CN106228818B - A kind of through street lane signal lamp control method and system using plane cognition technology - Google Patents
A kind of through street lane signal lamp control method and system using plane cognition technology Download PDFInfo
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- CN106228818B CN106228818B CN201610701342.5A CN201610701342A CN106228818B CN 106228818 B CN106228818 B CN 106228818B CN 201610701342 A CN201610701342 A CN 201610701342A CN 106228818 B CN106228818 B CN 106228818B
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The present invention provides a kind of through street lane signal lamp control method and system using plane cognition technology, when occurring the case where exception parking on through street, the position where exception parking can be obtained immediately, further judge the downstream of the exception parking position and the car speed of upstream end.If downstream vehicle is in jam situation, the lamp for vehicle lane in each lane is disposed as green light.For exception parking position upstream, if congestion does not occur in upstream vehicle travel speed, the signal lamp in each lane is disposed as green light.When the downstream speed of exception parking position is normal, when there is jam situation in upstream, continue to judge that congestion causes whether reason is the adjacent lane congestion as caused by exception parking lane, red light then is set by the lane signal lamp of exception parking if being, to remind upstream vehicle to shift to an earlier date changing Lane in advance, without nearby just carrying out lane change to exception parking position, so as to effectively avoid the generation of congestion.
Description
Technical field
The present invention relates to field of intelligent transportation technology, specifically a kind of through street lane signal using plane cognition technology
Lamp control method and system.
Background technique
With the continuous expansion of urban construction scale, traffic congestion is got worse, in order to alleviate traffic congestion, many big cities
City has all built through street, and lane signal lamp is provided on each lane of through street.Public safety traffic management department exists
Special duty is executed when needing to close the wherein lane on through street, if will need a closed lane signal lamp by
Green lamp for vehicle lane becomes red lamp for vehicle lane.In a certain lane of through street traffic accident, vehicle occur for current lamp for vehicle lane
When failure and other reasons exception parking leads to a certain lane congestion, the stream signal lamp in the lane is will not to change because of congestion
Become, this will lead to upstream motive vehicle meeting and continues to travel according to route before, until the motor vehicle of row to exception parking is attached
Just discovery road ahead is obstructed when close, and reduce speed now changing Lane, when close on lane motor vehicle speed very fastly, following distance very
Hour, changing Lane will lead to close on the reducing speed of motor vehicle in lane, and the region heavy congestion is caused to form bottleneck when serious.
Summary of the invention
Present invention mainly solves in the prior art cannot fast accurate discovery through street exception parking, quickly judge whether
Because exception parking position needs exception parking section upstream congestion caused by changing Lane, changing Lane lamp cannot be passed through and control upstream
Motor vehicle shifts to an earlier date changing Lane, alleviates exception parking section traffic jam issue.
In order to solve the above technical problems, technical scheme is as follows：
The present invention provides a kind of through street lane signal lamp control method using plane cognition technology, including walks as follows
Suddenly：
S1：Plane is carried out to the vehicle of the traveling on through street to be precisely continuously tracked；
S2：Whether the vehicle on all lanes of real-time detection lamp for vehicle lane downstream direction has the case where exception parking or speed
The case where lower than the first given threshold；If there is then exception parking or speed are labeled as lower than the section of the first given threshold
Otherwise the signal lamp in every lane is disposed as return step S1 after green light by abnormal section, and enter step S3；
S3：Judge whether the speed in all lanes in abnormal section downstream is below the first given threshold, if then will be every
The signal lamp in lane is disposed as return step S1 after green light；Otherwise S4 is entered step；
S4：Judge whether the speed in all lanes in abnormal section downstream is all higher than the second given threshold, if then entering
S5；Otherwise the signal lamp in every lane is disposed as return step S1 after green light；
S5：Judge the feelings whether abnormal section upstream has vehicle lane change that adjacent lane speed is caused to be lower than the first given threshold
Condition enters step S6, otherwise return step S1 if having；
S6：Red light is set by the lane signal lamp in lane where abnormal section, later return step S1.
It preferably, further include following steps between step S1 and step S2:
S10:Judge whether precisely trace into vehicle traveling information, if then entering step S2, otherwise by every vehicle
The signal lamp in road is disposed as green light and issues alarm message reminding failure, later return step S1.
Preferably, plane described in step S1, which is precisely continuously tracked, includes the following steps：
S11：Several detectors are set on through street, and the detector is for being continuously tracked motor vehicle；By institute
State the detection range of detector, the upstream section of lane signal lamp, lane signal lamp downstream road section mark to longitude and latitude
Electronic map on, and will test the position coordinate data (X of devicej,Yj), the position coordinate data (X of lane signal lampx,Yx)
It marks 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 issued, prompt can not accurately obtain calibration mark position coordinate
The signal lamp in every lane is disposed as return step S1 after green light later by 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)。
Preferably, the detector obtains the current detection error of detector using radar is detected in the step S12
(Xc,Yc) the step of include：
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 actual measurement radar detector is to the distance L of calibration mark positionlbWith calibration mark position to the distance of lamp for vehicle lane 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)。
Preferably, the detector uses video tracking unit, and the current detection that detector is obtained in the step S12 is missed
Difference (Xc,Yc) the step of include：
SB1：Division diatom is applied in the video monitoring range of video tracking unit, is provided with separation 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)；
It 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 of the detection error as motor vehicle with motor vehicle apart from nearest calibration mark positionc,Yc)。
Preferably, the detector is video tracking unit, and plane described in step S1 is precisely continuously tracked including such as
Lower step：
SC1：Division diatom is applied in the video monitoring range of video tracking unit, is provided with separation on the lines
Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map, and adjacent point of every two
The distance between boundary's point Lfi；
SC2：The monitoring image of lines is obtained in video monitoring picture, successively manually marks each separation Fi,
And obtain the number of lines of pixels H between the adjacent separation of every twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of every twofi/Hh；
Or the corresponding distance L of each column pixel between the adjacent separation of every 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 column 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) the corresponding distance of the every one-row pixels in region or every
The corresponding distance of one column pixel obtains the actual coordinate data (X of motor vehicle current locationdj,Ydj)。
Based on the same inventive concept, the present invention also provides a kind of through street lane signal lamp controls using plane cognition technology
System processed, including：
Detection unit carries out plane for the vehicle to the traveling on through street and is precisely continuously tracked；
Whether the first judging unit, the vehicle on all lanes of real-time detection lamp for vehicle lane downstream direction have the feelings of exception parking
The case where condition or speed are lower than the first given threshold；If there is then by exception parking or speed lower than the first given threshold
Section is labeled as abnormal section；
Second judgment unit is that abnormal section downstream is further judged when being for the judging result in the first judging unit
All lanes speed whether be below the first given threshold；
When third judging unit for the judging result in second judgment unit is no, further judge under abnormal section
Whether the speed in all lanes of trip is all higher than the second given threshold；
4th judging unit is further to judge on abnormal section when being for the judging result in third judging unit
Whether trip has vehicle lane change to lead to the case where adjacent lane speed is lower than the first given threshold；
Signal lamp setting unit, for the judging result in second judgment unit be when being the signal lamp in every lane is equal
It is set as green light；The signal lamp in every lane is disposed as green light when the judging result of third judging unit is no；?
The judging result of four judging units is to set red light for the lane signal lamp in lane where abnormal section when being；In the first judgement
The signal lamp in every lane is disposed as green light when the judging result of unit is no.
Preferably, further include：
5th judging unit can trace into vehicle traveling information for judging whether, if vehicle driving letter can be traced into
Breath is then directly entered second judgment unit；
Signal lamp setting unit, for the judging result in the 5th judging unit be it is no when the signal lamp in every lane is equal
It is set as green light；
Alarm unit, for the judging result in the 5th judging unit be it is no when alert prompt failure.
Preferably, the detection unit includes：
Detector, is set to the upstream and downstream certain distance of lamp for vehicle lane on through street, and the detector is used for motor-driven
Vehicle is continuously tracked；
Electronic map with longitude and latitude, suitable for marking detection range, the upstream section of lane signal lamp, vehicle of detector
The downstream road section of road signal lamp and the position coordinate data (X of detectorj,Yj), the position coordinate data of lane signal lamp
(Xx,Yx)；
Data acquisition module obtains the current detection error (X of detectorc,Yc) and motor vehicle current location coordinate data
(Xd,Yd)；
First judgment module, for judging current detection error (Xc,Yc) whether within the set threshold range；
Position determination module, for obtaining motor vehicle according to the coordinate data and current detection error of motor vehicle current location
The actual coordinate data of current location：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
Preferably, the detector includes using detection radar, the data acquisition module：
Submodule is arranged in correction bit, selectes calibration mark position, and the actual coordinate data (X that will correct flag bitb, Yb) mark
It infuses on electronic map, and actual measurement radar detector is to the distance L of calibration mark positionlbWith calibration mark position to lamp for vehicle lane institute
Distance L in positionjt；
Judging submodule judges whether the changing coordinates data (X that can read calibration mark positionbd, Ybd), if reading
Then 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)。
Preferably, the detector uses video tracking unit, and the data acquisition module includes：
Submodule is arranged in lines, 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
Actual coordinate data (the X of each separationf, Yf) actual coordinate data (X as calibration mark positionb, Yb)；
Second judgment submodule judges whether the changing coordinates data (X that can detect each calibration mark positionbd,
Ybd), according to the actual coordinate of each calibration mark position the changing coordinates data and the calibration mark position detected if detecting
Data obtain detection error corresponding with the calibration mark position：(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；
It further include calibration submodule, for the coordinate data (X according to motor vehicle current locationd,Yd) obtain and motor vehicle away from
From nearest calibration mark position, using the detection error with motor vehicle apart from nearest calibration mark position as the current inspection of motor vehicle
Survey error (Xc,Yc)。
Preferably, the detector is video tracking unit, and the detection unit includes：
Subelement is arranged in lines, for applying division diatom in the video monitoring range of video tracking unit, described point
Separation F is provided on diatomi, obtain the actual coordinate data (X of each separationf, Yf) and marked electronic map
On, and the distance between adjacent separation of every two Lfi；
Mark subelement successively manually marks each for obtaining the monitoring image of lines in video monitoring picture
A separation Fi, and obtain the number of lines of pixels H between the adjacent separation of every twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of every twofi/Hh；
Or the corresponding distance L of each column pixel between the adjacent separation of every twofi/Hl；
Data acquisition subelement, for obtaining the coordinate data (X of motor vehicle current locationd,Yd)；
Judgment sub-unit, according to the coordinate data (X of motor vehicle current locationd,Yd) judge motor vehicle current location in video
Between any two adjacent separations in monitored picture, and further judge that the coordinate data corresponds between the adjacent separation
Which pixel or which column pixel；
Physical location obtains subelement, for the coordinate data (X according to motor vehicle current locationd,Yd), it is incorporated in reality
In the relative position coordinates of each separation and the coordinate data (X of motor vehicle current locationd,Yd) the every a line in region
The corresponding distance of pixel or the corresponding distance of each column pixel, obtain the actual coordinate data (X of motor vehicle current locationdj,
Ydj)。
Compared with prior art, above scheme of the invention at least has the advantages that：
(1) the through street lane signal lamp control method and system of the present invention using plane cognition technology, can
Plane is carried out to the vehicle travelled on through street to be precisely continuously tracked, it, can when occurring the case where exception parking on through street
The position where exception parking is obtained immediately.When determine has vehicle to be in exception parking on a certain lane in through street, further
Judge the downstream of the exception parking position and the car speed of upstream end, if delay in normally travel or in congestion
Slow state.For exception parking downstream, if being also at jam situation, even when the signal lamp in exception parking lane is set
Traffic congestion situation can not be discongested by being set to red light, and the lamp for vehicle lane in each lane is disposed as green light at this time.For exception
For the upstream of parking position, if congestion does not occur in upstream vehicle travel speed, do not need to be changed signal lamp, often
The signal lamp in one lane is disposed as green light.When jam situation occurs in exception parking upstream, continue to judge that congestion causes
Whether reason is the adjacent lane congestion as caused by exception parking lane, if so then by exception parking lane
Signal lamp is set as red light, and since the lane signal lamp that exception parking causes congestion is become red light in advance, upstream vehicle is necessary
Changing Lane in advance, without nearby just carrying out lane change to exception parking position, so as to effectively avoid the generation of congestion.
(2) the through street lane signal lamp control method and system of the present invention using plane cognition technology, when adopting
When with radar detector, calibration mark position is selected on road surface, marks the actual position coordinate of calibration mark position on the electronic map,
When detecting to vehicle location, the coordinate data for obtaining calibration mark position in real time is compared with actual coordinate data, when
When deviation between the two is more than certain threshold value, fault alarm information is issued：First is that reminding staff's on-call maintenance；Second is that will
System degradation is all green light modes of lamp for vehicle lane.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 and speed are accurate.
(3) the through street lane signal lamp control method and system of the present invention using plane cognition technology, when adopting
When with video detector, since video detector is when detecting the scene of different distance, same adjacent two row pixels or two
The distance represented between column pixel is not identical.Since in video pictures, the video image ratio of short distance and at a distance view
Frequency image scaled is different, therefore, in this application, according to the physical length size of the lines on road surface, by manually existing
The separation being arranged on video pictures is as calibration mark position, no matter when separation is in remote position and in the position of short distance
When setting, the distance of each separation to stop line is known, and is very accurately, and only the scene of different distance is adjacent
Number of lines of pixels and columns difference between separation, the distance of representative is different, by this method, can increase substantially
Its precision for detecting position, obtains accurate motor vehicle currently accurate instantaneous velocity.
(4) the through street lane signal lamp control method and system of the present invention using plane cognition technology, works as inspection
When surveying device using video detector, if the location information hair that shake causes video detector to detect has occurred in video detector
Offset is given birth to, since each separation is calibration mark position, no matter which two separation motor vehicle is between, all
The correction error of calibration mark position can be obtained according to the nearest separation of longitudinal maneuver vehicle.In the present solution, entire video is drawn
The monitoring distance in face is divided into several segments with separation, and every section of distance is all shorter, therefore using between two separations
Range deviation is corrected the position of motor vehicle, available more accurate speed data.
Detailed description of the invention
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is the through street lane signal lamp control method that plane cognition technology is utilized described in one embodiment of the invention
Flow chart；
Fig. 2 is through street road surface road schematic diagram described in one embodiment of the invention；
Fig. 3 is one embodiment of the invention video detection picture drawing；
Fig. 4 is lines schematic diagram in video pictures described in one embodiment of the invention；
Fig. 5 is the through street lane signal lamp control system that plane cognition technology is utilized described in one embodiment of the invention
Schematic illustration.
Specific embodiment
Technical solution 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
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
And technical characteristic involved in invention described below different embodiments is as long as they do not conflict with each other
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
Coordinate data each means the coordinate data under same preferred coordinates system.In addition, plane perception detection 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 can be described as plane perception detection.
Embodiment 1
The present embodiment provides a kind of through street lane signal lamp control methods using plane cognition technology, as shown in Figure 1,
Include the following steps：
S1：Plane is carried out to the vehicle of the traveling on through street to be precisely continuously tracked.As shown in Fig. 2, having three on through street
Lane, lane 1, lane 2 and lane 3.Lamp for vehicle lane is both provided on each lane, under normal circumstances, lamp for vehicle lane is all provided with
It is set to green.Accurate continuous level tracking is carried out to the vehicle in detection range using detector.Have when adjacent detection range
Overlapping range, another detection range is entered when motor vehicle is driven out to from a detection range, therefore can accomplish pair
Vehicle is continuously tracked.
S2：Whether the vehicle on all lanes of real-time detection lamp for vehicle lane downstream direction has the case where exception parking or speed
The case where lower than the first given threshold；If there is then exception parking or speed are labeled as lower than the section of the first given threshold
Otherwise the signal lamp in every lane is disposed as return step S1 after green light by abnormal section, and enter step S3.Judgement is abnormal
The method of parking is to judge whether vehicle is in halted state in green light, into one if vehicle is in halted state
Step judge whether the vehicle of stopping vehicle front being in halted state, if current vehicle be in halted state and front vehicles not
In halted state, then judge current vehicle for exception parking.
S3：Judge whether the speed in all lanes in improper section downstream is below the first given threshold, if then will
The signal lamp in every lane is disposed as return step S1 after green light；First given threshold can be set to 10,000 ms/h, no
Then enter step S4.
S4：Judge all lanes in improper section downstream speed whether all be higher than the second given threshold, if then into
Enter S5, it is 30,000 ms/h that the second given threshold, which can choose,；Otherwise it is returned after the signal lamp in every lane being disposed as green light
Return step S1.
S5：Judge whether improper section upstream has vehicle lane change to cause adjacent lane speed lower than the first given threshold
Situation enters step S6, otherwise return step S1 if having.It, can be accurate since each vehicle being continuously tracked
Obtain the specific location of each vehicle and the travel speed of each vehicle.Included for each lane on through street
Coordinate is all known, therefore is compared and can obtain with the coordinate that through street lane includes according to the specific location coordinate of vehicle
Know which lane vehicle is on.And when a certain vehicle suddenly from a lane changing to adjacent lane while, it is adjacent
Other car speeds on lane decline rapidly, and drop to the first given threshold hereinafter, it is possible thereby to judging adjacent lane vehicle
It is due to caused by the lane change vehicle that congestion, which occurs, in speed decline.
S6：Red light is set by the lane signal lamp in lane where abnormal section, later return step S1.That is,
When occurring exception parking situation on through street, the downstream vehicle travel situations of exception parking position are normal, exception parking
The upstream vehicle travel speed of position is slow, congestion occurs, and congestion is the reason is that due to there is vehicle from exception parking position
Place lane changing to adjacent lane caused by, set red light for exception parking position stream signal lamp at this time.It is logical
This setup is crossed, can make vehicle on exception parking lane in advance in the instruction down conversion lane of signal lamp, without
To exception parking position nearby just changing Lane.
Preferably, the above-mentioned through street lane signal lamp control method using plane cognition technology, in step S1 and step
It further include following steps between S2:
S10:Judge whether precisely trace into vehicle traveling information, if then entering step S2, otherwise by every vehicle
The signal lamp in road is disposed as green light and issues alarm message reminding failure, later return step S1.
Embodiment 2
The present embodiment on the basis of embodiment 1, is improved as follows, and plane described in step S1 is precisely continuously tracked
Include the following steps：
S11：Several detectors are set on through street, and the detector is for being continuously tracked motor vehicle；By institute
State the detection range of detector, the upstream section of lane signal lamp, lane signal lamp downstream road section mark to longitude and latitude
Electronic map on, and will test the position coordinate data (X of devicej,Yj), the position coordinate data (X of lane signal lampx,Yx)
It marks 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 issued, prompt can not accurately obtain calibration mark position coordinate
The signal lamp in every lane is disposed as return step S1 after green light later by 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)。
Specifically include following situations：
In the case that the detector is using detection radar, the current detection error of detector is obtained in the step S12
(Xc,Yc) the step of include：
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 actual measurement radar detector is to the distance L of calibration mark positionlbWith calibration mark position to the distance of lamp for vehicle lane 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 calibration mark position is marked on the electronic map, when detecting 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 issues 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, the current detection of detector is obtained in the step S12
Error (Xc,Yc) the step of include：
SB1：Division diatom is applied in the video monitoring range of video tracking unit, is provided with separation 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)；
It 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 of the detection error as motor vehicle with motor vehicle apart from nearest calibration mark positionc,Yc)。
In the present embodiment, it regard 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, and the actual position coordinate of the motor vehicle made is more acurrate, thus the wink that the motor vehicle accurately obtained is current
Shi Sudu.
The case where detector is video tracking unit further includes that packet is precisely continuously tracked in plane described in step S1
Include following steps：
SC1：Division diatom is applied in the video monitoring range of video tracking unit, is provided with separation on the lines
Fi, obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic map, and adjacent point of every two
The distance between boundary's point Lfi；
SC2：The monitoring image of lines is obtained in video monitoring picture, successively manually marks each separation Fi,
And obtain the number of lines of pixels H between the adjacent separation of every twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of every twofi/Hh；
Or the corresponding distance L of each column pixel between the adjacent separation of every twofi/Hl；
Fig. 4 gives the testing result schematic diagram in video detection picture；It is as shown in the figure the detection in a lane
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 column pixels, have only taken up 28 column pixels above picture, it is assumed that its width is 3 meters, then for column each below picture
The distance that pixel indicates is 3/430.07 meter, and the distance that each column 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, every row pixel represent away from
From being 2/150.133 meter, between F5 and F6, the distance that every 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 column 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) the corresponding distance of the every one-row pixels in region or every
The corresponding distance of one column 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, every a line picture are shared because we have obtained, between F5 and F6
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 the distance between available motor vehicle and F6 are 0.2863=0.858 meters, 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 can be obtained by calculating.
Embodiment 3
The present embodiment provides a kind of through street lane signal lamp control systems using plane cognition technology, as shown in figure 5,
Including：
Detection unit 8 carries out plane for the vehicle to the traveling on through street and is precisely continuously tracked；
Whether the first judging unit 1, the vehicle on all lanes of real-time detection lamp for vehicle lane downstream direction have exception parking
The case where situation or speed are lower than the first given threshold；If there is exception parking or speed are then lower than the first given threshold
Section be labeled as abnormal section；
Second judgment unit 2 is further to judge improper section when being for the judging result in the first judging unit 1
Whether the speed in all lanes in downstream is below the first given threshold；
When third judging unit 3 for the judging result in second judgment unit 2 is no, further judge improper disconnected
Whether the speed in all lanes in face downstream is all higher than the second given threshold；
4th judging unit 4 is further to judge improper disconnected when being for the judging result in third judging unit 3
Whether face upstream has vehicle lane change to lead to the case where adjacent lane speed is lower than the first given threshold；
Signal lamp setting unit 6, for when the judging result of second judgment unit 2 is to be by the signal lamp in every lane
It is disposed as green light；The signal lamp in every lane is disposed as green light when the judging result of third judging unit 3 is no；?
The judging result of 4th judging unit 4 is to set red light for the lane signal lamp in lane where abnormal section when being；First
The signal lamp in every lane is disposed as green light when 1 judging result of judging unit is no.
Preferably, further include：
5th judging unit 5 can trace into vehicle traveling information for judging whether, if vehicle driving letter can be traced into
Breath is then directly entered second judgment unit；
By the signal lamp in every lane when signal lamp setting unit 6 for the judging result in the 5th judging unit 5 is no
It is disposed as green light；
Alarm unit 7, for the judging result in the 5th judging unit 5 be it is no when alert prompt failure.
Preferably, the detection unit includes：
Detector, is set to the upstream and downstream certain distance of lamp for vehicle lane on through street, and the detector is used for motor-driven
Vehicle is continuously tracked；
Electronic map with longitude and latitude, suitable for marking detection range, the upstream section of lane signal lamp, vehicle of detector
The downstream road section of road signal lamp and the position coordinate data (X of detectorj,Yj), the position coordinate data of lane signal lamp
(Xx,Yx)；
Data acquisition module obtains the current detection error (X of detectorc,Yc) and motor vehicle current location coordinate data
(Xd,Yd)；
First judgment module, for judging current detection error (Xc,Yc) whether within the set threshold range；
Position determination module, for obtaining motor vehicle according to the coordinate data and current detection error of motor vehicle current location
The actual coordinate data of current location：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
Preferably, the detector includes using detection radar, the data acquisition module：
Submodule is arranged in correction bit, selectes calibration mark position, and the actual coordinate data (X that will correct flag bitb, Yb) mark
It infuses on electronic map, and actual measurement radar detector is to the distance L of calibration mark positionlbWith calibration mark position to lamp for vehicle lane institute
Distance L in positionjt；
Judging submodule judges whether the changing coordinates data (X that can read calibration mark positionbd, Ybd), if reading
Then 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)。
Preferably, the detector uses video tracking unit, and the data acquisition module includes：
Submodule is arranged in lines, 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
Actual coordinate data (the X of each separationf, Yf) actual coordinate data (X as calibration mark positionb, Yb)；
Second judgment submodule judges whether the changing coordinates data (X that can detect each calibration mark positionbd,
Ybd), according to the actual coordinate of each calibration mark position the changing coordinates data and the calibration mark position detected if detecting
Data obtain detection error corresponding with the calibration mark position：(Xc,Yc)=(Xbd, Ybd)-(Xb, Yb)；
It further include calibration submodule, for the coordinate data (X according to motor vehicle current locationd,Yd) obtain and motor vehicle away from
From nearest calibration mark position, using the detection error with motor vehicle apart from nearest calibration mark position as the current inspection of motor vehicle
Survey error (Xc,Yc)。
Preferably, the detector is video tracking unit, and the detection unit includes：
Subelement is arranged in lines, for applying division diatom in the video monitoring range of video tracking unit, described point
Separation F is provided on diatomi, obtain the actual coordinate data (X of each separationf, Yf) and marked electronic map
On, and the distance between adjacent separation of every two Lfi；
Mark subelement successively manually marks each for obtaining the monitoring image of lines in video monitoring picture
A separation Fi, and obtain the number of lines of pixels H between the adjacent separation of every twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of every twofi/Hh；
Or the corresponding distance L of each column pixel between the adjacent separation of every twofi/Hl；
Data acquisition subelement, for obtaining the coordinate data (X of motor vehicle current locationd,Yd)；
Judgment sub-unit, according to the coordinate data (X of motor vehicle current locationd,Yd) judge motor vehicle current location in video
Between any two adjacent separations in monitored picture, and further judge that the coordinate data corresponds between the adjacent separation
Which pixel or which column pixel；
Physical location obtains subelement, for the coordinate data (X according to motor vehicle current locationd,Yd), it is incorporated in reality
In the relative position coordinates of each separation and the coordinate data (X of motor vehicle current locationd,Yd) the every a line in region
The corresponding distance of pixel or the corresponding distance of each column pixel, obtain the actual coordinate data (X of motor vehicle current locationdj,
Ydj)。
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 through street lane signal lamp control method using plane cognition technology, which is characterized in that include the following steps：
S1：Plane is carried out to the vehicle of the traveling on through street to be precisely continuously tracked；
S2：Whether the vehicle on all lanes of real-time detection lamp for vehicle lane downstream direction has the case where exception parking or speed to be lower than
The case where first given threshold；If there is exception parking or speed are then labeled as exception lower than the section of the first given threshold
Otherwise the signal lamp in every lane is disposed as return step S1 after green light by section, and enter step S3；
S3：Judge whether the speed in all lanes in abnormal section downstream is below the first given threshold, if then by every vehicle
The signal lamp in road is disposed as return step S1 after green light；Otherwise S4 is entered step；
S4：Judge whether the speed in all lanes in abnormal section downstream is all higher than the second given threshold, if then entering S5；It is no
The signal lamp in every lane is then disposed as return step S1 after green light；
S5：Judge whether abnormal section upstream has vehicle lane change to lead to the case where adjacent lane speed is lower than the first given threshold,
S6 is entered step if having, otherwise return step S1；
S6：Red light is set by the lane signal lamp in lane where abnormal section, later return step S1.
2. the through street lane signal lamp control method according to claim 1 using plane cognition technology, feature exist
In further including following steps between step S1 and step S2:
S10:Judge whether precisely trace into vehicle traveling information, if then entering step S2, otherwise by every lane
Signal lamp is disposed as green light and issues alarm message reminding failure, later return step S1.
3. the through street lane signal lamp control method according to claim 1 or 2 using plane cognition technology, feature
It is, plane described in step S1, which is precisely continuously tracked, to be included the following steps：
S11：Several detectors are set on through street, and the detector is for being continuously tracked motor vehicle；By the inspection
Survey the detection range of device, the upstream section of lane signal lamp, lane signal lamp downstream road section mark to longitude and latitude electricity
On sub- map, and it will test the position coordinate data (X of devicej,Yj), the position coordinate data (X of lane signal lampx,Yx) mark
Onto electronic map；
S12：Obtain the current detection error (X of detectorc,Yc), judge current detection error (Xc,Yc) whether in given threshold model
In enclosing, if then entering step S13, alarm signal is otherwise issued, prompt can not accurately obtain calibration mark position coordinate data, it
The signal lamp in every lane is disposed as return step S1 after green light afterwards；
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)。
4. the through street lane signal lamp control method according to claim 3 using plane cognition technology, feature exist
In the detector obtains the current detection error (X of detector 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 actual measurement radar detector to calibration mark positionlbWith the distance L of calibration mark position to lamp for vehicle lane 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)。
5. the through street lane signal lamp control method according to claim 3 using plane cognition technology, feature exist
In the detector uses video tracking unit, and the current detection error (X of detector is obtained in the step S12c,Yc) step
Suddenly include：
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)；
It 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)。
6. the through street lane signal lamp control method according to claim 3 using plane cognition technology, feature exist
In the detector is video tracking unit, and 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 every two it
Between distance Lfi；
SC2：The monitoring image of lines is obtained in video monitoring picture, successively manually marks each separation Fi, and obtain
Number of lines of pixels H between the adjacent separation of every twohOr pixel columns Hl, obtain：
The corresponding distance L of every one-row pixels between the adjacent separation of every twofi/Hh；
Or the corresponding distance L of each column pixel between the adjacent separation of every 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 column 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 corresponding distance of the every one-row pixels in region or each column
The corresponding distance of pixel obtains the actual coordinate data (X of motor vehicle current locationdj,Ydj)。
7. a kind of through street lane signal lamp control system using plane cognition technology, which is characterized in that including：
Detection unit carries out plane for the vehicle to the traveling on through street and is precisely continuously tracked；
First judging unit, the vehicle on all lanes of real-time detection lamp for vehicle lane downstream direction whether have the case where exception parking or
Person's speed is lower than the case where the first given threshold；If there is exception parking or speed to be then lower than to the section of the first given threshold
It is labeled as abnormal section；
Second judgment unit, for further judging the institute in abnormal section downstream when the judging result of the first judging unit is to be
Have whether the speed in lane is below the first given threshold；
When third judging unit for the judging result in second judgment unit is no, abnormal section downstream is further judged
Whether the speed in all lanes is all higher than the second given threshold；
4th judging unit is further to judge that abnormal section upstream is when being for the judging result in third judging unit
It is no to there is vehicle lane change to lead to the case where adjacent lane speed is lower than the first given threshold；
Signal lamp setting unit is to be respectively provided with the signal lamp in every lane when being for the judging result in second judgment unit
For green light；The signal lamp in every lane is disposed as green light when the judging result of third judging unit is no；Sentence the 4th
The judging result of disconnected unit is to set red light for the lane signal lamp in lane where abnormal section when being；In the first judging unit
Judging result the signal lamp in every lane is disposed as green light when being no.
8. the through street lane signal lamp control system according to claim 7 using plane cognition technology, feature exist
In further including：
5th judging unit can trace into vehicle traveling information for judging whether, if it can trace into vehicle traveling information
It is directly entered second judgment unit；
The signal lamp in every lane is respectively provided with when signal lamp setting unit for the judging result in the 5th judging unit is no
For green light；
Alarm unit, for the judging result in the 5th judging unit be it is no when alert prompt failure.
9. the through street lane signal lamp control system according to claim 7 using plane cognition technology, feature exist
In the detection unit includes：
Detector, is set to the upstream and downstream certain distance of lamp for vehicle lane on through street, the detector be used for motor vehicle into
Row is continuously tracked；
Electronic map with longitude and latitude, suitable for the mark detection range of detector, the upstream section of lane signal lamp, lane letter
The downstream road section of signal lamp and the position coordinate data (X of detectorj,Yj), the position coordinate data (X of lane signal lampx,
Yx)；
Data acquisition module obtains the current detection error (X of detectorc,Yc) and motor vehicle current location coordinate data (Xd,
Yd)；
First judgment module, for judging current detection error (Xc,Yc) whether within the set threshold range；
Position determination module, it is current for obtaining motor vehicle according to the coordinate data and current detection error of motor vehicle current location
The actual coordinate data of position：(Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
10. the through street lane signal lamp control system according to claim 9 using plane cognition technology, feature exist
In the detector includes using detection radar, the data acquisition module：
Submodule is arranged in correction bit, selectes calibration mark position, and the actual coordinate data (X that will correct flag bitb, Yb) mark and arrive
On electronic map, and actual measurement radar detector is to the distance L of calibration mark positionlbIt is in place to lamp for vehicle lane institute with calibration mark position
The distance L setjt；
Judging submodule judges whether the changing coordinates data (X that can read calibration mark positionbd, Ybd), the basis if reading
The changing coordinates data of calibration mark position and the actual coordinate data of calibration mark position obtain current detection error：(Xc,Yc)=
(Xbd, Ybd)-(Xb, Yb)。
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| WO2018218406A1 (en) * | 2017-05-27 | 2018-12-06 | 深圳市乃斯网络科技有限公司 | Method and system for allocating lane in traffic jam |
| CN113053132A (en) * | 2021-03-18 | 2021-06-29 | 重庆交通开投科技发展有限公司 | Vehicle crowding degree warning system and method |
| CN113284365B (en) * | 2021-04-12 | 2022-08-23 | 江苏大学 | Real-time road safety prompting system and method based on vehicle behaviors |
| CN113141574A (en) * | 2021-06-01 | 2021-07-20 | 江铃汽车股份有限公司 | Vehicle abnormal movement monitoring method based on high-precision positioning |
| CN113643534B (en) * | 2021-07-29 | 2023-04-18 | 北京万集科技股份有限公司 | Traffic control method and equipment |
| CN114023069B (en) * | 2021-11-18 | 2022-07-29 | 北京图盟科技有限公司 | Abnormal parking detection method, device and equipment and readable storage medium |
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