CN101894468B - Motion vector based traffic flow detecting method - Google Patents

Motion vector based traffic flow detecting method Download PDF

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Publication number
CN101894468B
CN101894468B CN 201010223786 CN201010223786A CN101894468B CN 101894468 B CN101894468 B CN 101894468B CN 201010223786 CN201010223786 CN 201010223786 CN 201010223786 A CN201010223786 A CN 201010223786A CN 101894468 B CN101894468 B CN 101894468B
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vehicle
information
intersection
detection
vector
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CN101894468A (en
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陈立家
高伟
郑海务
代震
张奇惠
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Henan University
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Henan University
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Abstract

The invention relates to a motion vector based traffic flow detecting method, belonging to the field of vehicular traffic detection. The method comprises the following steps: sensing the motion vector of a vehicle; interacting information between detection equipment and the vehicle; tracking the variation of the traffic flow; updating the traffic flow data; distributing a unique identity number and a storage queue for the vehicle and the detection equipment on a road junction and acquiring information of position, speed and direction by using GPS; measuring the phase relation table of the road junction and connected roads; and distributing a unique number for a detecting line. The steps ensure wireless interaction between the detection equipment and the vehicle to acquire vehicle information in real time and transfer the information to a center database, and the center database updates the traffic flow data in real time. The vehicle, the detection equipment and the center database are collaboratively distributed, and the traffic flow of an arbitrary road and detection line can be acquired accurately and quickly. The method has the advantages of low loss, low delay, high real-time performance and flexible detection means, so that the performance of traffic flow detection can be improved.

Description

The traffic flow detecting method of based on motion vector
Technical field
The present invention relates to the detection management correlative technology field of vehicular traffic, be specifically related to the vehicle Flow Detection technology, particularly the gordian technique of the real-time inspection vehicle flow of a kind of distributed wireless.
Background technology
Intelligent traffic management systems is an importance of the modernization of urban management, particularly for the so populous developing country that carries out energetically Process of Urbanization Construction of China, public vehicles are increasing, and the problems such as traffic congestion that existing non intelligentization traffic administration means cause are day by day serious.Real-time detection that key issue is exactly vehicle flowrate in the intelligent transportation system, so as to adjust in real time automatically traffic lights, rapidly respond traffic hazard, transport solution blocks up and the problem such as vehicle early warning rapidly.
At present, traffic flow detecting method mainly contains: (one) video analysis method.The video frequency pick-up head that utilization is installed in the crossing gathers transport information, processes to obtain information of vehicle flowrate through image.The related invention patent has: Xinlian-Weixun Science ﹠ Technology Development Co Ltd, Shanghai's application number is the Chinese invention patent application of CN200810037792.4, Fudan University's application number is the Chinese invention patent application of CN200610118918.1, Xinlian-Weixun Science ﹠ Technology Development Co Ltd, Shanghai's application number is the Chinese invention patent application of CN200810037792.4, and the application numbers such as Zheng Xiao gesture, Li Na, Zhou Wei are the Chinese invention patent application of CN200810138157.5.Compare with detection method of the present invention, the video analysis method can only be added up the wagon flow in the limited distance, and owing to reasons such as illumination, weather, shade block, statistical error is larger, and system cost is very expensive.Different from detection method of the present invention.
(2) sensor method.Utilization is installed in the ground induction coil, ultrasound wave, infrared ray sensor, microwave radar sensor at crossing as pick-up unit, when vehicle during by sensor, causes that sensor output signal changes, to this signal-count, and the information such as statistical vehicle flowrate on a time period.Relevant patent of invention has: Shenzhen Kaidaer Science and Technology Co., Ltd.'s application number is the Chinese invention patent application of CN200820094689.9, University of Science ﹠ Technology, Beijing's application number is the Chinese invention patent application of CN200710121210.6, Microsystem Inst. Branch Center, Jiaxing Center, CAS's application number is the Chinese invention patent application of CN200710070705.0, Liaoning Jinyang Group Informational Technology Co., Ltd.'s application number is the Chinese invention patent application of CN200820013260.2, and Shanghai Inst. of Microsystem and Information Technology, Chinese Academy of Sci's application number is the Chinese patent patent application of CN200710036889.9.Compare with detection method of the present invention, the factor affecting such as zero-signal, thermal source when sensor method is subjected to occlusion, vehicle, parking, loss is high, and can only detect the vehicle flowrate in the limited distance, and intelligent level is low.Different from detection method of the present invention.
(3) radio communication method.Vehicle passes through communication, with road boundary detection device interactive information, thus the detection of realization vehicle flowrate.Relevant patent of invention has: Huihuang Electronics Co., Ltd., Shenzhen City's application number is the Chinese invention patent application of CN200710138978.4.In this patent, with communication circulation intercommunication, the vehicle that participates in intercommunication is all gathered the driving information of all vehicles to vehicle traveling information between vehicle and vehicle, the surface installation at crossing with wherein one communicate by letter and just can obtain the information of vehicle flowrate in this highway section, crossing.Compare with detection method of the present invention, their method communication data flow is large, and message delay is high, and can only detect the information of vehicle flowrate in local highway section, crossing.Different from detection method of the present invention.Relevant patent of invention also comprises United States Patent (USP) U.S.Pat.No.20020107634A1,20020082766A1 and 006650948B1.These patents, all by at vehicle distinct device being installed, such as phone, positioning system etc. with the communication network base station communication, with vehicle movement information transmitted traffic inspection center, are obtained information of vehicle flowrate by calculating.Compare with detection method of the present invention, their method relies on the base-station transmission data, and flow is large, postpone high, system expensive.
Summary of the invention
The objective of the invention is: the lower column defects that overcomes existing traffic flow detecting method: adopt the loss of video analysis or sensor method high, adopt the method communication flows of radio communication large, easily cause the waste of a large amount of conflicts and Radio Resource, postpone high.A kind of traffic flow detecting method of based on motion vector is provided, and the method can reduce loss greatly, improves accuracy of detection, reduces communication flows and the conflict of radio communication method.Simultaneously can be to specifying detection line on the road, specifying the street to carry out real-time, continual detection.
Technical scheme provided by the invention is: a kind of traffic flow detecting method of motion vector, and it may further comprise the steps:
(1) for vehicle distributes unique mark number, for vehicle distributes a storage queue, utilize GPS to obtain vehicle location, speed and directional information; Distribute unique identifying number for the intersection, utilize GPS to obtain positional information, by measuring intersection table corresponding to the phase relation in this each street, crossing, at intersection center configuration vehicle Flow Detection equipment, and be storage queue of its distribution; For detection line distributes unique number;
(2) perception vehicle movement vector;
(3) checkout equipment and automobile wireless interactive information are followed the tracks of the vehicle flowrate variable quantity;
(4) renovated bus data on flows.
The concrete steps of described perception vehicle movement vector are:
(1) 6PS obtains the positional information of vehicle k with cycle T, and joins the team;
(2) if queue length L Q＞L Max, L MaxBe predetermined value, go out element of team from Head-of-line; Otherwise, forward (1) to;
(3) position data in the match formation all elements in rectangular coordinate system obtains straight line AB;
(4) do vertical line with the position in the head of the queue element to AB, intersection point is the starting point of vector, and vertical line is done to AB in the position in the tail of the queue element, and intersection point is the terminal point of vector, forms a vector
(5) obtain present speed v and time t, the structure with
Figure BSA00000183659600022
Vectorial in the same way
Figure BSA00000183659600023
With
Figure BSA00000183659600024
Addition obtains a vehicle k
At t motion vector constantly
Figure BSA00000183659600025
(6) forward (1) to.
The concrete steps of described checkout equipment and automobile wireless interactive information are:
(1) time is divided into two kinds of periods of HELLO and BEACON week period interval.In the HELLO period, checkout equipment periodically sends hello message, and this message comprises 6PS information, replys ID tabulation and backoff interval allocation table;
(2) if vehicle k does not receive hello message, wait for;
(3) otherwise, vehicle k checks whether to comprise to self reply, if comprise: backoff counter zero clearing, and wait for w c/ v the time forwards (2) to, wherein, and w cThe expression detection width, v represents car speed; If do not comprise: vehicle k is with intersection I iThe GPS position be initial point, set up a motion vector that points to vehicle k from initial point
Figure BSA00000183659600031
The vector of terminal point If exist with the angle α of x positive axis
Figure BSA00000183659600033
Illustrate that vehicle k is positioned at phase place constantly at t
Figure BSA00000183659600034
Wherein,
Figure BSA00000183659600035
With
Figure BSA00000183659600036
J and j+1 angle of representing respectively relative initial point, and the two is adjacent;
(4) compute vectors At ray
Figure BSA00000183659600038
Projection
Figure BSA00000183659600039
(5) if
Figure BSA000001836596000310
D wherein cThe expression detection line is apart from the distance of checkout equipment, and vehicle k starts counter; Otherwise forward (2) to;
(6) value of backoff counter adds 1, if less than threshold value 3, according to intersection I iThe backoff interval allocation table calculate back off time, and start and keep out of the way timer; Otherwise, the backoff counter zero clearing, and wait for w c/ v the time, forward (2) to;
(7) keep out of the way timer and successively decrease in the period at BEACON, when being decremented to zero, send beacon message, content comprises numbering k, With
Figure BSA000001836596000312
Forward (2) to.
The concrete steps of described tracking vehicle flowrate variable quantity are:
(1) checkout equipment is set up rectangular coordinate system take self GPS position as initial point;
(2) receive the beacon message of vehicle k after, take initial point as starting point, vector
Figure BSA000001836596000313
Starting point be terminal point, set up a vector
(3) if Vehicle flowrate variation delta V=-1; Otherwise Δ V=1;
(4) checkout equipment sends lastest imformation by cable network to central database, and this information comprises intersection numbering I i, identification numbers k, timestamp t, phase place
Figure BSA000001836596000316
Vehicle flowrate variation delta V.
The concrete steps of described renovated bus data on flows are:
(1) central database start-up period timer T c
(2) receive the packet that each checkout equipment sends, according to the corresponding table of phase relation, by the information I in the packet iWith Obtain corresponding street identification number S k
(3) with S kBe key word, more corresponding S in the new database kVehicle flowrate V 1, V 1=V 1+ Δ V;
(4) with
Figure BSA000001836596000318
Be united keyword, more corresponding street S in the new database kApart from intersection I iBe d cThe vehicle flowrate V of place's detection line 2, V 2=V 2+ 1;
(5) deletion packet;
(6) if T cBe decremented to zero, close cycle timer, make V 2=0, forward (1) to; Otherwise, forward (2) to.
Compared with prior art, the present invention has the following advantages:
(1) real-time is high.The intersection checkout equipment obtains information of vehicles in real time by wireless mode, and sends to central database.Central database can show the information of vehicle flowrate at each street or detection line place immediately.
(2) detection position is flexible, supports two kinds of definition of vehicle Flow Detection.Detection line position capable of dynamic is adjusted, and the adjustment of highway section capable of dynamic is detected in the street.By the vehicle Flow Detection to the street, can detect in real time number of vehicles in the synchronization unit distance;
By to detection line place vehicle Flow Detection, can detect in real time in the unit interval by number of vehicles on the cross section.
(3) precision is high, postpones low.With respect to video method and ground induction coil method, be not subjected to weather, environmental impact, greatly reduce loss; With respect to the radio communication method, checkout equipment gathers an information of vehicle flowrate, only need with vehicle communication once, data traffic is little, postpones low.
Description of drawings
Fig. 1 is the vehicle flow detection system general frame figure of the embodiment of the invention;
Fig. 2 is perception vehicle movement vector process flow diagram;
Fig. 3 is the wireless interaction information flow chart;
Fig. 4 is that backoff interval is distributed schematic diagram;
Fig. 5 follows the tracks of vehicle flowrate variable quantity process flow diagram;
Fig. 6 is vehicle flowrate data real-time update process flow diagram;
Fig. 7 is intersection, phase place, detection distance and the schematic diagram that concerns of street, detection line;
Fig. 8 is based on the instance graph of motion vector traffic flow detecting method;
Fig. 9 is that the vehicle movement vector generates instance graph;
Figure 10 calculates each phase place vehicle flowrate variable quantity instance graph;
Figure 11 is the tables of data instance graph of two kinds of definition of central database vehicle flowrate.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The traffic flow detecting method of based on motion vector of the present invention is characterized in that:
(1) for vehicle distributes unique mark number, for vehicle distributes a storage queue, utilize GPS to obtain vehicle location, speed and directional information; Distribute unique identifying number for the intersection, utilize GPS to obtain positional information, by measuring the phase relation table in intersection and this each street, crossing; At intersection center configuration vehicle Flow Detection equipment, and be storage queue of its distribution; For detection line distributes unique number;
(2) perception vehicle movement vector;
(3) checkout equipment and automobile wireless interactive information are followed the tracks of the vehicle flowrate variable quantity;
(4) renovated bus data on flows.
Referring to Fig. 1, the software frame of vehicle Flow Detection comprises four parts: the perceive motion vector, wireless interaction information is followed the tracks of vehicle flowrate variable quantity and renovated bus data on flows.Four modules adopt hierarchy.Function of each module complete independently relies on the Data support of last module.The positional information that the perceive motion vector module will utilize GPS to obtain obtains the current accurate location of vehicle by match and prediction, has overcome the GPS positional information and has existed accidental error and update cycle to grow the defective of (1 second).Each motion vector correspondence a car, therefore, by interactive information in certain sensing range, the checkout equipment of intersection can obtain movement position and the direction of each car.The wireless interaction information module adopts a kind of avoidance mechanism that changes according to vehicle flowrate, makes in order real time interaction information of checkout equipment and vehicle, reduces as far as possible collision probability.In following the tracks of vehicle flowrate variable quantity module, checkout equipment obtains the variable quantity of each street and detection line place vehicle flowrate by calculating, thus the variable quantity of real-time follow-up vehicle flowrate.This variable quantity is transferred to central database by cable network.Central database carries out Data Update, at first upgrades street vehicle flowrate variable quantity, secondly upgrades the variable quantity of detection line place vehicle flowrate by timer, thereby realizes the real-time update of information of vehicle flowrate.
Fig. 2 is perception vehicle movement vector process flow diagram.At first by match, eliminated the accidental deviation of GPS positional information.Vehicle k utilizes GPS periodically to obtain positional information, and this positional information is left in the vehicle-mounted storage formation.If this formation reaches enough data volume L Max, go out team; Otherwise continue to receive vehicle position information.Based on enough data volume L Max, the position data in the match formation obtains vector
Figure BSA00000183659600051
It represents that vehicle k is the motion vector that obtains in the GPS information acquisition of T in the cycle.Secondly, obtain to work as the motion vector of vehicle in front k by prediction.Because car speed belongs to continuous quantity, utilize speed v and the current time t of vehicle, structure with
Figure BSA00000183659600052
Vectorial in the same way
Figure BSA00000183659600053
With
Figure BSA00000183659600054
Addition obtains a vehicle k at t motion vector constantly
Figure BSA00000183659600055
This motion vector has been eliminated positional information error and the defective of update cycle long (1 second) of GPS simultaneously.
Fig. 3 is the process flow diagram of wireless interaction information.Checkout equipment constantly sends detect-message, comprises GPS information, replys ID tabulation and backoff interval allocation table.After vehicle is received detect-message, judge whether to comprise replying self.If comprise, then with counter O reset, and after waiting for that vehicle crosses the current detection scope, continue to receive detect-message.But when not comprising self reply, calculating kinematical vector
Figure BSA00000183659600056
The vector of the corresponding checkout equipment of terminal point
Figure BSA00000183659600057
Right
Figure BSA00000183659600058
The ray at center, phase place street, place
Figure BSA00000183659600059
Projection obtains
Figure BSA000001836596000510
When
Figure BSA000001836596000511
The time, expression vehicle current location is within the sensing range, starts counter.Counter is used for the number that the record conflict retransmits, every re-transmission once, numerical value adds 1.If number of retransmissions surpasses 3 times, counter O reset also waits for that vehicle crosses the current detection scope; Otherwise, calculate back off time, start and keep out of the way timer, when timer is zero, send the vehicle movement informational message.After checkout equipment is received this message, will be when send detect-message next time, replying this vehicle incidentally.
Fig. 4 is the backoff interval distribution diagram.Checkout equipment periodically sends the hello packet.For guaranteeing that the hello packet does not conflict with the packet generation that vehicle sends, in the cycle, divide the fixing HELLO period as the time period of hello packet at a HELLO, within this time period, do not allow vehicle to send packet; The remaining period is the BEACON period, and vehicle only sends the beacon packet at BEACON in the period.Comprise in the hello packet intersection GPS information, reply ID tabulation and backoff interval allocation table.Wherein, reply ID tabulation and be checkout equipment last HELLO receives the packet that vehicle sends in the cycle after, each vehicle is produced the tabulation of replying; The backoff interval allocation table refers to the ratio according to number of vehicles on each phase place of last HELLO cycle, divides the BEACON period in current HELLO cycle, distributes each phase place can use the period.In Fig. 4,4 different phase places of 1,2,3,4 expressions, they take different time sections.Wherein, each phase place must have a minimum period.Vehicle in each phase place is according to this allocation table, and time slot of random generation sends the beacon packet in set period.
Fig. 5 follows the tracks of vehicle flowrate variable quantity process flow diagram.Checkout equipment constantly receives the beacon message that vehicle sends.Take self-position as starting point, vector
Figure BSA00000183659600061
Starting point is terminal point, sets up a vector
Figure BSA00000183659600062
If
Figure BSA00000183659600063
Vehicle flowrate variation delta V=-1; Otherwise, Δ V=1.This method is judged the variable quantity of vehicle amount according to the moving direction of vehicle, can satisfy two kinds of definition of vehicle flowrate.At last, checkout equipment sends lastest imformation by cable network to central database, and this information comprises intersection numbering I i, identification numbers k, timestamp t, phase place
Figure BSA00000183659600064
Vehicle flowrate variation delta V.
Fig. 6 is vehicle flowrate data real-time update process flow diagram.Central database refreshes the information of vehicle flowrate of supporting two kinds of definition in real time according to the updating message of each intersection checkout equipment.At first, start-up period timer T cSecondly, upgrade the street information of vehicle flowrate.According to the corresponding table of phase relation, by the I in the checkout equipment updating message iWith
Figure BSA00000183659600065
Obtain corresponding street identification number S k, then, with S kBe key word, more corresponding S in the new database kVehicle flowrate V 1, V 1=V 1+ Δ V.Again, upgrade the vehicle flowrate at detection line place.With
Figure BSA00000183659600066
Be united keyword, more corresponding street S in the new database kApart from I iBe d cThe vehicle flowrate V of place's detection line 2, V 2=V 2+ 1.At last, the packet that the deletion checkout equipment sends, and at T cWhen being decremented to zero, close cycle timer, make V 2=0.
Fig. 7 is the relation table between intersection, phase place, detection distance and street, the detection line.Wherein, (intersection, phase place) can unique definite street; (intersection, phase place detect distance) can unique definite detection line.
One embodiment of the present of invention are as follows:
Such as Fig. 8, suppose I iAnd I jBe two adjacent intersections, the street between the two is numbered S k, I iAnd I jThe checkout equipment at place all links to each other by cable network with central database.Checkout equipment and vehicle possess the wireless receiving and dispatching ability simultaneously, and have been equipped with the GPS device.All vehicles have a unique identifying number and a storage queue, and by measuring the phase relation table in intersection and this each street, crossing.
Figure BSA00000183659600067
With
Figure BSA00000183659600068
Represent respectively I iLocate four four phase places that the street is corresponding; I jPlace's phase place corresponding relation is similar.
(1) perception vehicle movement vector step
According to Fig. 2, after all vehicles obtain enough GPS positional informations, by match structure vector, again Negotiation speed and current time, estimate the motion vector when vehicle in front, thereby draw current motion vector.Such as Fig. 9, vehicle k obtains straight line AB with the GPS position by the match mode, gets the GPS position of head and the tail and does vertical line to AB, obtains vector Because the refresh cycle of GPS is 1 second, again Negotiation speed and time prediction vector
Figure BSA000001836596000610
Two vector additions finally obtain the motion vector of vehicle k
Figure BSA000001836596000611
(2) checkout equipment and automobile wireless interactive information step
Intersection I iAnd I jCheckout equipment periodically send hello message.Whether in a single day vehicle receives this message, detect to comprise self has been sent replying of beacon message, if comprise, illustrates that checkout equipment has detected the information that exists of self, need not to retransmit.If do not comprise, then calculate self and whether be in the detection line scope, suppose that detection width is w c, weigh whether should send beacon message by vehicle movement vector and detection line distance.When sending beacon message, adopt counter and timer to jointly control.Counter is used for the restriction maximum retransmission, and timer is used for regularly specific back off time.Such as Fig. 8, the vehicle that is positioned at this detection line scope (diagram shadow region) sends beacon message: the vehicle that does not send sends beacon message; Sent successful vehicle, no longer retransmitted; Retransmit the vehicle above 3 times, will in this detection line scope, not send beacon message, because this moment, conflict was very serious.Suppose that with { east, north, west, south } four phase flags be 1,2,3 and 4, then intersection I iThe place be 4 phase assignments keep out of the way period such as Fig. 4.3rd, distribute minimum period without vehicle this moment on 4 phase places; 1st, the number of vehicles ratio is 1: 2 on 2 phase places, then with the remaining BEACON period according to distributing to the 1st, 2 phase places at 1: 2.
(3) follow the tracks of vehicle flowrate variable quantity step
The information of vehicles of checkout equipment by obtaining calculates vehicle away from still near self-position.If approach, show that vehicle is just sailing out of detection line street of living in; If away from, show that vehicle is just sailing detection line street of living in into.Such as Figure 10, checkout equipment is take self-position as initial point, vector
Figure BSA00000183659600071
Starting point is terminal point, sets up a vector
Figure BSA00000183659600072
At this moment,
Figure BSA00000183659600073
Figure BSA00000183659600074
The vehicle flowrate variation delta V=1 of phase place place.At last, checkout equipment sends updating message to central database.
(4) renovated bus data on flows step
Central database receives the packet that each checkout equipment sends, and according to the corresponding table of phase relation, obtains corresponding street numbering and detection line numbering, then upgrades corresponding vehicle flowrate.Therefore, mainly upgrade two tables of data, such as Figure 11.Wherein, street S kVehicle flowrate V 1=V 1+ Δ V; Detection line L kThe vehicle flowrate V at place 2=V 2+ 1.Because detection line place vehicle flowrate refers in the unit interval therefore to need the one-period timer by the number of vehicles on the same cross section, for time of day detection time, the per cycle zero clearing of vehicle flowrate, the new record of laying equal stress on.
Outstanding feature of the present invention is:
1. the method for perception vehicle movement vector is utilized the impact of the method reduction GPS information error of match and prediction, improves the time granularity that positional information is obtained.To the accurate and real-time perception of track of vehicle, for the accurate detection of vehicle flowrate is laid a good foundation.
2. wireless information interaction method, checkout equipment periodically sends hello message, vehicle in the detection line scope sends displacement information at the BEACON of appointment in the period, and divide back off time according to historical information according to phase place, effectively avoid the conflict between the vehicle, improved the ageing of information.
3. checkout equipment can calculate the vehicle flowrate variable quantity at any appointment detection line place in real time according to the vehicle movement vector.
4. central database shows appointment highway section or detection line place vehicle flowrate in real time, for traffic data analyzing provides accurate reference frame.

Claims (1)

1. the traffic flow detecting method of a based on motion vector is characterized in that may further comprise the steps:
(1) for vehicle distributes unique mark number, for vehicle distributes a storage queue, utilize GPS to obtain vehicle location, speed and directional information; Distribute unique identifying number for the intersection, utilize GPS to obtain positional information, by measuring intersection table corresponding to the phase relation in this each street, crossing, at intersection center configuration vehicle Flow Detection equipment, and be storage queue of its distribution; For detection line distributes unique number;
(2) perception vehicle movement vector;
(3) checkout equipment and automobile wireless interactive information are followed the tracks of the vehicle flowrate variable quantity;
(4) renovated bus data on flows;
Wherein, the concrete steps of perception vehicle movement vector are:
(2.1) GPS obtains the positional information of vehicle k with cycle T, and joins the team;
(2.2) if queue length L Q＞L Max, L MaxBe predetermined value, go out element of team from Head-of-line; Otherwise, forward step (2.1) to;
(2.3) position data in the match formation all elements in rectangular coordinate system obtains straight line AB;
(2.4) do vertical line with the position of head of the queue element to AB, intersection point is the starting point of vector, and vertical line is done to AB in the position of tail of the queue element, and intersection point is the terminal point of vector, forms a vector
Figure FSB00000976902000011
(2.5) obtain present speed v and time t, the structure with
Figure FSB00000976902000012
Vectorial in the same way
Figure FSB00000976902000013
With
Figure FSB00000976902000014
Addition obtains a vehicle k at t motion vector constantly
Figure FSB00000976902000015
(2.6) forward step (2.1) to;
Wherein, the concrete steps of checkout equipment and automobile wireless interactive information are:
(3.1) time is divided into two kinds of periods of HELLO and BEACON week period interval, and in the HELLO period, checkout equipment periodically sends hello message, and this message comprises GPS information, replys ID tabulation and backoff interval allocation table;
(3.2) if vehicle k does not receive hello message, wait for;
(3.3) otherwise, vehicle k checks whether to comprise replying self; If comprise: the backoff counter zero clearing, and wait for w c/ v the time forwards step (3.2) to, wherein, and w cThe expression detection width, v represents present speed; If do not comprise: vehicle k is with intersection I iThe GPS position be initial point, set up a motion vector that points to vehicle k from initial point
Figure FSB00000976902000016
The vector of terminal point
Figure FSB00000976902000017
Figure FSB00000976902000018
If exist with the angle α of x positive axis
Figure FSB00000976902000019
Illustrate that vehicle k is positioned at phase place constantly at t
Figure FSB000009769020000110
Wherein, With
Figure FSB000009769020000112
J and j+1 angle of representing respectively relative initial point, and the two is adjacent;
(3.4) compute vectors
Figure FSB000009769020000113
At ray
Figure FSB000009769020000114
Projection
Figure FSB000009769020000115
(3.5) if
Figure FSB00000976902000021
D wherein cThe expression detection line is apart from the distance of checkout equipment, and vehicle k starts backoff counter; Otherwise forward step (3.2) to;
(3.6) value of backoff counter adds 1, if less than threshold value 3, according to intersection I iThe backoff interval allocation table calculate back off time, and start and keep out of the way timer; Otherwise, the backoff counter zero clearing, and wait for w c/ v the time, forward step (3.2) to;
(3.7) keep out of the way timer and successively decrease in the period at BEACON, when being decremented to zero, send beacon message, content comprises k,
Figure FSB00000976902000022
With
Figure FSB00000976902000023
Forward step (3.2) to;
Wherein, the concrete steps of tracking vehicle flowrate variable quantity are:
(4.1) checkout equipment is set up rectangular coordinate system take self GPS position as initial point;
(4.2) receive the beacon message of vehicle k after, take initial point as starting point, the motion vector of vehicle k
Figure FSB00000976902000024
Starting point be terminal point, set up a vector
Figure FSB00000976902000025
(4.3) if
Figure FSB00000976902000026
Vehicle flowrate variation delta V=-1; Otherwise Δ V=1;
(4.4) checkout equipment sends lastest imformation by cable network to central database, and this information comprises intersection I i, vehicle k, time t, phase place
Figure FSB00000976902000027
Vehicle flowrate variation delta V;
Wherein, the concrete steps of renovated bus data on flows are:
(5.1) central database start-up period timer T c
(5.2) receive the packet that each checkout equipment sends, according to the corresponding table of phase relation, by intersection I iAnd phase place
Figure FSB00000976902000028
Obtain corresponding street identification number S k
(5.3) with S kBe key word, more corresponding S in the new database kVehicle flowrate V 1, V 1=V 1+ Δ V;
(5.4) with
Figure FSB00000976902000029
Be united keyword, more corresponding street S in the new database kApart from intersection I iBe d cThe vehicle flowrate V of place's detection line 2, V 2=V 2+ 1;
(5.5) deletion packet;
(5.6) if T cBe decremented to zero, close cycle timer, make V 2=0, forward step (5.1) to; Otherwise, forward step (5.2) to.
CN 201010223786 2010-07-12 2010-07-12 Motion vector based traffic flow detecting method Expired - Fee Related CN101894468B (en)

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