CN115019521A - Method and system for determining vehicle speed - Google Patents
Method and system for determining vehicle speed Download PDFInfo
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- CN115019521A CN115019521A CN202210545250.8A CN202210545250A CN115019521A CN 115019521 A CN115019521 A CN 115019521A CN 202210545250 A CN202210545250 A CN 202210545250A CN 115019521 A CN115019521 A CN 115019521A
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Abstract
The invention provides a method and a system for determining vehicle speed, and relates to the technical field of traffic data processing. The method comprises the following steps: the method comprises the following steps of firstly, respectively collecting noise signals of a reference vehicle and a vehicle to be detected in an appointed scene and the speed of the reference vehicle; secondly, respectively determining average received noise measurement power of the reference vehicle and the vehicle to be measured in a time window according to the noise signals of the reference vehicle and the vehicle to be measured; step three, respectively obtaining the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be measured; and step four, calculating the speed of the vehicle to be tested according to the speed of the reference vehicle and the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be tested. The method can accurately determine the speed of the running vehicle in the scene with low visibility, has strong concealment, and is not limited and influenced by a wireless network and satellite signals.
Description
Technical Field
The invention relates to the technical field of traffic data processing, in particular to a method and a system for determining vehicle speed.
Background
The vehicle speed is the key of vehicle intelligent traffic and intelligent driving, the reasonable speed range of the vehicle is ensured by measuring the vehicle speed, the driving state is controlled, the vehicle overspeed is avoided, traffic accidents are reduced, and the running vehicle is controlled and detected.
The traditional speed detection methods include visible light image speed detection, infrared speed detection, geomagnetic detection, GPS detection, Wi-Fi speed detection, radar speed detection and sound Doppler effect speed detection. For example, vehicle detection and speed measurement based on binocular vision (computer application and software, 2013, 30(08):275-278), the depth information of an object is obtained through the parallax of two cameras, a moving object is detected according to the depth difference, and the depth information of the moving object in continuous frames is utilized to realize the motion detection method based on binocular vision. In research on a virtual coil-based vehicle speed detection algorithm (proceedings of the university of Lanzhou literature, 2020, 34(01):76-81), a vehicle speed is calculated by providing two specific virtual coils in a specific area of a video image, converting the distance from the coordinates of the virtual coils, and calculating the time for the vehicle to pass through the coils through image matching. The method for recognizing the vehicle running speed and the license plate based on the non-visible light imaging disclosed by CN109522851B (national patent) is to process a plurality of frames of vehicle images shot by an infrared imaging device arranged above or at one side of a road and calculate the vehicle running speed, wherein the vehicle speed is recognized by using the visible light image and infrared image technologies, so that the method cannot be suitable for scenes with low visibility.
CN110310491B (national patent) calculates the time difference of the vehicle passing through the double geomagnetic sensors by collecting the geomagnetic signals of the vehicle passing through, so as to realize the two-node geomagnetic vehicle speed detection system and the detection method. The design of a real-time detection system for the speed of a highway based on GPS and GPRS (scientific and technical information, 2011(30):55) combines GPS satellite positioning with GPRS general wireless packet service, adopts a single chip microcomputer as a processing center of the system and realizes the design of the real-time detection system for the speed of the highway based on GPS and GPRS. Passive vehicle speed measurement based on Wi-Fi incident signal arrival angle super-resolution estimation (instruments and meters, 2020, 41(10):268 and 276) utilizes a rapid phase calibration algorithm to realize clock synchronization between Wi-Fi equipment antennas, and adopts an MUSIC algorithm to realize ultrahigh resolution arrival angle estimation, thereby realizing vehicle speed measurement. The geomagnetic, GPS and Wi-Fi are used for measuring the vehicle speed, but a geomagnetic sensor needs to be installed, satellite positioning is needed for GPS speed measurement, and wireless network signals are needed for Wi-Fi speed measurement.
CN108919243A (national patent) discloses a vehicle spatial location information sensing method based on the sound doppler effect, which includes acquiring the sound of a vehicle approaching a pedestrian, performing fast fourier transform to obtain the frequency domain characteristics of the sound signal, acquiring the known sounds of different vehicles approaching in advance, training a vehicle classification model, and calculating the radial relative velocity of the vehicle and the pedestrian according to the relationship between the doppler effect frequency shift and the relative velocity for the reference spectrogram and the received spectrogram of the vehicle sound. CN203149117U (national patent) is used for a sound collection module to send a control signal to control the microphone to collect a sound signal sent by a passing vehicle, and performing spectrum analysis on an electric signal transmitted by the sound collection module to obtain a real-time vehicle speed. The method comprises the steps that the speed of a vehicle is identified through the sound Doppler effect, spectrum receiving transformation is needed, and the known sounds of different types of vehicles approaching are collected in advance to train a vehicle classification model.
In a word, the method for measuring the vehicle speed adopts an optical video camera, a camera or an infrared imaging device with higher price, and cannot be suitable for scenes with low visibility; the method comprises the following steps of (1) paving double geomagnetic sensors, a GPS satellite and a Wi-Fi positioning and wireless network when geomagnetic vehicle speed measurement is adopted; the method comprises the steps that the speed of a vehicle is identified through the sound Doppler effect, a spectrum receiving transformation is needed to determine a frequency domain, and a plurality of known sound samples of the approaching vehicle are collected; the microwave active detection has no passivity and is easy to be detected.
Disclosure of Invention
In view of the above, an object of the present invention is to overcome the deficiencies of the prior art, and to provide a method for determining a vehicle speed, which is capable of accurately determining a speed of a vehicle traveling in a scene with low visibility, and has strong concealment performance, and is not limited and affected by a wireless network and a satellite signal.
A second object of the present invention is a system for determining the speed of a vehicle.
In order to achieve one of the purposes, the invention adopts the following technical scheme:
a method of determining vehicle speed, the method comprising the steps of:
step one, respectively acquiring noise signals of a reference vehicle and a vehicle to be detected in an appointed scene and the speed of the reference vehicle;
secondly, respectively determining average received noise measurement power of the reference vehicle and the vehicle to be measured in a time window according to the noise signals of the reference vehicle and the vehicle to be measured;
step three, respectively obtaining the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be measured;
and step four, calculating the speed of the vehicle to be tested according to the speed of the reference vehicle and the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be tested.
Further, the specific implementation process of the second step includes:
step 21, setting a time window;
step 22, determining a relation curve between the average noise power of the vehicle and the average noise power acquisition time according to the noise signal of the vehicle in the time window;
step 23, obtaining maximum average noise power and minimum average noise power from a relation curve of the average noise power and the average noise power acquisition time of the vehicle;
step 24, grade division is carried out on the difference between the maximum average noise power and the minimum average noise power to obtain N +1 grades, wherein N is the quantity of grade intervals, and N is more than or equal to 5 and less than or equal to 20;
the levels corresponding to the maximum average noise power and the minimum average noise power are respectively a 0 th level and an Nth level;
and 25, selecting the nth grade from the N +1 grades to calculate the average received noise power.
Further, in step 22, the relationship between the average noise power of the vehicle and the average noise power collection time is represented as:
wherein, P i,avg (t) is the average noise power of the ith vehicle at time t; I.C. A i (τ) is the noise signal intensity of the ith vehicle, i is 0 and 1, and 0 and 1 are respectively a reference vehicle and a vehicle to be tested; t is the average noise power acquisition time, T is more than or equal to T/2 and less than or equal to max (tau) -T/2, and max (tau) is the longest noise signal intensity acquisition time; t is a time window, and tau is the noise signal intensity acquisition time.
Further, in step 25, the nth level satisfies the following relationship:
round(0.2×N)≤n≤round(0.3×N)；
where round () is round to round.
Further, in step 25, the average received noise power is measured as:
wherein, P i,avg,n Power is measured for the average received noise of the nth grade of the ith vehicle; p i,avgmax And P i,avgmin The maximum average noise power and the minimum average noise power of the ith vehicle are respectively.
Further, in the third step, the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be measured is respectively as follows:
wherein, Delta 0,n And Δ 1,n Measuring time of the average received noise measuring power of the nth grade of the reference vehicle and the vehicle to be measured respectively;
and
measuring a start time and an end time of an nth level of power for the average received noise of the reference vehicle, respectively;
and
and respectively measuring the starting time and the ending time of the nth grade of the power for the average received noise of the vehicle to be measured.
Further, in the fourth step, the speed of the vehicle to be measured is:
wherein v is 1,pre The speed of the vehicle to be measured; v. of 0 Is the speed of the reference vehicle.
In order to achieve the second purpose, the invention adopts the following technical scheme:
a system for determining vehicle speed, the system comprising the steps of:
the acquisition module is used for respectively acquiring noise signals of a reference vehicle and a vehicle to be detected in an appointed scene and the speed of the reference vehicle;
the determining module is used for respectively determining the average received noise measurement power of the reference vehicle and the average received noise measurement power of the vehicle to be tested in a time window according to the noise signals of the reference vehicle and the vehicle to be tested;
the acquisition module is used for respectively acquiring the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be measured;
and the calculation module is used for calculating the speed of the vehicle to be tested according to the speed of the reference vehicle and the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be tested.
Further, the determining module comprises:
the setting submodule is used for setting a time window;
the determining submodule is used for determining a relation curve of the average noise power of the vehicle and the average noise power acquisition time according to the noise signals of the vehicle in the time window;
the acquisition submodule is used for acquiring the maximum average noise power and the minimum average noise power from a relation curve of the average noise power and the average noise power acquisition time of the vehicle;
the grade division submodule is used for carrying out grade division on the difference between the maximum average noise power and the minimum average noise power to obtain N +1 grades, wherein N is the quantity of grade intervals, and N is more than or equal to 5 and less than or equal to 20;
the levels corresponding to the maximum average noise power and the minimum average noise power are respectively a 0 th level and an Nth level;
and the selection submodule is used for selecting the nth grade from the N +1 grades so as to calculate the average received noise measurement power.
The invention has the beneficial effects that:
the method comprises the steps of acquiring noise signals of a reference vehicle and a vehicle to be tested in an appointed scene and the speed of the reference vehicle to determine the average received noise power measurement of the reference vehicle and the vehicle to be tested in a time period, further acquiring the measurement time of the average received noise power measurement of the reference vehicle and the vehicle to be tested, and calculating the speed of the vehicle to be tested according to the speed of the reference vehicle and the measurement time of the average received noise power measurement of the reference vehicle and the vehicle to be tested. The method adopts the relative magnitude of the vehicle noise to determine the average received noise measured power and the average received noise measured power as relative values, can be completed by adopting a common microphone sensor, and does not need the accurate absolute value of the vehicle noise of professional equipment for accurately measuring sound; the invention can adopt a single common microphone sound receiving device or a sound recorder to realize the noise collection of the reference vehicle and the vehicle to be tested, is suitable for determining the speed of the vehicle to be tested in the scene with lower visibility, can be popularized in vehicles such as water ships and the like, and has strong universality and universality.
Drawings
FIG. 1 is a schematic flow chart of a method of determining vehicle speed according to the present invention;
FIG. 2 is a noise schematic diagram of a reference fuel sedan according to embodiment 1 and embodiment 2 of the present invention;
FIG. 3 is a schematic noise diagram of a fuel sedan to be tested according to embodiment 1 of the present invention;
FIG. 4 is a graph showing the average noise power, the average received noise power and the measured time of a reference fuel-powered car according to embodiments 1 and 2 of the present invention;
FIG. 5 is a schematic diagram of the average noise power, the average received noise power and the measured time of the fuel-powered sedan to be tested according to embodiment 1 of the present invention;
FIG. 6 is a schematic noise diagram of a fuel sedan to be tested according to embodiment 2 of the present invention;
fig. 7 is a schematic diagram of the average noise power, the average received noise power and the measured time of the fuel-powered car to be measured according to embodiment 2 of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
The present embodiment presents a method of determining the speed of a vehicle, which, with reference to fig. 1, comprises the steps of:
step one, noise signals of a reference vehicle and a vehicle to be detected in an appointed scene and the speed of the reference vehicle are respectively collected.
Collecting noise signals I of a reference vehicle and a vehicle to be tested on a driving road section 0 (τ) and noise signal I of the vehicle under test 1 (tau) measuring the speed v of the vehicle to be measured by a speedometer 0 . In this embodiment, the same microphone recording device or sound recorder is used for collecting noise signalsThe placement position and the direction are unchanged (the acquisition position is the same, and the direction is consistent). The reference vehicle and the vehicle to be tested are of the same type, such as model and size. The model of the reference vehicle and the model of the vehicle to be tested in this embodiment may be the same or different, and in order to ensure the accuracy of the result, the reference vehicle and the vehicle to be tested of the same model are generally preferred.
And secondly, respectively determining the average received noise measurement power of the reference vehicle and the average received noise measurement power of the vehicle to be measured in the time window according to the noise signals of the reference vehicle and the vehicle to be measured.
In the embodiment, taking the time window T as an example, the average received noise power of the reference vehicle and the vehicle to be tested is calculated one by one. The specific implementation process comprises the following steps:
step 21, setting a time window;
step 22, determining a relation curve between the average noise power of the vehicle and the average noise power acquisition time according to the noise signal of the vehicle in the time window;
receiving the average noise power P of the vehicles (including the reference vehicle and the vehicle to be tested) in the time window T avg (t), expressed as:
wherein, P i,avg (t) is the average noise power of the ith vehicle at time t; i is i (τ) is the noise signal intensity of the ith vehicle, i is 0 and 1, and 0 and 1 are respectively a reference vehicle and a vehicle to be tested; t is the average noise power acquisition time, T is more than or equal to T/2 and less than or equal to max (tau) -T/2, and max (tau) is the longest noise signal intensity acquisition time; t is a time window, and tau is the noise signal intensity acquisition time.
Step 23, obtaining maximum average noise power and minimum average noise power from a relation curve of the average noise power and the average noise power acquisition time of the vehicle;
and 24, carrying out grade division on the difference between the maximum average noise power and the minimum average noise power to obtain N +1 grades, wherein N is the quantity of grade intervals, and N is more than or equal to 5 and less than or equal to 20.
With reference to the maximum value P of the mean noise power of the vehicle 0,avgmax And minimum value P 0,avgmin The difference is divided into (N +1) levels to average the minimum value P of the noise power 0,avgmin Maximum value P of average noise power of 0 th level 0,avgmax Is the Nth grade, N is an integer, and N is more than or equal to 5 and less than or equal to 20.
By the maximum value P of the average noise power of the vehicle to be measured 1,avgmax And a minimum value P 1,avgmin The difference is divided into (N +1) levels to average the minimum value P of the noise power 1,avgmin Maximum value P of average noise power of class 0 1,avgmax Is the nth grade.
The levels corresponding to the maximum average noise power and the minimum average noise power in this embodiment are the 0 th level and the nth level, respectively.
And 25, selecting the nth grade from the N +1 grades to calculate the average received noise power.
The nth level of the present embodiment satisfies the following relationship:
round(0.2×N)≤n≤round(0.3×N)；
where round () is round to round.
The embodiment adopts the average noise power of the nth grade of the reference vehicle and the average noise power of the nth grade of the vehicle to be tested as the average received noise power P of the reference vehicle 0,avgref And the average received noise power P of the vehicle to be measured 1,avgref . In this embodiment, the average received noise power of the vehicle (including the reference vehicle and the vehicle to be measured) is:
wherein, P i,avg,n Power is measured for the average received noise of the nth grade of the ith vehicle; p i,avgmax And P i,avgmin The maximum average noise power and the minimum average noise power of the ith vehicle are respectively.
And step three, respectively obtaining the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be measured.
In this embodiment, the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be measured is respectively:
wherein, Delta 0,n And Δ 1,n Measuring time of power is measured for the average received noise of the nth grade of the reference vehicle and the vehicle to be measured respectively;
and
measuring a start time and an end time of an nth level of power for the average received noise of the reference vehicle, respectively;
and
and respectively measuring the starting time and the ending time of the nth grade of the power for the average received noise of the vehicle to be measured.
And step four, calculating the speed of the vehicle to be tested according to the speed of the reference vehicle and the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be tested.
In the embodiment, the measurement time of the average received noise power of the nth level of the reference vehicle and the measured vehicle is respectively used as the measurement time of the average received noise power of the reference vehicle and the measured vehicle. The speed of the vehicle to be tested in this embodiment is:
wherein v is 1,pre The speed of the vehicle to be measured; v. of 0 Is the speed of the reference vehicle.
In this embodiment, in the process of acquiring the noise signals of the reference vehicle and the vehicle to be measured and the speed of the reference vehicle, the acquisition sequence of the noise signals of the reference vehicle and the vehicle to be measured and the speed of the reference vehicle is not fixed, and it is generally preferable that the noise signals and the speeds of the reference vehicles of various vehicle types at the same location are stored in advance, and then the corresponding noise signals and the speeds of the reference vehicle are acquired according to the model of the vehicle to be measured (for example, the speed measurement of the vehicle behind the running reference vehicle is realized by acquiring the noise signals and the speeds of the reference vehicle earlier than the vehicle to be measured in a specified scene). The noise signal of the vehicle to be measured can be acquired firstly, and then the noise signal of the reference vehicle and the speed of the reference vehicle are acquired (the noise acquisition point is acquired in the appointed scene, wherein the reference vehicle passes through the noise acquisition point later than the vehicle to be measured, and the speed measurement of the vehicle to be measured running in front of the reference vehicle is realized). Then, according to the method of the embodiment, the speed measurement of the vehicle to be measured is realized.
The accuracy of the technical solution of the present embodiment is verified by the following specific examples:
example 1:
the test places of the vehicle to be tested and the reference vehicle are all on a road about 300 meters away from the right side of a front door of a school zone, and the vehicle to be tested and the reference vehicle are both fuel cars and run on the outermost motor vehicle traffic lane on the right side. The method comprises the steps of recording the change of a noise signal of a reference fuel car along with time by adopting a sound recorder, wherein the sampling frequency of a microphone sound detector or the sound recorder is 48000Hz, the noise signal changes rapidly along with the time, referring to figure 2, the noise signal comprises a noise signal of a vehicle close to a microphone and a noise signal far away from the microphone, the noise amplitude is gradually increased, the noise received by the microphone detector (the sound recorder) reaches the maximum, then the noise is gradually reduced, the noise is recorded by adopting a relative unit a.u., and the speed v of the reference fuel car is measured by adopting a speed measuring instrument 0 ＝31km/h。
The method is characterized in that a vehicle to be tested is a fuel car of the same type as a reference vehicle, the vehicle runs on the traffic lane of the outermost motor vehicle on the right side, a microphone sound detector or a sound recorder used by the vehicle to be tested and a detector for measuring the reference vehicle are the same detector, the change of the noise of the fuel car to be tested 1 along with time is recorded, the noise signal of the fuel car to be tested rapidly changes along with time, referring to the graph 3, the noise signal comprises the noise signal of the fuel car to be tested close to a microphone (sound recorder) and the noise signal far away from the microphone (sound recorder), the noise amplitude is gradually increased, the noise is gradually reduced after the noise reaches the maximum, and the noise of the fuel car to be tested is recorded by adopting a relative unit a.u.
The noise of the reference fuel car is averaged in a time window T of 300ms, and after the noise power is averaged in 300ms, the average noise is filtered to show the noise power which changes along with time. Average noise P according to reference fuel car 0,avg (t) calculating the maximum average noise power P 0,avgmax ＝4.986×10 -4 a.u. and minimum average noise power P 0,avgmin ＝3.09×10 -5 U. to reference maximum average noise power P of fuel-oil car 0,avgmax And minimum average noise power P 0,avgmin The difference is divided equally into (N +1 ═ 11) levels with minimum average noise power P 0,avgmin At class 0, maximum average noise power P 0,avgmax Is grade 11. Average received noise power P of reference fuel car with grade n-3 0,avg,3 ＝1.712×10 -4 U. A in FIG. 4 0,3 、B 0,3 Power P for average received noise of car receiving reference fuel 0,avg,3 The time starting point and the time ending point of (1), wherein the average received noise measures the power P 0,avg,3 Corresponding start time of
And end time
The average received noise of the reference vehicleMeasure power P 0,avg,3 Is different from the time start point and the time end point by Δ 0，3 ＝2.1122s。
The noise of the fuel car to be measured is averaged at the time T of 300ms, and the noise power which changes along with the time is presented after the noise power is averaged at the time of 300 ms. According to the average noise power P of the fuel sedan to be measured 1,avg (t) calculating the maximum average noise power P 1,avgmax ＝1.2390×10 -4 a.u. and minimum average noise power P 1,avgmin ＝2.056×10 -5 U., equal division of (N +1 ═ 11) classes as a reference fuel car, with minimum average noise power P 1,avgmin Maximum average noise power P of order 0 1,avgmax Grade 11. Adopting the n-3 grade as the average received noise power P of the fuel car to be tested 1,avg,3 ＝5.156×10 -5 U. A in FIG. 5 1,3 、B 1,3 Respectively measuring power P for average received noise of the car receiving the fuel oil to be measured 1,avg,3 Wherein the average received noise measures the power P 1,avg,3 Corresponding start time of
And end time
Average received noise power P for detecting fuel car to be tested 1,avg,3 Is detected by the time start point and the end point of time of (1) 1，3 ＝1.7779s。
The speed of the fuel car to be tested is as follows:
actual speed v of fuel car to be measured 1real The absolute error between the speed of the fuel car to be measured and 37km/h is as follows:
ε 1abs ＝|v 1pre -v 1real |＝|36.83-37|＝0.17km/h。
the relative error between the actual speed of the fuel car to be tested and the speed of the fuel car to be tested is as follows:
example 2:
the test procedure and the results of the reference fuel car of this example are the same as those of example 1.
The method comprises the steps that a vehicle to be tested is a fuel car of the same type as a reference vehicle, the vehicle runs on the outermost motor vehicle lane on the right side, a microphone sound detector or a sound recorder used by the vehicle to be tested and a detector of a measurement reference vehicle are the same detector, the change of noise of the fuel car to be tested along with time is recorded, the noise signal of the fuel car to be tested rapidly changes along with time, referring to the figure 6, the noise signal comprises a noise signal of the fuel car to be tested, the noise signal is close to a microphone (sound recorder) and a noise signal far away from the microphone (sound recorder), the noise amplitude is gradually increased, the noise is gradually reduced after the noise reaches the maximum, and the noise of the fuel car to be tested is recorded by a.u. relative unit.
The noise of the fuel car to be measured is averaged at the time T of 300ms, and after the noise power is averaged in the time of 300ms, the average noise is filtered, and the noise power which changes along with the time is shown. According to the average noise power P of the fuel sedan to be measured 1,avg (t) calculating the maximum average noise power P 1,avgmax ＝2.2143×10 -4 a.u. and minimum average noise power P 1,avgmin ＝3.935×10 -5 a.u. to the maximum average noise power P of the fuel car to be measured 1,avgmax And minimum average noise power P 1,avgmin The difference is divided equally into (N +1 ═ 11) levels with minimum average noise power P 1,avgmin Maximum average noise power P of class 0 1,avgmax Is grade 11. Average received noise power P of reference fuel car with grade n-3 1,avg,3 ＝9.397×10 -5 U. A in FIG. 7 1,3 、B 1,3 Respectively measuring power P for average received noise of the car receiving the fuel oil to be measured 1,avg,3 The time starting point and the time ending point of (1), wherein the average received noise measures the power P 1,avg,3 Corresponding start time of
And end time
Average received noise power P for detecting fuel car to be tested 1,avg,3 Is different between the time start point and the time end point of
The speed of the fuel car to be tested is as follows:
actual speed v of fuel car to be measured 1real The absolute error between the speed of the fuel car to be measured and 57km/h is as follows:
ε 1abs ＝|v 1pre -v 1real |＝|59.71-57|＝2.71km/h。
the relative error between the actual speed of the fuel car to be tested and the speed of the fuel car to be tested is as follows:
the method comprises the steps of acquiring noise signals of a reference vehicle and a vehicle to be measured in a specified scene and the speed of the reference vehicle to determine the average received noise power measurement of the reference vehicle and the vehicle to be measured in a time window, further acquiring the measurement time of the average received noise power measurement of the reference vehicle and the vehicle to be measured, and calculating the speed of the vehicle to be measured according to the speed of the reference vehicle and the measurement time of the average received noise power measurement of the reference vehicle and the vehicle to be measured, wherein the speed of the vehicle to be measured is determined by utilizing the noise signals sent by the reference vehicle and the vehicle to be measured and the speed of the reference vehicle, and the measurement result is accurate and has strong concealment and is not limited and influenced by wireless network and satellite signals; the embodiment adopts the relative magnitude of the vehicle noise to determine the average received noise measured power and the average received noise measured power as relative values, can be completed by adopting a common microphone sensor, and does not need the accurate absolute value of the vehicle noise of professional equipment for accurately measuring sound; the embodiment can adopt a single common microphone sound receiving device or a sound recorder to realize the noise collection of the reference vehicle and the vehicle to be detected, is suitable for determining the speed of the vehicle to be detected in a scene with relatively low visibility, can be used for popularizing vehicles such as water ships and the like, and has strong universality and universality.
The above embodiment can be implemented by a system for determining a vehicle speed as given in the following embodiment:
another embodiment provides a system for determining a speed of a vehicle, the system comprising:
the acquisition module is used for respectively acquiring noise signals of a reference vehicle and a vehicle to be detected in an appointed scene and the speed of the reference vehicle;
and the determining module is used for respectively determining the average received noise measurement power of the reference vehicle and the average received noise measurement power of the vehicle to be tested in a time period according to the noise signals of the reference vehicle and the vehicle to be tested. The determining module comprises:
the setting submodule is used for setting a time window;
the determining submodule is used for determining a relation curve of the average noise power and the acquisition time of the vehicle according to the noise signals of the vehicle in the time window;
the acquisition submodule is used for acquiring the maximum average noise power and the minimum average noise power of the average noise power from a relation curve of the average noise power and the acquisition time of the vehicle;
the grade division submodule is used for carrying out grade division on the difference between the maximum average noise power and the minimum average noise power to obtain N +1 grades, wherein N is the quantity of grade intervals, and N is more than or equal to 5 and less than or equal to 20;
the levels corresponding to the maximum average noise power and the minimum average noise power are respectively a 0 th level and an Nth level;
and the selection submodule is used for selecting the nth grade from the N +1 grades so as to calculate the average received noise measurement power.
The acquisition module is used for respectively acquiring the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be measured;
and the calculation module is used for calculating the speed of the vehicle to be tested according to the speed of the reference vehicle and the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be tested.
The terms and formulas used in the above embodiments are applicable to each other and will not be described in detail herein.
The above examples are intended only to illustrate the technical solution of the present invention and not to limit it, and although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: modifications and equivalents may be made to the invention without departing from the spirit and scope of the invention.
Claims (9)
1. A method of determining vehicle speed, the method comprising the steps of:
step one, respectively acquiring noise signals of a reference vehicle and a vehicle to be detected in an appointed scene and the speed of the reference vehicle;
secondly, respectively determining average received noise measurement power of the reference vehicle and the vehicle to be measured in a time window according to the noise signals of the reference vehicle and the vehicle to be measured;
step three, respectively obtaining the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be measured;
and step four, calculating the speed of the vehicle to be tested according to the speed of the reference vehicle and the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be tested.
2. The method according to claim 1, wherein the specific implementation procedure of step two comprises:
step 21, setting a time window;
step 22, determining a relation curve between the average noise power of the vehicle and the average noise power acquisition time according to the noise signal of the vehicle in the time window;
step 23, obtaining maximum average noise power and minimum average noise power from a relation curve of the average noise power and the average noise power acquisition time of the vehicle;
step 24, grade division is carried out on the difference between the maximum average noise power and the minimum average noise power to obtain N +1 grades, wherein N is the quantity of grade intervals, and N is more than or equal to 5 and less than or equal to 20;
the levels corresponding to the maximum average noise power and the minimum average noise power are respectively a 0 th level and an Nth level;
and 25, selecting the nth grade from the N +1 grades to calculate the average received noise power.
3. The method of claim 2, wherein in step 22, the relationship between the average noise power and the average noise power collection time of the vehicle is expressed as:
wherein, P i,avg (t) is the average noise power of the ith vehicle at time t; i is i (τ) is the noise signal intensity of the ith vehicle, i is 0 and 1, and 0 and 1 are respectively a reference vehicle and a vehicle to be tested; t is the average noise power acquisition time, T is more than or equal to T/2 and less than or equal to max (tau) -T/2, and max (tau) is the longest noise signal intensity acquisition time; t is a time window, and tau is the noise signal intensity acquisition time.
4. The method according to claim 3, wherein in step 25, the nth level satisfies the following relationship:
round(0.2×N)≤n≤round(0.3×N)；
where round () is round to round.
5. The method of claim 4, wherein in step 25, the average received noise metric is:
wherein, P i,avg,n Measuring power for the average received noise of the nth grade of the ith vehicle; p i,avgmax And P i,avgmin The maximum average noise power and the minimum average noise power of the ith vehicle are respectively.
6. The method according to claim 5, wherein in step three, the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be tested is respectively as follows:
wherein, Delta 0,n And Δ 1,n Measuring time of the average received noise measuring power of the nth grade of the reference vehicle and the vehicle to be measured respectively;
and
are respectively referenceThe start time and end time of the nth level of the average received noise measurement power of the vehicle;
and
and respectively measuring the starting time and the ending time of the nth grade of the power for the average received noise of the vehicle to be measured.
7. The method of claim 6, wherein in step four, the speed of the vehicle under test is:
wherein v is 1,pre The speed of the vehicle to be measured; v. of 0 Is the speed of the reference vehicle.
8. A system for determining vehicle speed, the system comprising the steps of:
the acquisition module is used for respectively acquiring noise signals of a reference vehicle and a vehicle to be detected in an appointed scene and the speed of the reference vehicle;
the determining module is used for respectively determining the average received noise measurement power of the reference vehicle and the average received noise measurement power of the vehicle to be tested in a time window according to the noise signals of the reference vehicle and the vehicle to be tested;
the acquisition module is used for respectively acquiring the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be measured;
and the calculation module is used for calculating the speed of the vehicle to be tested according to the speed of the reference vehicle and the measuring time of the average received noise measuring power of the reference vehicle and the vehicle to be tested.
9. The system of claim 8, wherein the determination module comprises:
the setting submodule is used for setting a time window;
the determining submodule is used for determining a relation curve of the average noise power of the vehicle and the average noise power acquisition time according to the noise signals of the vehicle in the time window;
the acquisition submodule is used for acquiring the maximum average noise power and the minimum average noise power from a relation curve of the average noise power and the average noise power acquisition time of the vehicle;
the grade division submodule is used for carrying out grade division on the difference between the maximum average noise power and the minimum average noise power to obtain N +1 grades, wherein N is the quantity of grade intervals, and N is more than or equal to 5 and less than or equal to 20;
the levels corresponding to the maximum average noise power and the minimum average noise power are respectively a 0 th level and an Nth level;
and the selection submodule is used for selecting the nth grade from the N +1 grades so as to calculate the average received noise measurement power.
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