method and system of lamp number.
Background technology
With the rapid development of economy, the continuous expansion of city size, motor vehicle sharply increase, administrative department in order to ensure
The safety of intersection with it is unimpeded, be usually mounted with semaphore at crossing, control the orderly passage of motor vehicle.
One crossing whether congestion, people with most intuitive method be exactly judge motor vehicle waited several times red light just pass through road
Mouthful, general simple criterion is that motor vehicle reaches crossing and just meets green light or wait a red light can be by crossing, Ren Menyi
As be considered unimpeded state；If 2 red lights such as motor vehicle could pass through crossing, it is considered that be jogging state；If machine
Motor-car etc. 3 times or more red light could pass through crossing, it is considered that be congestion status.
Whistle control system is that (green time in each direction accounts for entire week by adjusting the period of signal lamp and split
The ratio of phase), red light number is met by crossing to reduce motor vehicle, when the red lights number such as motor vehicle of both direction is equal, and
Equal red lights number is not equal to zero, then to increase the signal period, it is possible to reduce wait red lights number；When the motor vehicle of both direction etc. is red
Lamp number is unequal, then the multidirectional split of red lights number such as to increase and (improve direction green time and account for entire signal week
The ratio of phase), so as to reach the optimization of control parameter.The above control method, there are one very important preconditions
When being how that every motor vehicle for accurately detecting each direction passes through crossing, the highest number of red parking is met.
It is limited since detection technique both domestic and external is horizontal, when still passing through crossing without accurately detecting motor vehicle at present, actually
Highest has met the detection technique that red light ability passes through crossing several times.Therefore, how precisely to detect that every motor vehicle meets red parking
Highest number have become to improve the bottleneck of whistle control system efficiency.
Invention content
Stop line highest chance is crossed the present invention is to solve cannot precisely detect motor vehicle in the prior art and be from upstream to
To red light problem several times.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention provides a kind of method reducing rush hour chance red light number using plane cognition technology, including walks as follows
Suddenly：
S1：Plane is carried out for the motor vehicle of crossing in each direction to be precisely continuously tracked, and obtains each direction in real time
Instantaneous velocity, the elaborate position of the quantity of motor vehicle, each motor vehicle, then judge when motor vehicle instantaneous velocity is continuously zero
Motor vehicle is in halted state；
S2：Transport condition table is established, the transport condition of each motor vehicle is recorded, the transport condition includes each machine
Motor-car meets the parking waiting number of red light before crossing stop line；The transport condition table is written in wherein a certain motor vehicle for the first time
When, the initial value for meeting the parking waiting number of red light is zero；
S3：Judge whether first direction is red light phase, if then entering step S4, otherwise enters step S5；
S4：Revise the transport condition table：
For first direction, the stop frequency of existing motor vehicle is added 1, and the highest for obtaining chance red light on first direction is stopped
Vehicle waits for number K1；
For second direction, the motor vehicle that will extend over stop line is removed from list；
S5：Revise the transport condition table：
For first direction, the motor vehicle that will extend over stop line is removed from list；
For second direction, the parking waiting number of the chance red light of existing motor vehicle is added 1, and obtain and met in second direction
The highest parking waiting number K2 of red light；
S6：Judge that the highest parking waiting number of the chance red light of first direction and the highest of the chance red light of second direction stop
It waits for number whether equal, S7 is entered step if equal；Otherwise S8 is entered step；
S7：Whether the highest parking waiting number for judging to meet red light is zero, if zero, then return to step S1；If it is not, then will
Signal period extends；
S8：Judge first direction meet red light highest parking waiting number whether be more than second direction meet red light highest stop
Vehicle waits for number, if then increasing the split of signal lamp cycle on first direction；If otherwise increasing signal lamp in second direction
The split in period.
Plane described in the step S1, which is precisely continuously tracked, to be included the following steps：
S11：Several area detectors are set on the different directions of crossing, and the area detector is used to carry out motor vehicle
It is continuously tracked；By the detection range of the area detector, the position coordinate data (X of area detectorj,Yj) mark is to carrying
On the electronic map of longitude and latitude；
S12：Obtain the current detection error (X of area detectorc,Yc), judge current detection error (Xc,Yc) whether
Within the scope of given threshold, if then entering step S13, alarm signal is otherwise sent out, prompt can not accurately obtain calibration mark position
Coordinate data；
S13：Obtain the coordinate data (X of motor vehicle current locationd,Yd)；
S14：The reality of motor vehicle current location is obtained according to the coordinate data of motor vehicle current location and current detection error
Border coordinate data：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
The area detector obtains current detection error (X using radar is detected in the step S12c,Yc) the step of
Including：
SA1：Selected calibration mark position, and the actual coordinate data (X that flag bit will be correctedb, Yb) mark and arrive electronic map
On, and practical instrumentation radar detector is to the distance L of calibration mark positionlbWith calibration mark position to the distance of signal lamp position
Ljt；
SA2：Judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), according to school if reading
The positive changing coordinates data of flag bit and the actual coordinate data of calibration mark position obtain current detection error：(Xc,Yc)=
(Xbd, Ybd)-(Xb, Yb)。
The area detector uses video tracking unit, and current detection error (X is obtained in the step S12c,Yc)
Step includes：
SB1：Division diatom is applied in the video monitoring range of video tracking unit, and separation is provided on the lines
Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map；
SB2：With the actual coordinate data (X of each separationf, Yf) actual coordinate data (X as calibration mark positionb,
Yb)；
SB3：Judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), if detecting
According to the actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position that detect, obtain and the school
The corresponding detection error of positive flag bit：(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；
Further include following steps between the step S13 and the step S14：
According to the coordinate data (X of motor vehicle current locationd,Yd) obtain with motor vehicle apart from nearest calibration mark position, with
Current detection error (X with detection error of the motor vehicle apart from nearest calibration mark position as motor vehiclec,Yc)。
The area detector is video tracking unit, and the plane described in step S1 is precisely continuously tracked including walking as follows
Suddenly：
SC1：Division diatom is applied in the video monitoring range of video tracking unit, and separation is provided on the lines
Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map, and adjacent point of each two
The distance between boundary's point Lfi；
SC2：The monitoring image of lines is obtained in video monitoring picture, manually marks each separation F successivelyi,
And obtain the number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of each twofi/Hh；
Or the corresponding distance L of each row pixel between the adjacent separation of each twofi/Hl；
SC3：Obtain the coordinate data (X of motor vehicle current locationd,Yd)；
SC4：According to the coordinate data (X of motor vehicle current locationd,Yd) judge that motor vehicle current location is drawn in video monitoring
Between any two adjacent separations in face, and further judge which between the adjacent separation be the coordinate data correspond to
Row pixel or which row pixel；
SC5：According to the coordinate data (X of motor vehicle current locationd,Yd), in conjunction with the opposite of each separation in practice
Position coordinates and the coordinate data (X of motor vehicle current locationd,Yd) region every corresponding distance of one-row pixels or every
The corresponding distance of one row pixel obtains the actual coordinate data (X of motor vehicle current locationdj,Ydj)。
The present invention also provides a kind of systems reducing rush hour chance red light number using plane cognition technology, including：
Detection module carries out plane for the motor vehicle of crossing in each direction and is precisely continuously tracked, obtains in real time each
Instantaneous velocity, the elaborate position of the quantity of the motor vehicle in direction, each motor vehicle, when motor vehicle instantaneous velocity is continuously zero
Then judge that motor vehicle is in halted state；
Transport condition logging modle establishes transport condition table, records the transport condition of each motor vehicle, the traveling shape
State includes the parking waiting number that each motor vehicle meets red light before crossing stop line；Wherein a certain motor vehicle is written for the first time
When the transport condition table, the initial value for meeting the parking waiting number of red light is zero；
First judgment module judges whether first direction is red light phase；
Module is revised, for revising the transport condition table：
When the judging result of first judgment module is to be, for first direction, by the parking of existing motor vehicle time
Number plus 1, and obtain the highest parking waiting number K1 that red light is met on first direction；For second direction, stop line will extend over
Motor vehicle is removed from list；
When the judging result of first judgment module is no, for first direction, the motor vehicle of stop line will extend over
It is removed from list；For second direction, the parking waiting number of the chance red light of existing motor vehicle is added 1, and obtain second party
The highest parking waiting number K2 of red light is met upwards；
Second judgment module judges the chance red light of highest the parking waiting number and second direction of the chance red light of first direction
Highest parking waiting number it is whether equal；
Third judgment module judges the highest parking for meeting red light when the judging result of second judgment module is to be
Wait for whether number is zero；
4th judgment module judges that first direction meets red light when the judging result of second judgment module is no
Highest waits for parking whether number is more than the highest parking waiting number that second direction meets red light,
Signalized control module, for the judging result in third judgment module be it is no when will extend the signal period；
The judging result of four judgment modules is to increase the split of signal lamp cycle on first direction when being；In sentencing for the 4th judgment module
Disconnected result increases the split of signal lamp cycle in second direction when being no.
The detection module includes：
Area detector is set on the different directions of crossing, for motor vehicle to be continuously tracked；By the plane
The detection range of detector, the position coordinate data (X of area detectorj,Yj) mark onto the electronic map with longitude and latitude；
First processing units obtain the current detection error (X of area detectorc,Yc), judge current detection error (Xc,
Yc) whether within the set threshold range, if then obtaining the coordinate data (X of motor vehicle current locationd,Yd), otherwise send out alarm
Signal, prompt can not accurately obtain calibration mark position coordinate data；
It is current to obtain motor vehicle according to the coordinate data of motor vehicle current location and current detection error for error acquiring unit
The actual coordinate data of position：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
The area detector, which uses, detects radar, and error acquiring unit includes：
It is identified as selected subelement, selectes calibration mark position, and the actual coordinate data (X that flag bit will be correctedb, Yb) mark
It notes on electronic map, and practical instrumentation radar detector is to the distance L of calibration mark positionlbWith calibration mark position to signal lamp institute
Distance L in positionjt；
First processing subelement, judges whether the changing coordinates data (X that can read calibration mark positionbd, Ybd), if reading
It gets, current detection error is obtained according to the actual coordinate data of the changing coordinates data of calibration mark position and calibration mark position：
(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)。
The area detector uses video tracking unit, and error acquiring unit includes：
Lines obtain subelement, and division diatom, the lines are applied in the video monitoring range of video tracking unit
On be provided with separation Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map；
Second processing subelement, with the actual coordinate data (X of each separationf, Yf) practical seat as calibration mark position
Mark data (Xb, Yb)；Judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), if detecting
Then according to the actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position detected, obtains and be somebody's turn to do
The corresponding detection error in calibration mark position：(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；According to the coordinate data of motor vehicle current location
(Xd,Yd) obtain missing with the detection with motor vehicle apart from nearest calibration mark position apart from nearest calibration mark position with motor vehicle
Current detection error (X of the difference as motor vehiclec,Yc)。
The area detector is video tracking unit, and the detection module further includes：
Separation obtains subelement, and division diatom, the lines are applied in the video monitoring range of video tracking unit
On be provided with separation Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map, with
And the distance between adjacent separation of each two Lfi；
Pel spacing subelement obtains the monitoring image of lines in video monitoring picture, manually marks successively each
A separation Fi, and obtain the number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of each twofi/Hh；
Or the corresponding distance L of each row pixel between the adjacent separation of each twofi/Hl；
Third handles subelement, obtains the coordinate data (X of motor vehicle current locationd,Yd)；According to motor vehicle current location
Coordinate data (Xd,Yd) judge any two adjacent separations of the motor vehicle current location in video monitoring picture between, and
Which pixel between the coordinate data corresponds to the adjacent separation or which row pixel further judged；According to motor-driven
Coordinate data (the X of vehicle current locationd,Yd), in conjunction with the relative position coordinates and motor vehicle of each separation in practice
Coordinate data (the X of current locationd,Yd) the region every corresponding distance of one-row pixels or the corresponding distance of each row pixel,
Obtain the actual coordinate data (X of motor vehicle current locationdj,Ydj)。
The above-mentioned technical proposal of the present invention at least has the advantages that compared with prior art：
(1) method and system of the present invention that rush hour chance red light number is reduced using plane cognition technology, are led to
Cross plane and be precisely continuously tracked technology, can precisely each motor vehicle of tracing detection be from upstream to highest when passing through crossing met it is several
Secondary red light；The precise results that technology obtains precisely are continuously tracked according to plane, can precisely adjust control parameter and reduce motor vehicle
The stop frequency of red light is met by crossing；Also, when area detector breaks down, failure alarm signal can be sent out in time,
Prompt staff can safeguard as early as possible.
(2) method and system of the present invention that rush hour chance red light number is reduced using plane cognition technology, when
When using radar detector, calibration mark position is selected on road surface, the physical location for marking calibration mark position on the electronic map is sat
Mark, when being detected to vehicle location, the coordinate data for obtaining calibration mark position in real time is compared with actual coordinate data,
When deviation between the two is more than certain threshold value, fault alarm information is sent out：First, reminding staff's on-call maintenance；Second is that
It is all green light patterns of signal lamp by system degradation.When deviation between the two is in threshold range, according to deviation pair
Collected vehicle location coordinate is corrected, and therefore, even detector is shaken, and also can guarantee the vehicle finally obtained
Position coordinate data and speed are accurate.
(3) method and system of the present invention that rush hour chance red light number is reduced using plane cognition technology, when
When using video detector, since video detector is when detecting the scene of different distance, same two adjacent row pixels or
The distance represented between two row pixels differs.Because in video pictures, the video image ratio of short distance at a distance
Video image ratio is different, therefore, in this application, according to the physical length size of the lines on road surface, by artificial
The separation being arranged on video pictures is as calibration mark position, no matter when separation is in remote position and in short distance
When position, the distance of each separation to stop line is known, and is the very accurately only scene phase of different distance
Number of lines of pixels between adjacent separation and columns difference, the distance of representative is different, by this method, can significantly carry
The precision of its high test position, obtains accurate motor vehicle currently accurate instantaneous velocity.
(4) method and system of the present invention that rush hour chance red light number is reduced using plane cognition technology, when
When detector uses video detector, if the location information that shake causes video detector to detect has occurred in video detector
It is deviated, since each separation is calibration mark position, no matter which two separation motor vehicle is between,
The correction error of calibration mark position can be obtained according to the nearest separation of longitudinal maneuver vehicle.In the present solution, by entire video
The monitoring distance of picture is divided into several sections with separation, and every section of distance is all shorter, therefore using between two separations
Range deviation the position of motor vehicle is corrected, more accurate speed data can be obtained.
Description of the drawings
Fig. 1 is the method for reducing rush hour chance red light number using plane cognition technology described in one embodiment of the invention
Flow chart；
Fig. 2 is the schematic diagram at the crossing of Signalized control described in one embodiment of the invention；
Fig. 3 is one embodiment of the invention video detection picture view；
Fig. 4 is lines schematic diagram in video pictures described in one embodiment of the invention；
Fig. 5 is the system for reducing rush hour chance red light number using plane cognition technology described in one embodiment of the invention
Principle schematic.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
And involved technical characteristic is as long as they do not conflict with each other in invention described below different embodiments
It can be combined with each other.Before each embodiment is described in detail, it should be noted that it is involved in the present invention arrive it is all
Position coordinate data each means the coordinate data under same preferred coordinates system.In addition, plane monitoring-network of the present invention is phase
Saying for the detection of section in the prior art, the continuous detection to motor vehicle current location track is adopting for panel data
Collection.
Embodiment 1
The present embodiment provides a kind of methods reducing rush hour chance red light number using plane cognition technology, such as Fig. 1 institutes
Show, includes the following steps：
S1：Plane is carried out for the motor vehicle of crossing in each direction to be precisely continuously tracked, and obtains each direction in real time
Instantaneous velocity, the elaborate position of the quantity of motor vehicle, each motor vehicle, then judge when motor vehicle instantaneous velocity is continuously zero
Motor vehicle is in halted state；The crossing is as shown in Figure 2.
S2：Transport condition table is established, the transport condition of each motor vehicle is recorded, the transport condition includes each machine
Motor-car meets the parking waiting number of red light before crossing stop line；The transport condition table is written in wherein a certain motor vehicle for the first time
When, the initial value for meeting the parking waiting number of red light is zero；
S3：Judge whether first direction is red light phase, if then entering step S4, otherwise enters step S5；
S4：Revise the transport condition table：
For first direction, the stop frequency of existing motor vehicle is added 1, and the highest for obtaining chance red light on first direction is stopped
Vehicle waits for number K1；
For second direction, the motor vehicle that will extend over stop line is removed from list；
S5：Revise the transport condition table：
For first direction, the motor vehicle that will extend over stop line is removed from list；
For second direction, the parking waiting number of the chance red light of existing motor vehicle is added 1, and obtain and met in second direction
The highest parking waiting number K2 of red light；
S6：Judge that the highest parking waiting number of the chance red light of first direction and the highest of the chance red light of second direction stop
It waits for number whether equal, S7 is entered step if equal；Otherwise S8 is entered step；
S7：Whether the highest parking waiting number for judging to meet red light is zero, if zero, then return to step S1；If it is not, then will
Signal period extends；The extension signal period refers to all extending first direction and the signal lamp cycle of second direction, example
In the case of original, the green whole cycle of first direction signal lamp reddish yellow is 20 seconds, the second all-clear lamp reddish yellow green entire week
Phase is 20 seconds, then both direction signal lamp cycle can all be extended to 30 seconds by this step, it is to have one certainly when extending
A limit value, it is unable to indefinite extension, the case where longest in the single directional signal light period is no more than 120 seconds.
S8：Judge first direction meet red light highest parking waiting number whether be more than second direction meet red light highest stop
Vehicle waits for number, if then increasing the split of signal lamp cycle on first direction；If otherwise increasing signal lamp in second direction
The split in period.
In the present embodiment, the transport condition table can enter shown in table 1：
Table 1- transport condition tables
| Car number | Meet red parking number | Whether it is when front direction peak |
| 1-1 | 3 | It is |
| 1-2 | 2 | It is no |
| 1-3 | 1 | It is no |
| …… | 0 | It is no |
| 1-N | 0 | It is no |
| 2-1 | 4 | It is |
| 2-2 | 3 | It is no |
| 2-3 | 1 | It is no |
| …… | 0 | It is no |
| 2-M | 0 | It is no |
Motor vehicle on two of which direction can be written in the same table, and first party is indicated in the form of 1-n
N-th upward motor vehicle；The m motor vehicle of second direction is indicated in the form of 2-m.Two tables point can also be set
Motor vehicle that Ji Lu be in both direction.And the number of motor vehicle can voluntarily be drafted according to actual conditions, it is therefore an objective to will be motor-driven
Vehicle vehicle distinguishes.And, it is clear that must be for the motor vehicle for waiting for red light number most at first can be by crossing
Motor vehicle, thus wait for number unconfined can't incrementally go down, a certain motor vehicle under green light phase by crossing after
While can removing, and remove from above table, the corresponding number of the motor vehicle also releases can be for newly entering
Motor vehicle in table uses.By each motor vehicle in this present embodiment, can be continuously tracked using plane, therefore can be accurate
The transport condition of each motor vehicle is really obtained, and whether signal lamp is red light directly to be obtained by traffic signal control
, therefore whether can directly obtain in motor vehicle because stopping in waiting red light, due to precisely obtaining the position of motor vehicle
It sets, can obtain whether motor vehicle meets red parking waiting after stop line, therefore the said program of the present embodiment can be accurate
Obtain the number that each motor vehicle stops after stop line because red light is met.
And it is in the prior art to meet red parking number according to motor vehicle and be adjusted to the period of signal lamp and split
Existing scheme, is not described in detail in the present embodiment.
Embodiment 2
The present embodiment is improved as follows on the basis of embodiment 1, and the plane described in step S1 is precisely continuously tracked
Include the following steps：
S11：Several area detectors are set on crossing, the area detector be used for motor vehicle carry out continuously with
Track；The downstream road section mark of the detection range of the detector, the upstream section of signal lamp, signal lamp is arrived with longitude and latitude
On electronic map, and by the position coordinate data (X of detectorj,Yj), the position coordinate data (X of signal lampx,Yx) mark and arrive
On electronic map；
S12：Obtain the current detection error (X of detectorc,Yc), judge current detection error (Xc,Yc) whether setting
In threshold range, if then entering step S13, alarm signal is otherwise sent out, prompt can not accurately obtain calibration mark position coordinate
Data set signal lamp to return to step S1 after green light later；
S13：Obtain the coordinate data (X of motor vehicle current locationd,Yd)；
S14：The reality of motor vehicle current location is obtained according to the coordinate data of motor vehicle current location and current detection error
Border coordinate data：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
Specifically include following situations：
In the case that the detector is using detection radar, current detection error (X is obtained in the step S12c,Yc)
Step includes：
SA1：Selected calibration mark position, and the actual coordinate data (X that flag bit will be correctedb, Yb) mark and arrive electronic map
On, and practical instrumentation radar detector is to the distance L of calibration mark positionlbWith calibration mark position to the distance of signal lamp position
Ljt；Calibration mark position can be the position where the fixed signal object being arranged on road surface, such as display board, overline bridge bridge, electric wire
Bar etc., these objects will not be subjected to displacement easily.
SA2：Judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), according to school if reading
The positive changing coordinates data of flag bit and the actual coordinate data of calibration mark position obtain current detection error：(Xc,Yc)=
(Xbd, Ybd)-(Xb, Yb)。
The actual position coordinate of mark calibration mark position on the electronic map, when being detected to vehicle location, in real time
The coordinate data for obtaining calibration mark position is compared with actual coordinate data, when deviation between the two is more than certain threshold value
When, it sends out fault alarm information and reminds staff.When deviation between the two is in threshold range, according to deviation to adopting
The vehicle location coordinate collected is corrected, and therefore, even detector is shaken, and also can guarantee the vehicle finally obtained
Position coordinate data is accurate.
When the detector uses the case where video tracking unit, current detection error (X is obtained in the step S12c,
Yc) the step of include：
SB1：Division diatom is applied in the video monitoring range of video tracking unit, and separation is provided on the lines
Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map；It is illustrated in figure 3 a kind of side
Case applies the endpoint for the lines drawn using on road as separation.It is long for solid line therein because lines are dashed line forms
Degree and blank space be all have as defined in, under normal circumstances solid line length be 2 meters, blank space be 4 meters, so if directly with
Two endpoints of solid line are then readily available the coordinate value of each separation as separation, F1 and F2 as shown in the figure it
Between distance be 2 meters, the distance between F2 and F3 be 4 meters, the distance between F3 and F4 be two meters.
SB2：With the actual coordinate data (X of each separationf, Yf) actual coordinate data (X as calibration mark positionb,
Yb)。
SB3：Judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), if detecting
According to the actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position that detect, obtain and the school
The corresponding detection error of positive flag bit：(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；
Further include following steps between the step S13 and the step S14：
According to the coordinate data (X of motor vehicle current locationd,Yd) obtain with motor vehicle apart from nearest calibration mark position, with
Current detection error (X with detection error of the motor vehicle apart from nearest calibration mark position as motor vehiclec,Yc)。
In the present embodiment, using each separation as calibration mark position, no matter motor vehicle current location is at which, all
It can be determined immediately that with motor vehicle apart from nearest calibration mark position, using the detection error of the calibration mark position to motor vehicle
Position is corrected, so as to get motor vehicle actual position coordinate it is more acurrate, to the motor vehicle that accurately obtains current wink
Shi Sudu.
The case where detector is video tracking unit further includes that packet is precisely continuously tracked in the plane described in step S1
Include following steps：
SC1：Division diatom is applied in the video monitoring range of video tracking unit, and separation is provided on the lines
Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map, and adjacent point of each two
The distance between boundary's point Lfi；
SC2：The monitoring image of lines is obtained in video monitoring picture, manually marks each separation F successivelyi,
And obtain the number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of each twofi/Hh；
Or the corresponding distance L of each row pixel between the adjacent separation of each twofi/Hl；
Fig. 4 gives the testing result schematic diagram in video detection picture；It is the detection in a track as shown in the figure
Result schematic diagram.It can be seen from the figure that when video detecting unit is when detecting the target of different distance, with one-row pixels and
Distance represented by same row pixel is entirely different.The width of road is fixed, but road width occupies below picture
43 row pixels, have only taken up 28 row pixels above picture, it is assumed that its width is 3 meters, then for each row below picture
The distance that pixel indicates is 3/430.07 meter, and the distance that each row pixel indicates above road is 3/280.1 meter.Same road
Reason applies the lines drawn on road surface, and solid line length is two meters, below the picture 15 row pixels indicate between F1 and F2 away from
From, 7 row pixels can indicate the distance between F5 and F6 above picture, then between F1 and F2, often row pixel represent away from
From being 2/150.133 meter, between F5 and F6, the distance that often row pixel represents is 2/70.286 meter.
SC3：Obtain the coordinate data (X of motor vehicle current locationd,Yd)；
SC4：According to the coordinate data (X of motor vehicle current locationd,Yd) judge that motor vehicle current location is drawn in video monitoring
Between any two adjacent separations in face, and further judge which between the adjacent separation be the coordinate data correspond to
Row pixel or which row pixel；
SC5：According to the coordinate data (X of motor vehicle current locationd,Yd), in conjunction with the opposite of each separation in practice
Position coordinates and the coordinate data (X of motor vehicle current locationd,Yd) region every corresponding distance of one-row pixels or every
The corresponding distance of one row pixel obtains the actual coordinate data (X of motor vehicle current locationdj,Ydj)。
Assuming that current time, motor vehicle is between F5 and F6, and the actual coordinate of two separations of F5 and F6 can be surveyed
It measures, is very accurate position coordinates, as long as then we obtain motor vehicle and the distance between F5 or F6
Obtain the currently practical position coordinates of motor vehicle.7 row pixels are shared because we have obtained, between F5 and F6, per a line picture
Distance represented by element is 0.286 meter, and at this time if distance is 4 row pixels between motor vehicle and F5, the distance between F6 is 3
Row pixel, then it is 0.2863=0.858 meters that can obtain the distance between motor vehicle and F6, then the actual position of motor vehicle is sat
The distance between mark and F6 are 0.858 meter, and the actual position coordinate of motor vehicle is can be obtained by calculating.
Embodiment 3
The present embodiment provides a kind of systems reducing rush hour chance red light number using plane cognition technology, such as Fig. 5 institutes
Show, including：
Detection module 1 carries out plane for the motor vehicle of crossing in each direction and is precisely continuously tracked, obtains in real time each
Instantaneous velocity, the elaborate position of the quantity of the motor vehicle in direction, each motor vehicle, when motor vehicle instantaneous velocity is continuously zero
Then judge that motor vehicle is in halted state；
Transport condition logging modle 2 establishes transport condition table, records the transport condition of each motor vehicle, the traveling
State includes the parking waiting number that each motor vehicle meets red light before crossing stop line；Wherein a certain motor vehicle is write for the first time
When entering the transport condition table, the initial value for meeting the parking waiting number of red light is zero；
First judgment module 3 judges whether first direction is red light phase；
Module 4 is revised, for revising the transport condition table：
When the judging result of first judgment module 3 is to be, for first direction, by the parking of existing motor vehicle time
Number plus 1, and obtain the highest parking waiting number K1 that red light is met on first direction；For second direction, stop line will extend over
Motor vehicle is removed from list；
When the judging result of first judgment module 3 is no, for first direction, the motor vehicle of stop line will extend over
It is removed from list；For second direction, the parking waiting number of the chance red light of existing motor vehicle is added 1, and obtain second party
The highest parking waiting number K2 of red light is met upwards；
The chance of second judgment module 5, the highest parking waiting number and second direction that judge the chance red light of first direction is red
Whether the highest parking waiting number of lamp is equal；
Third judgment module 6 judges that the highest for meeting red light is stopped when the judging result of second judgment module 5 is to be
Vehicle waits for whether number is zero；
4th judgment module 7 judges that first direction meets red light when the judging result of second judgment module 5 is no
Highest parking waiting number whether be more than second direction meet red light highest wait for parking number,
Signalized control module 8, for the judging result in third judgment module 6 be it is no when will extend the signal period；
The judging result of 4th judgment module 7 is to increase the split of signal lamp cycle on first direction when being；In the 4th judgment module 7
Judging result be it is no when increase second direction on signal lamp cycle split.
Preferably, the detection module includes：
Area detector is set on the different directions of crossing, for motor vehicle to be continuously tracked；By the plane
The detection range of detector, the position coordinate data (X of area detectorj,Yj) mark onto the electronic map with longitude and latitude；
First processing units obtain the current detection error (X of area detectorc,Yc), judge current detection error (Xc,
Yc) whether within the set threshold range, if then obtaining the coordinate data (X of motor vehicle current locationd,Yd), otherwise send out alarm
Signal, prompt can not accurately obtain calibration mark position coordinate data；
It is current to obtain motor vehicle according to the coordinate data of motor vehicle current location and current detection error for error acquiring unit
The actual coordinate data of position：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
As a kind of achievable mode, the area detector includes using detection radar, error acquiring unit：
It is identified as selected subelement, selectes calibration mark position, and the actual coordinate data (X that flag bit will be correctedb, Yb) mark
It notes on electronic map, and practical instrumentation radar detector is to the distance L of calibration mark positionlbWith calibration mark position to signal lamp institute
Distance L in positionjt；
First processing subelement, judges whether the changing coordinates data (X that can read calibration mark positionbd, Ybd), if reading
It gets, current detection error is obtained according to the actual coordinate data of the changing coordinates data of calibration mark position and calibration mark position：
(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)。
As another achievable mode, the area detector uses video tracking unit, error acquiring unit packet
It includes：
Lines obtain subelement, and division diatom, the lines are applied in the video monitoring range of video tracking unit
On be provided with separation Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map；
Second processing subelement, with the actual coordinate data (X of each separationf, Yf) practical seat as calibration mark position
Mark data (Xb, Yb)；Judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), if detecting
Then according to the actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position detected, obtains and be somebody's turn to do
The corresponding detection error in calibration mark position：(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；According to the coordinate data of motor vehicle current location
(Xd,Yd) obtain missing with the detection with motor vehicle apart from nearest calibration mark position apart from nearest calibration mark position with motor vehicle
Current detection error (X of the difference as motor vehiclec,Yc)。
When another realization method that the area detector is video tracking unit, the detection module includes：
Separation obtains subelement, and division diatom, the lines are applied in the video monitoring range of video tracking unit
On be provided with separation Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map, with
And the distance between adjacent separation of each two Lfi；
Pel spacing subelement obtains the monitoring image of lines in video monitoring picture, manually marks successively each
A separation Fi, and obtain the number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of each twofi/Hh；
Or the corresponding distance L of each row pixel between the adjacent separation of each twofi/Hl；
Third handles subelement, obtains the coordinate data (X of motor vehicle current locationd,Yd)；According to motor vehicle current location
Coordinate data (Xd,Yd) judge any two adjacent separations of the motor vehicle current location in video monitoring picture between, and
Which pixel between the coordinate data corresponds to the adjacent separation or which row pixel further judged；According to motor-driven
Coordinate data (the X of vehicle current locationd,Yd), in conjunction with the relative position coordinates and motor vehicle of each separation in practice
Coordinate data (the X of current locationd,Yd) the region every corresponding distance of one-row pixels or the corresponding distance of each row pixel,
Obtain the actual coordinate data (X of motor vehicle current locationdj,Ydj)。
Technology is precisely continuously tracked by plane in the said program of the present embodiment, and precisely each of tracing detection is motor-driven for energy
Vehicle is from upstream to highest when passing through crossing and has met red light several times；The precise results that technology obtains precisely are continuously tracked according to plane,
Control parameter can precisely be adjusted and reduce the stop frequency that motor vehicle meets red light by crossing；Also, when area detector occurs
When failure, failure alarm signal can be sent out in time, prompt staff that can safeguard as early as possible.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Claims (10)
1. a kind of method reducing rush hour chance red light number using plane cognition technology, which is characterized in that including walking as follows
Suddenly：
S1：Plane is carried out for the motor vehicle of crossing in each direction to be precisely continuously tracked, and obtains the motor-driven of each direction in real time
Instantaneous velocity, the elaborate position of the quantity of vehicle, each motor vehicle, then judge motor-driven when motor vehicle instantaneous velocity is continuously zero
Vehicle is in halted state；
S2：Transport condition table is established, the transport condition of each motor vehicle is recorded, the transport condition includes each motor vehicle
The parking waiting number of red light is met before crossing stop line；When the transport condition table is written in wherein a certain motor vehicle for the first time,
The initial value for meeting the parking waiting number of red light is zero；
S3：Judge whether first direction is red light phase, if then entering step S4, otherwise enters step S5；
S4：Revise the transport condition table：
For first direction, the stop frequency of existing motor vehicle is added 1, and obtains and meets highest parking of red light etc. on first direction
Wait for number K1；
For second direction, the motor vehicle that will extend over stop line is removed from list；
S5：Revise the transport condition table：
For first direction, the motor vehicle that will extend over stop line is removed from list；
For second direction, the parking waiting number of the chance red light of existing motor vehicle is added 1, and obtain and meet red light in second direction
Highest parking waiting number K2；
S6：Judge that the highest parking waiting number of the chance red light of first direction and the highest of the chance red light of second direction wait for parking
Whether number is equal, and S7 is entered step if equal；Otherwise S8 is entered step；
S7：Whether the highest parking waiting number for judging to meet red light is zero, if zero, then return to step S1；If it is not, then by signal
Cycle stretch-out；
S8：Judge whether the highest parking waiting number of first direction chance red light is more than second direction and meets highest parking of red light etc.
Number is waited for, if then increasing the split of signal lamp cycle on first direction；If otherwise increasing signal lamp cycle in second direction
Split.
2. the method according to claim 1 for reducing rush hour chance red light number using plane cognition technology, feature
It is, the plane described in the step S1, which is precisely continuously tracked, to be included the following steps：
S11：Several area detectors are set on the different directions of crossing, and the area detector is used to carry out motor vehicle continuous
Tracking；By the detection range of the area detector, the position coordinate data (X of area detectorj,Yj) mark to longitude and latitude
On the electronic map of degree；
S12：Obtain the current detection error (X of area detectorc,Yc), judge current detection error (Xc,Yc) whether in setting threshold
It is worth in range, if then entering step S13, otherwise sends out alarm signal, prompt can not accurately obtain calibration mark position number of coordinates
According to；
S13：Obtain the coordinate data (X of motor vehicle current locationd,Yd)；
S14：The practical seat of motor vehicle current location is obtained according to the coordinate data of motor vehicle current location and current detection error
Mark data：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
3. the method according to claim 2 for reducing rush hour chance red light number using plane cognition technology, feature
It is, the area detector obtains current detection error (X using radar is detected in the step S12c,Yc) the step of wrap
It includes：
SA1：Selected calibration mark position, and the actual coordinate data (X that flag bit will be correctedb, Yb) mark onto electronic map, and
Distance L of the practical instrumentation radar detector to calibration mark positionlbWith the distance L of calibration mark position to signal lamp positionjt；
SA2：Judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), according to correcting mark if reading
The changing coordinates data of will position and the actual coordinate data of calibration mark position obtain current detection error：(Xc,Yc)=(Xbd,
Ybd)-(Xb, Yb)。
4. the method according to claim 2 for reducing rush hour chance red light number using plane cognition technology, feature
It is, the area detector uses video tracking unit, and current detection error (X is obtained in the step S12c,Yc) the step of
Including：
SB1：Division diatom is applied in the video monitoring range of video tracking unit, and separation F is provided on the linesi, obtain
Obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map；
SB2：With the actual coordinate data (X of each separationf, Yf) actual coordinate data (X as calibration mark positionb, Yb)；
SB3：Judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), the basis if detecting
The actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position that detect, obtain and the correcting mark
The corresponding detection error in will position：(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；
Further include following steps between the step S13 and the step S14：
According to the coordinate data (X of motor vehicle current locationd,Yd) obtain with motor vehicle apart from nearest calibration mark position, with machine
Current detection error (X of detection error of the motor-car apart from nearest calibration mark position as motor vehiclec,Yc)。
5. the method according to claim 2 for reducing rush hour chance red light number using plane cognition technology, feature
It is, the area detector is video tracking unit, and the plane described in step S1, which is precisely continuously tracked, to be included the following steps：
SC1：Division diatom is applied in the video monitoring range of video tracking unit, and separation F is provided on the linesi, obtain
Obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map, and the adjacent separation of each two it
Between distance Lfi；
SC2：The monitoring image of lines is obtained in video monitoring picture, manually marks each separation F successivelyi, and obtain
Number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of each twofi/Hh；
Or the corresponding distance L of each row pixel between the adjacent separation of each twofi/Hl；
SC3：Obtain the coordinate data (X of motor vehicle current locationd,Yd)；
SC4：According to the coordinate data (X of motor vehicle current locationd,Yd) judge motor vehicle current location in video monitoring picture
Any two adjacent separations between, and further judge the coordinate data corresponds to which picture between the adjacent separation
Vegetarian refreshments or which row pixel；
SC5：According to the coordinate data (X of motor vehicle current locationd,Yd), in conjunction with the relative position of each separation in practice
Coordinate and the coordinate data (X of motor vehicle current locationd,Yd) the region every corresponding distance of one-row pixels or each row
The corresponding distance of pixel obtains the actual coordinate data (X of motor vehicle current locationdj,Ydj)。
6. a kind of system reducing rush hour chance red light number using plane cognition technology, which is characterized in that including：
Detection module carries out plane for the motor vehicle of crossing in each direction and is precisely continuously tracked, obtains each direction in real time
The quantity of motor vehicle, each motor vehicle instantaneous velocity, elaborate position, then sentence when motor vehicle instantaneous velocity is continuously zero
Determine motor vehicle and is in halted state；
Transport condition logging modle establishes transport condition table, records the transport condition of each motor vehicle, the transport condition packet
Include the parking waiting number that each motor vehicle meets red light before crossing stop line；Described in wherein a certain motor vehicle is written for the first time
When transport condition table, the initial value for meeting the parking waiting number of red light is zero；
First judgment module judges whether first direction is red light phase；
Module is revised, for revising the transport condition table：
When the judging result of first judgment module is to be, for first direction, the stop frequency of existing motor vehicle is added
1, and obtain the highest parking waiting number K1 that red light is met on first direction；For second direction, the motor-driven of stop line will extend over
Vehicle is removed from list；
When the judging result of first judgment module is no, for first direction, the motor vehicle of stop line is will extend over from row
It is removed in table；For second direction, the parking waiting number of the chance red light of existing motor vehicle is added 1, and obtain in second direction
Meet the highest parking waiting number K2 of red light；
Second judgment module, the chance red light of the highest parking waiting number and second direction that judge the chance red light of first direction is most
Whether height parking waiting number is equal；
Third judgment module judges the highest parking waiting for meeting red light when the judging result of second judgment module is to be
Whether number is zero；
4th judgment module judges that first direction meets the highest of red light when the judging result of second judgment module is no
Wait for parking whether number is more than the highest parking waiting number that second direction meets red light,
Signalized control module, for the judging result in third judgment module be it is no when will extend the signal period；Sentence the 4th
The judging result of disconnected module is to increase the split of signal lamp cycle on first direction when being；In the judgement knot of the 4th judgment module
Increase the split of signal lamp cycle in second direction when fruit is no.
7. the system according to claim 6 for reducing rush hour chance red light number using plane cognition technology, feature
It is, the detection module includes：
Area detector is set on the different directions of crossing, for motor vehicle to be continuously tracked；By the plane monitoring-network
The detection range of device, the position coordinate data (X of area detectorj,Yj) mark onto the electronic map with longitude and latitude；
First processing units obtain the current detection error (X of area detectorc,Yc), judge current detection error (Xc,Yc) be
It is no within the set threshold range, if then obtaining the coordinate data (X of motor vehicle current locationd,Yd), alarm signal is otherwise sent out,
Prompt can not accurately obtain calibration mark position coordinate data；
Error acquiring unit obtains motor vehicle current location according to the coordinate data of motor vehicle current location and current detection error
Actual coordinate data：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
8. the system according to claim 7 for reducing rush hour chance red light number using plane cognition technology, feature
It is, the area detector includes using detection radar, error acquiring unit：
It is identified as selected subelement, selectes calibration mark position, and the actual coordinate data (X that flag bit will be correctedb, Yb) mark and arrive
On electronic map, and practical instrumentation radar detector is to the distance L of calibration mark positionlbIt is in place to signal lamp institute with calibration mark position
The distance L setjt；
First processing subelement, judges whether the changing coordinates data (X that can read calibration mark positionbd, Ybd), if reading
Current detection error is obtained according to the actual coordinate data of the changing coordinates data of calibration mark position and calibration mark position：(Xc,Yc)
=(Xbd, Ybd)-(Xb, Yb)。
9. the system according to claim 7 for reducing rush hour chance red light number using plane cognition technology, feature
It is, the area detector includes using video tracking unit, error acquiring unit：
Lines obtain subelement, and division diatom is applied in the video monitoring range of video tracking unit, is set on the lines
It is equipped with separation Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map；
Second processing subelement, with the actual coordinate data (X of each separationf, Yf) actual coordinate number as calibration mark position
According to (Xb, Yb)；Judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), the root if detecting
According to the actual coordinate data of each the calibration mark position changing coordinates data and the calibration mark position that detect, obtain and the correction
The corresponding detection error of flag bit：(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；According to the coordinate data (X of motor vehicle current locationd,
Yd) obtain with motor vehicle apart from nearest calibration mark position, with the detection error with motor vehicle apart from nearest calibration mark position
Current detection error (X as motor vehiclec,Yc)。
10. the system according to claim 7 for reducing rush hour chance red light number using plane cognition technology, feature
It is, the area detector is video tracking unit, and the detection module further includes：
Separation obtains subelement, and division diatom is applied in the video monitoring range of video tracking unit, is set on the lines
It is equipped with separation Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map, and it is every
The distance between two adjacent separations Lfi；
Pel spacing subelement obtains the monitoring image of lines in video monitoring picture, manually marks each point successively
Boundary point Fi, and obtain the number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of each twofi/Hh；
Or the corresponding distance L of each row pixel between the adjacent separation of each twofi/Hl；
Third handles subelement, obtains the coordinate data (X of motor vehicle current locationd,Yd)；According to the seat of motor vehicle current location
Mark data (Xd,Yd) judge any two adjacent separations of the motor vehicle current location in video monitoring picture between, go forward side by side one
Step judges which pixel or which row pixel between the coordinate data corresponds to the adjacent separation；Worked as according to motor vehicle
Coordinate data (the X of front positiond,Yd), the relative position coordinates and motor vehicle in conjunction with each separation in practice are current
Coordinate data (the X of positiond,Yd) the region every corresponding distance of one-row pixels or the corresponding distance of each row pixel, it obtains
Actual coordinate data (the X of motor vehicle current locationdj,Ydj)。
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| CN106710250A (en) * | 2016-12-28 | 2017-05-24 | 北京博研智通科技有限公司 | Traffic signal control method and system for preventing intersection congestion when visibility is low |
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