CN115019521B - Method and system for determining vehicle speed - Google Patents
Method and system for determining vehicle speed Download PDFInfo
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- CN115019521B CN115019521B CN202210545250.8A CN202210545250A CN115019521B CN 115019521 B CN115019521 B CN 115019521B CN 202210545250 A CN202210545250 A CN 202210545250A CN 115019521 B CN115019521 B CN 115019521B
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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. Comprising the following steps: step one, respectively acquiring noise signals of a reference vehicle and a vehicle to be tested in a specified scene and the speed of the reference vehicle; step two, respectively determining average received noise measurement power of the reference vehicle and the vehicle to be tested in a time window according to the noise signals of the reference vehicle and the vehicle to be tested; step three, respectively obtaining the measurement time of the average received noise measurement power of the reference vehicle and the measurement power of the vehicle to be measured; and step four, calculating the speed of the vehicle to be measured according to the speed of the reference vehicle and the measurement time of average received noise measurement power of the reference vehicle and the vehicle to be measured. The method and the system can accurately determine the speed of the running vehicle in the scene with low visibility, have strong concealment, and are not limited and influenced by wireless networks 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 intelligent traffic and intelligent driving, the measurement of the vehicle speed ensures a reasonable speed range of running, the driving state is controlled, overspeed of the vehicle is avoided, traffic accidents are reduced, and the running vehicle is controlled and detected.
The traditional vehicle speed detection method comprises the steps of visible light image vehicle speed, infrared speed measurement, geomagnetic, GPS and Wi-Fi speed measurement, radar speed measurement and sound Doppler effect speed measurement. For example, in the field of binocular vision-based vehicle detection and speed measurement (computer application and software, 2013, 30 (08): 275-278), depth information of an object is obtained through parallax of two cameras, a moving object is detected according to depth difference, and a binocular vision-based motion detection method is realized by utilizing depth information of the moving object in continuous frames. The vehicle speed is calculated by setting two specific virtual coils in a specific area of a video image, converting a distance by coordinates of the virtual coils, and calculating a time for a vehicle to pass through the coils by image matching. The vehicle running speed and license plate recognition method based on non-visible light imaging disclosed in CN109522851B (national patent) is that the vehicle running speed is obtained by processing a plurality of frames of photographed vehicle images through an infrared imaging device arranged above or at one side of a road, and the vehicle running speed is recognized by utilizing a visible light image and infrared image technology, 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 dual geomagnetic sensor by collecting geomagnetic signals when the vehicle passes through, and realizes a dual-node geomagnetic vehicle speed detection system and detection method. The design of the real-time expressway speed detection system based on the GPS and the GPRS (scientific and technological information, 2011 (30): 55) adopts the combination of GPS satellite positioning and GPRS general wireless packet service, and adopts a singlechip as a processing center of the system to realize the real-time expressway speed detection system based on the GPS and the GPRS. The passive vehicle speed measurement based on Wi-Fi incident signal arrival angle super-resolution estimation (instrument and meter report, 2020, 41 (10): 268-276) realizes clock synchronization among Wi-Fi equipment antennas by using a rapid phase calibration algorithm, and realizes ultra-high resolution arrival angle estimation by using a MUSIC algorithm, thereby realizing vehicle speed measurement. The geomagnetism, the GPS and the Wi-Fi are utilized for measuring the vehicle speed, but a geomagnetic sensor is required to be installed, satellite positioning is required for measuring the speed of the GPS, and wireless network signals are required for measuring the speed of the Wi-Fi.
In the vehicle space position information sensing method based on the sound Doppler effect disclosed in CN108919243A (national patent), through collecting the sound in the process of approaching a vehicle to a pedestrian, performing fast Fourier transform, obtaining the frequency domain characteristics of sound signals, collecting the known approaching sounds of different vehicles in advance, training a vehicle classification model, and calculating the radial relative speed of the vehicle and the pedestrian according to the relation between Doppler effect frequency shift and the relative speed for the reference spectrogram and the receiving spectrogram of the vehicle sound. CN203149117U (national patent) is used for the sound collection module to send out control signal control the microphone to collect the sound signal sent out by the vehicle, and the electric signal transmitted by the sound collection module is subjected to spectrum analysis to obtain the real-time vehicle speed. The voice doppler effect recognizes the vehicle speed and requires spectral transformation, and the known sounds of different kinds of vehicle approaches are collected in advance to train the vehicle classification model.
In summary, the above method for measuring the vehicle speed uses an optical video camera, a camera or an infrared imaging device with a high price, which cannot be applied to a scene with a low visibility; geomagnetic speed measurement is adopted, and a double geomagnetic sensor, a GPS satellite, wi-Fi positioning and wireless network are paved; the voice Doppler effect recognizes the speed of the vehicle, and needs to receive frequency spectrum transformation to determine a frequency domain and collect a plurality of samples of the voice of the known vehicle approach; active detection using microwaves is not passive and is easily perceived.
Disclosure of Invention
In view of the above, one of the objects of the present invention is to overcome the above drawbacks of the prior art, and to provide a method for determining a vehicle speed, which can accurately determine a speed of a driving vehicle in a scene with low visibility, and has strong concealment, and is not limited and affected by a wireless network and satellite signals.
The second object of the invention is a system for determining the speed of a vehicle.
In order to achieve one of the above purposes, the present invention is implemented by the following technical scheme:
a method of determining a vehicle speed, the method comprising the steps of:
step one, respectively acquiring noise signals of a reference vehicle and a vehicle to be tested in a specified scene and the speed of the reference vehicle;
step two, respectively determining average received noise measurement power of the reference vehicle and the vehicle to be tested in a time window according to the noise signals of the reference vehicle and the vehicle to be tested;
step three, respectively obtaining the measurement time of the average received noise measurement power of the reference vehicle and the measurement power of the vehicle to be measured;
and step four, calculating the speed of the vehicle to be measured according to the speed of the reference vehicle and the measurement time of average received noise measurement power of the reference vehicle and the vehicle to be measured.
Further, the specific implementation process of the second step includes:
step 21, setting a time window;
step 22, determining a relation curve of average noise power and average noise power acquisition time of the vehicle according to the noise signals of the vehicle in the time window;
step 23, obtaining 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;
step 24, grading the difference between the maximum average noise power and the minimum average noise power to obtain n+1 grades, wherein N is the number of grade intervals and is more than or equal to 5 and less than or equal to 20;
the grades corresponding to the maximum average noise power and the minimum average noise power are respectively the 0 th grade and the N th grade;
and step 25, selecting an nth level from the n+1 levels to calculate average received noise measurement power.
Further, 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 is i,avg (t) is the average noise power of the i-th vehicle at the time t; i i (τ) is the noise signal strength of the i-th vehicle, i=0 and 1, and 0 and 1 are the reference vehicle and the vehicle to be tested, respectively; t is average noise power acquisition time, T/2 is not less than T and not more than max (tau) -T/2, and max (tau) is longest noise signal intensity acquisition time; t is a time window, and τ is noise signal strength acquisition time.
Further, in step 25, the nth level satisfies the following relationship:
round(0.2×N)≤n≤round(0.3×N)；
wherein round () is rounded.
Further, in step 25, the average received noise measurement power is:
wherein P is i,avg,n Nth class for ith class of vehicleAverage received noise power measure of (2); p (P) i,avgmax And P i,avgmin The maximum average noise power and the minimum average noise power of the i-th class of vehicles, respectively.
Further, in the third step, the measurement time of the average received noise measurement power of the reference vehicle and the measured vehicle is respectively:
wherein delta is 0,n And delta 1,n Measuring the power measuring time of the average received noise of the nth class of the reference vehicle and the vehicle to be measured respectively;
and->
Measuring the start time and the end time of the nth class of power for the average received noise of the reference vehicle, respectively; />
And->
The start time and the end time of the nth class of power are measured for the average received noise of the vehicle under test, respectively.
Further, in the fourth step, the speed of the vehicle to be tested is:
wherein v is 1,pre Is the speed of the vehicle to be measured; v 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 a vehicle speed, the system comprising the steps of:
the acquisition module is used for respectively acquiring noise signals of the reference vehicle and the vehicle to be detected in the appointed scene and the speed of the reference vehicle;
the determining module is used for respectively determining average received noise measurement power of the reference vehicle and 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 measurement power of the vehicle to be measured;
and the calculating module is used for calculating the speed of the vehicle to be measured according to the speed of the reference vehicle and the measurement time of average received noise measurement power of the reference vehicle and the vehicle to be measured.
Further, the determining module includes:
a setting sub-module for setting a time window;
the determining submodule is used for determining a relation curve of average noise power and average noise power 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 from a relation curve of the average noise power and the average noise power acquisition time of the vehicle;
the grading submodule is used for grading the difference between the maximum average noise power and the minimum average noise power to obtain N+1 grades, wherein N is the number of grade intervals and is more than or equal to 5 and less than or equal to 20;
the grades corresponding to the maximum average noise power and the minimum average noise power are respectively the 0 th grade and the N th grade;
and the selecting submodule is used for selecting an nth grade from the N+1 grades so as to calculate average received noise measurement power.
The beneficial effects of the invention are as follows:
the invention acquires noise signals of a reference vehicle and a vehicle to be detected and the speed of the reference vehicle in a specified scene to determine the average received noise measurement power of the reference vehicle and the vehicle to be detected in a time period, further acquires the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be detected, and calculates the speed of the vehicle to be detected according to the speed of the reference vehicle and the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be detected; the invention adopts the relative size of the vehicle noise, determines the average receiving noise measuring power and the average receiving noise measuring power as relative values, can be completed by adopting a common microphone sensor, and does not need to accurately measure the accurate absolute value of the vehicle noise of professional equipment of 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 applicable to the determination of the speed of the vehicle to be tested in a scene with lower visibility, can popularize vehicles such as water-surface vessels, and has strong universality.
Drawings
FIG. 1 is a 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 embodiments 1 and 2 of the present invention;
FIG. 3 is a schematic noise diagram of a fuel car to be tested according to embodiment 1 of the present invention;
FIG. 4 is a graph showing the average noise power, average received noise power and time for the reference fuel cars of examples 1 and 2 of the present invention;
FIG. 5 is a schematic diagram of average noise power, average received noise power and time measurement of the fuel car to be tested according to embodiment 1 of the present invention;
FIG. 6 is a noise diagram of the fuel car to be tested according to embodiment 2 of the present invention;
fig. 7 is a schematic diagram of average noise power, average received noise measurement power and measurement time of the fuel car to be measured according to embodiment 2 of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
The present embodiment provides a method of determining a vehicle speed, with reference to fig. 1, the method comprising the steps of:
step one, noise signals of a reference vehicle and a vehicle to be tested in a specified scene are respectively acquired, and the speed of the reference vehicle is measured.
The noise signals I of the reference vehicle and the vehicle to be tested are collected at the running road section 0 (tau) and noise signal I of vehicle under test 1 Measuring the speed v of the vehicle under test using a velocimeter 0 . The noise signal collection is carried out by adopting the same microphone recording equipment or sound recorder, and the placement position and direction of the microphone recording equipment or sound recorder are unchanged (the collection positions are the same and the directions are consistent). The reference vehicle and the vehicle to be tested are the same in type, such as model number and size. The reference vehicle and the vehicle to be measured in this embodiment may be the same or different, and in order to ensure accuracy of the result, it is generally preferable to use the same model of reference vehicle and vehicle to be measured.
And step two, respectively determining average received noise measurement power of the reference vehicle and the vehicle to be tested in a time window according to the noise signals of the reference vehicle and the vehicle to be tested.
In this embodiment, taking the time window T as an example, the average received noise measurement power of the reference vehicle and the vehicle to be tested is calculated in a time-by-time manner. The specific implementation process comprises the following steps:
step 21, setting a time window;
step 22, determining a relation curve of average noise power and average noise power acquisition time of the vehicle according to the noise signals of the vehicle in the time window;
receiving vehicles (packets) within a time window TIncluding reference vehicle and vehicle under test) average noise power P avg (t) expressed as:
wherein P is i,avg (t) is the average noise power of the i-th vehicle at the time t; i i (τ) is the noise signal strength of the i-th vehicle, i=0 and 1, and 0 and 1 are the reference vehicle and the vehicle to be tested, respectively; t is average noise power acquisition time, T/2 is not less than T and not more than max (tau) -T/2, and max (tau) is longest noise signal intensity acquisition time; t is a time window, and τ is noise signal strength acquisition time.
Step 23, obtaining 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;
and step 24, grading the difference between the maximum average noise power and the minimum average noise power to obtain N+1 grades, wherein N is the number of grade intervals and is more than or equal to 5 and less than or equal to 20.
To refer to the maximum value P of the average noise power of the vehicle 0,avgmax And a minimum value P 0,avgmin The difference equally divides (n+1) levels by the minimum value P of the average noise power 0,avgmin Maximum value P of average noise power for class 0 0,avgmax N is an integer, and N is more than or equal to 5 and less than or equal to 20.
With maximum value P of average noise power of vehicle to be tested 1,avgmax And a minimum value P 1,avgmin The difference equally divides (n+1) levels by the minimum value P of the average noise power 1,avgmin Maximum value P of average noise power for class 0 1,avgmax Is the nth level.
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 step 25, selecting an nth level from the n+1 levels to calculate average received noise measurement power.
The nth level of the present embodiment satisfies the following relationship:
round(0.2×N)≤n≤round(0.3×N)；
wherein round () is rounded.
The present embodiment adopts the average noise power of the nth class of the reference vehicle and the vehicle to be tested as the average received noise power P of the reference vehicle, respectively 0,avgref And average received noise power P of the vehicle under test 1,avgref . In this embodiment, the average received noise measurement power of the vehicle (including the reference vehicle and the vehicle under test) is:
wherein P is i,avg,n Power is measured for the average received noise of the nth class of class i vehicles; p (P) i,avgmax And P i,avgmin The maximum average noise power and the minimum average noise power of the i-th class of vehicles, respectively.
And step three, respectively obtaining the measurement time of the average received noise measurement power of the reference vehicle and the measurement power of 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 is 0,n And delta 1,n Measuring the power measuring time of the average received noise of the nth class of the reference vehicle and the vehicle to be measured respectively;
and->
Measuring the start time and the end time of the nth class of power for the average received noise of the reference vehicle, respectively; />
And->
The start time and the end time of the nth class of power are measured for the average received noise of the vehicle under test, respectively.
And step four, calculating the speed of the vehicle to be measured according to the speed of the reference vehicle and the measurement time of average received noise measurement 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 nth class of the reference vehicle and the vehicle to be measured is respectively used as the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be measured. The speed of the vehicle to be tested in this embodiment is:
wherein v is 1,pre Is the speed of the vehicle to be measured; v 0 Is the speed of the reference vehicle.
In this embodiment, in the process of acquiring noise signals of the reference vehicle and the vehicle to be tested and the speed of the reference vehicle, the sequence of acquiring the noise signals of the reference vehicle and the vehicle to be tested and the speed of the reference vehicle is not fixed, and it is generally preferable to store the noise signals and the speeds of the reference vehicles of various vehicle types at the same location in advance, and then acquire the corresponding noise signals and speeds of the reference vehicle according to the model of the vehicle to be tested (for example, the reference vehicle passes through the noise acquisition point earlier than the vehicle to be tested in the acquisition specified scene, so as to realize the speed measurement of the vehicle behind the running reference vehicle). The method can also be that the noise signal of the vehicle to be measured is firstly obtained, and then the noise signal of the reference vehicle and the speed of the reference vehicle are obtained (the reference vehicle passes through a noise acquisition point later than the vehicle to be measured in a designated scene is acquired, so that the speed measurement of the vehicle to be measured which runs in front of the reference vehicle is realized). Then, according to the method of the present embodiment, the speed measurement of the vehicle to be measured is achieved.
The accuracy of the technical scheme of this embodiment is verified by the following specific embodiments:
example 1:
the test sites of the vehicle to be tested and the reference vehicle are all on the roads at the position about 300 meters on the right side of the correction door of a certain correction area, and the vehicle to be tested and the reference vehicle are all fuel cars and run on the outermost motor vehicle lane on the right side. Recording the change of noise signal of the reference fuel car with time by using a sound recorder, wherein the sampling frequency of the microphone sound detector or the sound recorder is 48000Hz, the noise signal is changed rapidly with time, referring to fig. 2, the noise signal comprises the noise signal of the vehicle close to the microphone and the noise signal far away from the microphone, the noise amplitude is increased gradually, the receiving noise of the microphone detector (sound recorder) is maximized, then the noise is reduced gradually, the noise is recorded by using a relative unit a.u., and the speed v of the reference fuel car is measured by using a speed measuring instrument 0 ＝31km/h。
The vehicle to be tested is a fuel car of the same type as the reference vehicle, and the vehicle runs on the outermost motor vehicle lane on the right side, the microphone sound detector or the sound recorder is the same detector as the detector for measuring the reference vehicle, 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 is changed rapidly along with time, and referring to fig. 3, the noise signal comprises the noise signal of the fuel car to be tested close to the 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 over a time window t=300 ms, and after 300ms of time noise power averaging, the average noise is filtered, exhibiting a time-varying noise power. Average noise P of car based on reference fuel 0,avg (t) calculating the maximum average noise power P 0,avgmax ＝4.986×10 -4 a.u. sumMinimum average noise power P 0,avgmin ＝3.09×10 -5 Reference to maximum average noise power P for a fuel car 0,avgmax And minimum average noise power P 0,avgmin The difference equally divides (n+1=11) the levels to the minimum average noise power P 0,avgmin Class 0 maximum average noise power P 0,avgmax Is 11 th grade. Average received noise power P for a reference fuel-fired car using an n=3-th level 0,avg,3 ＝1.712×10 -4 a.u. fig. 4, a 0,3 、B 0,3 Average received noise power P of car receiving reference fuel 0,avg,3 In which the average received noise measures the power P 0,avg,3 Corresponding start time of (a)
And ending time->
The average received noise of the reference vehicle measures the power P 0,avg,3 The difference delta between the time start point and the time end point of (2) 0，3 ＝2.1122s。
The noise of the fuel car to be tested is averaged at time t=300 ms, and the noise power which changes with time is shown after 300ms of time noise power is averaged. According to average noise power P of fuel car to be tested 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 Equal division (n+1=11) of the levels as for the reference fuel car, with minimum average noise power P 1,avgmin Level 0, maximum average noise power P 1,avgmax Is 11 th grade. Average received noise measurement power P of fuel car to be measured by adopting n=3 level 1,avg,3 ＝5.156×10 -5 a.u. fig. 5, a 1,3 、B 1,3 Respectively measuring power P of average receiving noise of car receiving fuel to be measured 1,avg,3 Time start and end points of (2), wherein average is takenThe received noise power P 1,avg,3 Corresponding start time of (a)
And ending time->
Average receiving noise measuring power P for detecting fuel car to be detected 1,avg,3 The difference delta between the time start point and the end time point of (2) 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 of =37 km/h with the speed of the fuel car to be measured is:
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 results of the reference fuel sedan of this example were the same as those of example 1.
The vehicle to be tested is a fuel car of the same type as the reference vehicle, and the vehicle runs on the outermost motor vehicle lane on the right side, the microphone sound detector or the sound recorder is the same detector as the detector for measuring the reference vehicle, the change of the noise of the fuel car to be tested along with time is recorded, the noise signal of the fuel car to be tested is changed rapidly along with time, and referring to fig. 6, the noise signal comprises the noise signal of the fuel car to be tested close to the 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 fuel car to be tested is averaged at time t=300 ms, and after 300ms of time noise power is averaged, the average noise is filtered, and the noise power changing with time is shown. According to average noise power P of fuel car to be tested 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 Maximum average noise power P of fuel car to be tested 1,avgmax And minimum average noise power P 1,avgmin The difference equally divides (n+1=11) the levels to the minimum average noise power P 1,avgmin Class 0 maximum average noise power P 1,avgmax Is 11 th grade. Average received noise power P for a reference fuel-fired car using an n=3-th level 1,avg,3 ＝9.397×10 -5 a.u. fig. 7, a 1,3 、B 1,3 Respectively measuring power P of average receiving noise of car receiving fuel to be measured 1,avg,3 In which the average received noise measures the power P 1,avg,3 Corresponding start time of (a)
And ending time->
Average receiving noise measuring power P for detecting fuel car to be detected 1,avg,3 Is +.about.the difference between the time starting point and the end time point>
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 of =57 km/h with the speed of the fuel car to be measured is:
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:
according to the embodiment, the noise signals of the reference vehicle and the vehicle to be detected and the speed of the reference vehicle are collected in a specified scene to determine the average received noise measurement power of the reference vehicle and the vehicle to be detected in a time window, further, the measurement time of the average received noise measurement power of the reference vehicle and the vehicle to be detected is obtained, and the speed of the vehicle to be detected is calculated according to the speed of the reference vehicle and the measurement time of the average received noise measurement power of the reference vehicle and the average received noise measurement power of the vehicle to be detected; in the embodiment, the relative size of the vehicle noise is adopted, the average receiving noise measuring power is determined to be a relative value, the average receiving noise measuring power can be finished by adopting a common microphone sensor, and the accurate absolute value of the vehicle noise of professional equipment for accurately measuring the sound is not required; 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 tested, is applicable to the determination of the speed of the vehicle to be tested in a scene with relatively low visibility, can popularize vehicles such as water-surface vessels, and has strong universality.
The above embodiment may be implemented using a system for determining a vehicle speed as given in the following embodiments:
another embodiment provides a system for determining a speed of a vehicle, the system comprising the steps of:
the acquisition module is used for respectively acquiring noise signals of the reference vehicle and the vehicle to be detected in the appointed scene and the speed of the reference vehicle;
and the determining module is used for respectively determining average received noise measurement power of the reference vehicle and 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:
a setting sub-module for setting a time window;
the determining submodule is used for determining a relation curve between average noise power and acquisition time of the vehicle according to the noise signal 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 grading submodule is used for grading the difference between the maximum average noise power and the minimum average noise power to obtain N+1 grades, wherein N is the number of grade intervals and is more than or equal to 5 and less than or equal to 20;
the grades corresponding to the maximum average noise power and the minimum average noise power are respectively the 0 th grade and the N th grade;
and the selecting submodule is used for selecting an nth grade from the N+1 grades so as to calculate 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 measurement power of the vehicle to be measured;
and the calculating module is used for calculating the speed of the vehicle to be measured according to the speed of the reference vehicle and the measurement time of average received noise measurement power of the reference vehicle and the vehicle to be measured.
The technical terms and formulas related to the above embodiments may be mutually applicable, and are not repeated here.
The foregoing examples are provided merely to illustrate the technical aspects of the present invention and are not to be construed as limiting thereof, although the present invention has been described in detail with reference to the preferred embodiments, and it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (4)
1. A method of determining a vehicle speed, the method comprising the steps of:
step one, respectively acquiring noise signals of a reference vehicle and a vehicle to be tested in a specified scene and the speed of the reference vehicle;
step two, respectively determining average received noise measurement power of the reference vehicle and 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 specific implementation process of the second step comprises the following steps:
step 21, setting a time window;
step 22, determining a relation curve of average noise power and average noise power acquisition time of the vehicle according to the noise signals of the vehicle in the time window;
step 23, obtaining 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;
step 24, grading the difference between the maximum average noise power and the minimum average noise power to obtain n+1 grades, wherein N is the number of grade intervals and is more than or equal to 5 and less than or equal to 20;
the grades corresponding to the maximum average noise power and the minimum average noise power are respectively the 0 th grade and the N th grade;
step 25, selecting an nth level from the n+1 levels to calculate average received noise measurement power;
in step 25, the average received noise measurement power is:
wherein P is i,avg,n Power is measured for the average received noise of the nth class of class i vehicles; p (P) i,avgmax And P i,avgmin Maximum average noise power and minimum average noise power of the i-th class of vehicles respectively; p (P) i,avg (t) is the average noise power of the i-th vehicle at the time t;
step three, respectively obtaining the measurement time of the average received noise measurement power of the reference vehicle and the measurement power of the vehicle to be measured;
in the third step, the measurement time of the average received noise measurement power of the reference vehicle and the measurement power of the vehicle to be measured are respectively:
wherein delta is 0,n And delta 1,n Measuring the power measuring time of the average received noise of the nth class of the reference vehicle and the vehicle to be measured respectively;
and->
Measuring the start time and the end time of the nth class of power for the average received noise of the reference vehicle, respectively; />
And->
Respectively measuring the starting time and the ending time of the nth level of the power for the average receiving noise of the vehicle to be tested;
step four, calculating the speed of the vehicle to be measured according to the speed of the reference vehicle and the measurement time of average received noise measurement power of the reference vehicle and the vehicle to be measured;
in the fourth step, the speed of the vehicle to be tested is:
wherein v is 1,pre Is the speed of the vehicle to be measured; v 0 Is the speed of the reference vehicle.
2. The method of claim 1, wherein in step 22, the average noise power and average noise power acquisition time of the vehicle are expressed as:
wherein P is i,avg (t) is the average noise power of the i-th vehicle at the time t; i i (τ) is the noise signal strength of the i-th vehicle, i=0 and 1, and 0 and 1 are the reference vehicle and the vehicle to be tested, respectively; t is average noise power acquisition time, T/2 is not less than T and not more than max (tau) -T/2, and max (tau) is longest noise signal intensity acquisition time; t is a time window, and τ is noise signal strength acquisition time.
3. The method according to claim 2, wherein in step 25, the nth level satisfies the following relationship:
round(0.2×N)≤n≤round(0.3×N)；
wherein round () is rounded.
4. A system for determining a speed of a vehicle, the system comprising the steps of:
the acquisition module is used for respectively acquiring noise signals of the reference vehicle and the vehicle to be detected in the appointed scene and the speed of the reference vehicle;
the determining module is used for respectively determining average received noise measurement power of the reference vehicle and 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 measurement power of the vehicle to be measured;
the calculating module is used for calculating the speed of the vehicle to be measured according to the speed of the reference vehicle and the measurement time of average received noise measurement power of the reference vehicle and the vehicle to be measured;
the determining module includes:
a setting sub-module for setting a time window;
the determining submodule is used for determining a relation curve of average noise power and average noise power 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 from a relation curve of the average noise power and the average noise power acquisition time of the vehicle;
the grading submodule is used for grading the difference between the maximum average noise power and the minimum average noise power to obtain N+1 grades, wherein N is the number of grade intervals and is more than or equal to 5 and less than or equal to 20;
the grades corresponding to the maximum average noise power and the minimum average noise power are respectively the 0 th grade and the N th grade;
a selecting sub-module, configured to select an nth level from the n+1 levels, so as to calculate an average received noise measurement power;
the average received noise power measure is:
wherein P is i,avg,n Power is measured for the average received noise of the nth class of class i vehicles; p (P) i,avgmax And P i,avgmin Maximum average noise power and minimum average noise power of the i-th class of vehicles respectively; p (P) i,avg (t) is the average noise power of the i-th vehicle at the time t;
the measurement time of the average received noise measurement power of the reference vehicle and the measurement vehicle is respectively as follows:
wherein delta is 0,n And delta 1,n Measuring the power measuring time of the average received noise of the nth class of the reference vehicle and the vehicle to be measured respectively;
and->
Measuring the start time and the end time of the nth class of power for the average received noise of the reference vehicle, respectively; />
And->
Respectively measuring the starting time and the ending time of the nth level of the power for the average receiving noise of the vehicle to be tested;
the speed of the vehicle to be tested is as follows:
wherein v is 1,pre Is the speed of the vehicle to be measured;v 0 is the speed of the reference vehicle.
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