CN101937084A - Low-cost traffic information detecting radar device and detecting method thereof - Google Patents
Low-cost traffic information detecting radar device and detecting method thereof Download PDFInfo
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Abstract
The invention discloses a low-cost traffic information detecting radar device. A microwave signal source generates a millimeter wave by adopting a dielectric oscillator; a receiving and transmitting assembly is used for receiving and transmitting a signal by a planar array antenna; a frequency mixer is used for outputting and transmitting an intermediate frequency signal to an intermediate frequency signal processing unit for processing; the processed intermediate frequency signal is transmitted to a digital signal processing unit; the digital signal processing unit is connected with a man-machine interface unit; and after the intermediate frequency signal containing traffic information is processed by the digital signal processing unit, the man-machine interface unit outputs the traffic information. The invention has the advantage of judging the existence of vehicles by utilizing speed information, thereby greatly reducing the cost.
Description
Technical field
The present invention relates to the traffic information collection field in the intelligent transportation system, particularly a kind of low-cost traffic information detection radar device.
Background technology
Real-time Traffic Information is one of the most basic information source of intelligent transportation system ITS, have only each road Real-time Traffic Information had and grasp the ITS function that could implement effectively and bring into play such as traffic guidance, intelligent traffic light control, overspeed snapping and public security bayonet socket exactly, therefore to the real-time detection technique of transport information be most crucial in the ITS technology also be one of the most basic technology.
The traffic information collection Study on Technology is carried out for many years.At present existing multiple traffic information collection technology is used in practice.The transport information that collects by these technology mainly comprises vehicle flowrate, the lane occupancy ratio in each track, the speed of a motor vehicle, vehicle, time headway etc.
What begin at first to develop is the traffic information collection technology of contact, and it is mainly represented is the coil detection of going in ring.These harvesters all have common feature, are imbedded in exactly under the road surface, can cause the variation in corresponding pressure, electric field or magnetic field when automobile process harvester top, and last harvester is converted to needed transport information with the variation of these power and field.Through years development, the traffic information collection technology of road surface contact is very ripe, and its measuring accuracy height is easy to grasp, and occupies main status in the traffic information collection field always.But the traffic harvester of this road surface contact has inevitable shortcoming.At first be the installation and maintenance difficulty, must suspend traffic, destroy the road surface; Secondly along with vehicle increases, vehicle causes the serviceable life of this class device also shorter and shorter to the pressure of road; Road expansion now is very fast, and the road under the various environment is increasing, and subgrade settlement, condition such as saline and alkaline and freezing will have a strong impact on the use of road surface contact traffic information collecting apparatus.In addition, to environment such as tunnel, bridges, the mounting means of pavement destruction exists more difficulty and inconvenience.All these has brought the rising of its use cost.
The contactless traffic information collecting apparatus in the road surface that newly-developed gets up adopts and is installed in the vertical rod of roadside, microwave radar solves these problems to a great extent, this class device has convenient for installation and maintenance, does not need to suspend traffic and destroys road surface, long service life, is subjected to advantages such as synoptic climates such as illuminance, dust and wind, rain, mist, snow influence hardly.But this side direction is installed microwave radar its unsurmountable shortcoming is arranged also, be mainly reflected in: have blocking and disturbing, can't measure the real-time speed of a motor vehicle, can't accurately detect vehicle length etc. between the vehicle.And these parameters are used for ITS, all be very important, the basic reason that these problems occur is put if be installed on the track because radar is to be contained on the roadside, and these problems have just all disappeared, therefore simple way is exactly that side dress radar directly is contained in the top, track, though can solve subproblem, can not thoroughly solve, mainly be because the radar antenna angle is too big, and doing fatal shortcoming in addition like this, is exactly that cost is too high.
China Patent No. CN1400475, patent name is " radar radio-frequency device and the assay method of vehicle flowrate monitoring in the intelligent transportation ", what this patent adopted is the 35GHz millimeter wave, utilize the FMCW system of triangular modulation to carry out the transport information detection, so just need voltage controlled oscillator (VCO) and triangle wave generating circuit etc., complex structure, the cost height.
China Patent No. CN101231341, patent name is " the integrated vehicle flowrate radar installations that directly detects and test the speed ", this patent adopts the method that radar return is carried out the radio frequency detection, detects to obtain transport information by the DC level that the radio frequency detection is produced.The speed that this method is measured is inaccurate, and is difficult to distinguish the vehicle under the congestion status.
China Patent No. CN201383004, patent name are " a kind of intelligent traffic vehicle detection radar ".This is a utility model patent, and this utility model adopts the full coherent pulse system of double antenna, complex structure, cost height.
China Patent No. CN101136141, patent name is " based on the vehicle type classification method of single-frequency continuous wave radar ", and this method carries out radar return Doppler frequency spectrum figure to be mapped as vehicle scattering center location parameter image again by a series of complex characteristic extraction acquisition vehicles behind the hough transform.The algorithm complexity is difficult to be applied to lower cost solution.
Summary of the invention
Technical matters to be solved by this invention is the low-cost traffic information detection radar device and the detection method that will provide a kind of cost low.
In order to solve above technical matters, the invention provides a kind of low-cost traffic information detection radar device, microwave signal source adopts dielectric oscillator to produce millimeter wave, through the sending and receiving assembly by planar array antenna sending and receiving signal, frequency mixer output intermediate-freuqncy signal is delivered to the intermediate-freuqncy signal processing unit processes, intermediate-freuqncy signal after the processing is delivered to digital signal processing unit, digital signal processing unit is connected with the man-machine interface unit, after digital signal processing unit is handled the intermediate-freuqncy signal that contains transport information, by man-machine interface unit output transport information.
Described intermediate-freuqncy signal processing unit contains low noise amplifier and bandpass filter.
Described digital signal processing unit is provided with the A/D modular converter, signal processing chip and storer.
After this antenna was connected by one group of 12 planar antenna element, 12 planar antenna element of connecting with another group are in parallel to be constituted, and the planar array antenna of two groups of series and parallels adopts holds the feedback mode to give the aerial array feed, and each planar antenna element adopts notch-cut type feed.
The planar array antenna of two groups of parallel connections adopts constant power to distribute; The antenna element of every group of series connection adopts unequal power to distribute.The planar array antenna of two groups of series and parallels, the normal direction of its wave beam main lobe direction and flat plane antenna has an angle.
The traffic information detection method of described low-cost traffic information detection radar device comprises the steps:
⑴ carry out quick Fo Liye FFT conversion to digitized intermediate-freuqncy signal;
⑵ obtain car speed information from spectrum analysis;
⑶ if slow-moving vehicle changes low-speed module and detects; If not slow-moving vehicle changes next step;
⑷ record vehicle flowrate and vehicle pass through the time;
⑸ obtain other transport information;
⑹ export transport information;
Wherein, the detection step of low-speed module detection is:
⑴ changes in vehicle speed detects;
⑵ vehicle length computation;
⑶ judge whether vehicle is parked in surveyed area;
⑷ if return the ⑴ step; If not, then change next step;
⑸ vehicle flowrate counting adds 1.
Superior effect of the present invention is:
1) than Continuous Wave with frequency modulation system radar, the present invention adopts pure Doppler system radar, thereby the existence that utilizes velocity information to differentiate vehicle has greatly reduced cost;
2), determine that vehicle flowrate has overcome the shortcoming that can't accurately detect slow-moving vehicle based on the radar of Doppler system thereby adopt low-speed module to detect for the low speed situation;
3) the wave beam main lobe sensing of planar array microwave antenna generation of the present invention becomes a little angle with the flat plane antenna normal direction, this moment, a wave beam was partial to the left side, another wave beam deflection the right, both are irrelevant mutually, 2 same antennas are put by reverse direction and have just been formed the dualbeam with certain angle, meet the dualbeam microwave traffic information fully and gather the radar demand;
4) compare with the apex drive mode, the end feedback mode of planar array microwave antenna of the present invention more helps the integrally-built layout of radar, be mainly reflected in two aspects, the one, radar transmit-receive assembly length of arrangement wire can shorten and help reducing the microwave radiation loss, and it is long-pending also to help reducing radar cross section on the other hand.
Description of drawings
Fig. 1 is a functional-block diagram of the present invention;
Fig. 2 is an intermediate-freuqncy signal handling principle block scheme;
Fig. 3 is the digital signal processing theory block scheme;
Fig. 4 is man-machine interface unit functional-block diagram;
Fig. 5 is transport information testing process figure of the present invention;
Fig. 6 detects the process flow diagram of vehicle for low-speed module;
Fig. 7 is a planar array antenna planimetric map of the present invention;
The number in the figure explanation
1-antenna;
11-antenna element; The feedback of 12-end;
2-transmitting-receiving subassembly; 3-intermediate-freuqncy signal processing unit;
4-digital signal processing unit; 5-man-machine interface unit.
Embodiment
Shown in please accompanying drawing, the invention will be further described.
As shown in Figure 1, the invention provides a kind of low-cost traffic information detection radar device, microwave signal source adopts dielectric oscillator DRO to produce millimeter wave, through sending and receiving assembly 2 by planar array antenna 1 sending and receiving signal, frequency mixer 23 output intermediate-freuqncy signals are delivered to intermediate-freuqncy signal processing unit 3 and are handled, intermediate-freuqncy signal after the processing is delivered to digital signal processing unit 4, digital signal processing unit 4 is connected with man-machine interface unit 5, after the intermediate-freuqncy signal that 4 pairs of digital signal processing units contain transport information is handled, by man-machine interface unit 5 output transport information.
As shown in Figure 2, described intermediate-freuqncy signal processing unit 3 contains low noise amplifier 321 and bandpass filter 322.
As shown in Figure 3, described digital signal processing unit 4 is provided with A/D modular converter 421, signal processing chip 422 and storer 423.
Dielectric oscillator DRO22 transmission center frequency values in the transmitting-receiving subassembly 2 is the microwave of 24.3GHz, launches by planar array antenna 1 through waveguide coaxial converter 21 backs; The microwave of emission runs into the barrier back reflection, microwave reflection receives by planar array antenna 1, enter frequency mixer 23 behind waveguide coaxial converter 21, in frequency mixer 23, the echoed signal and the mixing that transmits are to obtain to carry the intermediate-freuqncy signal IF of road Real-time Traffic Information; After the IF signal that is produced by transmitting-receiving subassembly 2 enters intermediate-freuqncy signal processing unit 32 by concentric cable, at first carry out low noise processing and amplifying 321, enter bandpass filtering 322 then to produce the IF signal after handling; IF signal after intermediate-freuqncy signal processing unit 32 is handled enters digital signal processing unit 42, and digital signal processing unit comprises A/D conversion ADC421, digital signal processing dsp chip 422, DSP peripheral hardware 423 and power supply 424; Be connected by man-machine interface unit 5 between digital signal processing unit 42 and the extraneous computing machine, the man-machine interface unit is mainly handled the radar parameter setting and is adjusted 521 and transport information issue 522.
As shown in Figure 5, earlier digital signal processing dsp chip 422 each register and peripheral hardware 423 are carried out initialization after powering on to radar, begin to enter acquisition of road traffic information and cycle of treatment then.Carry out the AD sampling, continuous intermediate-freuqncy signal is transformed into discrete intermediate-freuqncy signal, then it is carried out the FFT conversion, transform to frequency field, produce the intermediate-freuqncy signal frequency spectrum from the signal time territory; The intermediate frequency signal spectrum is analyzed, obtained the real-time speed of vehicle according to the Doppler principle; Judge that according to real-time speed size when speed enters the low-speed module testing process during less than a certain pre-set velocity value, as Fig. 6, otherwise directly registration of vehicle speed, flow and vehicle pass through the time; The basis is gone up other transport information of acquisition and is communicated by letter with extraneous by human and machine interface unit in front.
Fig. 6 is a slow-moving vehicle detection module process flow diagram, and the traffic information detection method of described low-cost traffic information detection radar device comprises the steps:
⑴ carry out quick Fo Liye FFT conversion to digitized intermediate-freuqncy signal;
⑵ obtain car speed information from spectrum analysis;
⑶ if slow-moving vehicle changes low-speed module and detects; If not slow-moving vehicle changes next step;
⑷ record vehicle flowrate and vehicle pass through the time;
⑸ obtain other transport information;
⑹ export transport information;
Wherein, the detection step of low-speed module detection is:
⑴ changes in vehicle speed detects;
⑵ vehicle length computation;
⑶ judge whether vehicle is parked in surveyed area;
⑷ if return the ⑴ step; If not, then change next step;
⑸ vehicle flowrate counting adds 1.
Because the Doppler effect is only to having the object generation that certain speed moves, therefore routine is not handled the low speed situation based on the intelligent transportation of Doppler effect with radar, generally being lower than 20km in speed per hour has not just handled, as the overspeed snapping radar, this is enough, but for the traffic information collection radar, the phenomenon that vehicle loiters always in generation, therefore must can detect slow-moving vehicle., so just efficiently solve a slow-moving vehicle detection difficult problem based on Doppler effect radar actually the present invention adopts and to calculate the mode of taking all factors into consideration synchronously according to velocity variations feature and vehicle length and judge that or the vehicle of low speed driving slowly crosses the detections of radar zone and is parked in to restart behind the surveyed area and leaves.
As shown in Figure 7, after this antenna is connected by one group of 12 planar antenna element, 12 planar antenna element, 11 formations in parallel of connecting with another group, the planar array antenna of two groups of series and parallels adopts end feedback 12 modes to give the aerial array feed, each planar antenna element employing notch-cut type feed.
The planar array antenna 1 of two groups of parallel connections adopts constant power to distribute; The antenna element 11 of every group of series connection adopts unequal power to distribute.The planar array antenna 1 of two groups of series and parallels, the normal direction of its wave beam main lobe direction and flat plane antenna has an angle.
Concrete solution route is as follows:
1, improves the frequency resolution of fft analysis in the digital signal processing unit 4.Resolution is high more, can detect the low-frequency component in the radar echo signal more, and according to the Doppler effect principle, the car speed of the low more correspondence of frequency is low more.The method that improves resolution is the sample points that reduces sample frequency, improves fft analysis;
2, detect application for transport information, slow moving vehicle can be divided into three types:
I) vehicle is slowly disposable by the detections of radar zone.For this situation, by improving the flow that FFT resolution just can detect vehicle, because vehicle is disposable by surveyed area, vehicle has speed all the time, as long as there is speed radar just can detect by means of above-mentioned;
Ii) vehicle is at twice by surveyed area, that is to say that vehicle slowly sails surveyed area into and stops, and then quicken to leave that this is modal pattern.If do not do special processing, radar will be thought has 2 cars to pass through surveyed area, because the centre causes radar detection less than signal owing to stationary vehicle for some time, radar is just thought by mistake and is next car thereby causes counting inaccurate when waiting vehicle to restart.The scheme that this present invention is proposed is to discern according to the car speed feature, vehicle enters surveyed area and stops then to start and quicken to leave this process and be reflected on the car speed and then be one and decelerate to zero and then the process quickened earlier, analyzes the car speed feature in view of the above and just can determine that whether in the surveyed area parking once and then leave vehicle;
Iii) vehicle passes through surveyed area more than at twice, that is to say that vehicle slowly sails surveyed area into and stops, stop again after moving very short distance then, repeatedly several times after, quicken again at last to leave, this pattern is uncommon, particularly need be surveyed area 3 times in real life, almost not the having of stopping, because the overlay area length of radar beam on the track has only 1 meter, vehicle parking has once just passed through this surveyed area, just can stop 2 times under the individual cases, that is to say as long as handle " vehicle slowly sails surveyed area into and stops, and quickens to leave after a period of time of stopping again after the mobile very short then distance again " this pattern.If do not do special processing, radar will be thought has 3 cars to pass through surveyed area, because there are two periods the centre owing to stationary vehicle causes radar detection less than signal, radar is just thought by mistake and is next car thereby causes counting inaccurate when waiting vehicle to restart.The scheme that this present invention is proposed is to discern according to the car speed feature, vehicle enters surveyed area and stops then to start and quicken to leave this process and be reflected on the car speed and then be one and decelerate to zero earlier, then by the slow running of a very short time, the last process of quickening is again analyzed the car speed feature in view of the above and just can be determined that vehicle is whether surveyed area parking 2 times and then leave.
Slow-moving vehicle detection module of the present invention utilizes the variation characteristic of speed to judge that vehicle is once or several times to pass through surveyed area, thereby accurately detects vehicle flowrate.
Claims (4)
1. low-cost traffic information detection radar device, it is characterized in that: microwave signal source adopts dielectric oscillator to produce millimeter wave, through the sending and receiving assembly by planar array antenna sending and receiving signal, frequency mixer output intermediate-freuqncy signal is delivered to the intermediate-freuqncy signal processing unit processes, intermediate-freuqncy signal after the processing is delivered to digital signal processing unit, digital signal processing unit is connected with the man-machine interface unit, after digital signal processing unit is handled the intermediate-freuqncy signal that contains transport information, by man-machine interface unit output transport information.
2. by the described low-cost traffic information detection radar device of claim 1, it is characterized in that: described intermediate-freuqncy signal processing unit contains low noise amplifier and bandpass filter.
3. by the described low-cost traffic information detection radar device of claim 1, it is characterized in that: described digital signal processing unit is provided with the A/D modular converter, signal processing chip and storer.
4. by the traffic information detection method of the described low-cost traffic information detection radar device of claim 1, comprise the steps:
⑴ carry out quick Fo Liye FFT conversion to digitized intermediate-freuqncy signal;
⑵ obtain car speed information from spectrum analysis;
⑶ if slow-moving vehicle changes low-speed module and detects; If not slow-moving vehicle changes next step;
⑷ record vehicle flowrate and vehicle pass through the time;
⑸ obtain other transport information;
⑹ export transport information;
Wherein, the detection step of low-speed module detection is:
⑴ changes in vehicle speed detects;
⑵ vehicle length computation;
⑶ judge whether vehicle is parked in surveyed area;
⑷ if return the ⑴ step; If not, then change next step;
⑸ vehicle flowrate counting adds 1.
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Cited By (6)
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| CN103366570A (en) * | 2013-07-01 | 2013-10-23 | 广东惠利普路桥信息工程有限公司 | Traffic data analysis and acquisition instrument |
| CN104881995A (en) * | 2014-08-22 | 2015-09-02 | 中国科学院沈阳自动化研究所 | Roadside dual beam microwave radar traffic flow detection device and method |
| CN106441759A (en) * | 2016-09-06 | 2017-02-22 | 东南大学 | Bridge rapid test device and method based on microwave radar and mobile loading vehicle |
| CN109509357A (en) * | 2018-12-25 | 2019-03-22 | 上海慧昌智能交通系统有限公司 | A kind of traffic control method and equipment |
| CN109559525A (en) * | 2018-11-26 | 2019-04-02 | 厦门精益远达智能科技有限公司 | A kind of method for monitoring overspeed based on millimetre-wave radar, device and equipment |
| CN109557549A (en) * | 2019-01-31 | 2019-04-02 | 浙江工业大学 | A kind of Vehicle length measurement method based on laser radar |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103366570A (en) * | 2013-07-01 | 2013-10-23 | 广东惠利普路桥信息工程有限公司 | Traffic data analysis and acquisition instrument |
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| CN104881995B (en) * | 2014-08-22 | 2017-10-31 | 中国科学院沈阳自动化研究所 | A kind of trackside dualbeam microwave radar traffic flow detecting device and method |
| CN106441759A (en) * | 2016-09-06 | 2017-02-22 | 东南大学 | Bridge rapid test device and method based on microwave radar and mobile loading vehicle |
| CN106441759B (en) * | 2016-09-06 | 2019-02-01 | 东南大学 | Bridge device for quick testing and method based on microwave radar and mobile load vehicle |
| CN109559525A (en) * | 2018-11-26 | 2019-04-02 | 厦门精益远达智能科技有限公司 | A kind of method for monitoring overspeed based on millimetre-wave radar, device and equipment |
| CN109509357A (en) * | 2018-12-25 | 2019-03-22 | 上海慧昌智能交通系统有限公司 | A kind of traffic control method and equipment |
| CN109557549A (en) * | 2019-01-31 | 2019-04-02 | 浙江工业大学 | A kind of Vehicle length measurement method based on laser radar |
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Application publication date: 20110105 |