CN102521891A - Method and system for detecting vehicle congestion at toll station - Google Patents
Method and system for detecting vehicle congestion at toll station Download PDFInfo
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- CN102521891A CN102521891A CN2011104017296A CN201110401729A CN102521891A CN 102521891 A CN102521891 A CN 102521891A CN 2011104017296 A CN2011104017296 A CN 2011104017296A CN 201110401729 A CN201110401729 A CN 201110401729A CN 102521891 A CN102521891 A CN 102521891A
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Abstract
The invention discloses a system and method for detecting vehicle congestion at a toll station. The method comprises the steps of acquiring image data of an entering end of the toll station, and generating number data and vehicle length data of entered vehicles according to vehicle location and license plate location; acquiring number data and vehicle length data of exited vehicles through a toll lane ground sensing coil; generating the total length of open lanes of the toll station according to the number of pre-stored open lanes of the toll station and the length corresponding to each lane; generating the total length of the vehicles in a toll station square according to the number data and the vehicle length data of the entered vehicles and the number data and the vehicle length data of the exited vehicles; generating the congestion rate of the toll station square through dividing the total length of the vehicles in the toll station square by the total length of the open lanes of the toll station; and generating a detection result of vehicle congestion of the toll station according to the congestion rate. Through adopting the system and the method, the congestion degree of the toll station can be rapidly and accurately detected, so the vehicle passing efficiency and the service quality are improved and powerful support is provided for rapid passing of the vehicles.
Description
Technical field
The present invention relates to charge station's detection technique of highway, relate in particular to the freeway toll station vehicle queuing detection technique of blocking up, is detection method and the system that a kind of charge station vehicle blocks up concretely, is that the current fast of vehicle provides strong support.
Background technology
Some freeway toll station queuing is at present blocked up very serious, has caused the user highway is discontented with greatly.In order to solve the problem of blocking up at a high speed, more existing charge station's regulations surpass designated length if line up, and the vehicle number of perhaps lining up surpasses the designated vehicle number, then needs free clearance, to improve the traffic efficiency of charge station.
Because toll plaza and charge mill train scene difference are excessive, also do not have a kind of detection method and system to detect simultaneously charge mill train and toll plaza vehicle queue at present.And what can detect vehicle queue at present mainly is that video queuing detects, and the problem of its existence mainly is:
Single Video Detection is difficult to the vehicle of charge station's mill train and the vehicle of toll plaza are counted simultaneously; Owing to exist tollbooth to block, can cause the mill train vehicle count to have error; Because the vehicle occlusion issue can cause Video Detection vehicle queue data accuracy not enough.
Summary of the invention
The objective of the invention is to propose detection method and the system that a kind of charge station vehicle blocks up, to solve exist in the prior art charge station's vehicle jam situation is detected slowly and the not high problem of accuracy.
In order to achieve the above object, the embodiment of the invention discloses the detection method that a kind of charge station vehicle blocks up, comprising: obtain the high-definition image data of charge station's upstream end,, generate incremental data and vehicle commander's data of sailing vehicle into according to vehicle location and car plate location; Obtain incremental data and vehicle commander's data of outgoing vehicles through the lane in which the drivers should pay fees ground induction coil; According to the corresponding length of number and each track in the open track of the charge station that prestores, generate the total length in the open track of charge station; According to incremental data and vehicle commander's data of the said incremental data that sails vehicle into and vehicle commander's data, outgoing vehicles, calculate the gross vehicle length that generates in the charge station square; With the total length of the gross vehicle length in the said charge station square, generate the ratio that blocks up on charge station square divided by the open track of said charge station; According to the described ratio that blocks up, generate the testing result that said charge station vehicle blocks up.
In order to achieve the above object, the embodiment of the invention also discloses the detection system that a kind of charge station vehicle blocks up, comprising: video camera is used to obtain the high-definition image data of charge station's upstream end; Charge station's ground induction coil comprises tollbooth ground induction coil and barrier machine ground induction coil, is used to obtain number of times and the time that outgoing vehicles triggers said each ground induction coil; Master control set; Be used for the data obtained according to said high-definition image data and ground induction coil; Generate testing result, wherein, said master control set comprises: sail information generating unit into; Be used for generating incremental data and vehicle commander's data of sailing vehicle into according to vehicle location, car plate location and said high-definition image data; Roll information generating unit away from, the outgoing vehicles that is used for obtaining according to said charge station ground induction coil triggers the number of times and the time of said each ground induction coil, generates incremental data and vehicle commander's data of said outgoing vehicles; Open track total length generation unit is used for the corresponding length of number and each track according to the open track of the charge station that prestores, and generates the total length in the open track of charge station; Square gross vehicle length generation unit is used for incremental data and vehicle commander's data according to the said incremental data that sails vehicle into and vehicle commander's data, outgoing vehicles, calculates the gross vehicle length that generates in the charge station square; The ratio generation unit that blocks up is used for the gross vehicle length on the said charge station square total length divided by the open track of said charge station is generated the ratio that blocks up on charge station square; The testing result generation unit is used for generating the testing result that said charge station vehicle blocks up according to the described ratio that blocks up.
Detection method and system that charge station's vehicle of the embodiment of the invention blocks up; Can count simultaneously the vehicle on charge station's mill train and the toll plaza simultaneously, and the thought of the ratio that proposes to block up, react the vehicle jam situation fast and intuitively; The degree so can accurate detection charge station block up; Thereby dynamic unlatching is charged number that exports and the opportunity of adopting multifee, and possible blocking up reported to the police in advance, lets the toll administration personnel carry out the prediction scheme preparation in advance; Thereby improve vehicle pass-through efficient and service quality, for the current fast of vehicle provides strong support.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, to those skilled in the art; Under the prerequisite of not paying creative work property, can also obtain other accompanying drawing according to these accompanying drawings.
The method flow diagram of the detection method that Fig. 1 blocks up for charge station's vehicle of the embodiment of the invention;
Fig. 2 sails the synoptic diagram of embodiment of vehicle commander's data of vehicle into for a kind of calculating of the present invention;
The structural representation of the detection system that Fig. 3 blocks up for a kind of charge station vehicle of the embodiment of the invention;
Fig. 4 is the structural representation of master control set 3 embodiment illustrated in fig. 3;
Fig. 5 is the structural representation that sails information generating unit 301 into embodiment illustrated in fig. 4;
Fig. 6 is the structural representation that rolls information generating unit 302 away from embodiment illustrated in fig. 4;
Fig. 7 is the structural representation of another embodiment of the master control set 3 among Fig. 3;
Fig. 8 sails vehicle number time history plot into in the unit interval of a specific embodiment of the present invention;
Fig. 9 is vehicle residue number time history plot in the square of a specific embodiment of the present invention;
Figure 10 is the ratio time history plot that blocks up in the square of a specific embodiment of the present invention.
Embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
The method flow diagram of the detection method that Fig. 1 blocks up for charge station's vehicle of the embodiment of the invention, as shown in the figure, the detection method of present embodiment comprises:
Step S101 obtains the high-definition image data of charge station's upstream end, according to vehicle location and car plate location, generates incremental data and vehicle commander's data of sailing vehicle into; Step S102 obtains incremental data and vehicle commander's data of outgoing vehicles through the lane in which the drivers should pay fees ground induction coil; Step S103 according to the corresponding length of number and each track in the open track of the charge station that prestores, generates the total length in the open track of charge station; Step S104 according to incremental data and vehicle commander's data of the said incremental data that sails vehicle into and vehicle commander's data, outgoing vehicles, calculates the gross vehicle length that generates in the charge station square; Step S105 with the total length of the gross vehicle length in the said charge station square divided by the open track of said charge station, generates the ratio that blocks up on charge station square; Step S106 according to the described ratio that blocks up, generates the testing result that said charge station vehicle blocks up.
In step S101, said high-definition image data are obtained through the video camera that is arranged on charge station's upstream end.In the present embodiment, video camera is a high-definition camera, is installed on the L bar of the porch, charge station square at 100～300 meters of tollbooth, and camera height is equipped with the light filling lamp to be used for carrying out at night light filling about 6-8 rice.
In the present embodiment; Said among the step S101 generates incremental data and vehicle commander's data of sailing vehicle into according to vehicle location and car plate location, comprising: at first; According to vehicle location and car plate location; The location effective wagon generates and sails the incremental data of vehicle into, and sets up the said vehicle tracking chain that sails vehicle into; Secondly, in described vehicle tracking chain,, calculate the said vehicle average velocity that sails vehicle into according to the interframe time interval in the high-definition image data of obtaining of sailing vehicle into; At last; Porch, charge station square in said high-definition image is provided with a virtual coil; Write down said sailing into the headstock of vehicle and the time interval that the tailstock triggers said virtual coil; The said vehicle average velocity and the said time interval are multiplied each other, generate the vehicle commander's data and the incremental data that sail vehicle into.
In the present embodiment; Charge station's porch scene is single stable relatively; Can obtain stable background through cycle renewal and full figure method for updating, present frame and background corresponding point pixel are made difference to obtain background subtraction figure, carry out binaryzation with OTSU; On the background subtraction binary map, seek the connected domain of area, position the searching vehicle according to the white point connectedness greater than regions; Carry out according to color and texture information on the candidate region of coming out in the location that cut car plate location, characters on license plate, character recognition; Whether the vehicle region that detection and location are come out can accurately extract license board information; When license plate recognition result, set up a new tracking chain; Follow the tracks of chain and preserve the information such as vehicle location, car plate position, license plate recognition result, vehicle and body color of vehicle, can add according to user's request at each frame.Disturb with suppressing in order to improve treatment effeciency; Vehicle has a probable ranges in charge station's porch speed, after orienting effective wagon for the first time, is object of reference with the car plate; Should the in-position according to predetermined speed range prediction next frame vehicle; When second two field picture is handled, be that benchmark respectively enlarges certain zone up and down and carries out vehicle location and car plate location with this position, can reduce the time that the full figure location is consumed like this; And suppress to disturb; Calculate vehicle actual motion speed according to this two frame times interval and car plate displacement simultaneously, substitute predetermined speed in the previous frame with this speed, the vehicle location prediction below continuing, vehicle location, car plate are located and character recognition.For example, the vehicle tracking chain length is 5 two field pictures, if there are 2 frames that license plate recognition result is arranged in 5 frames, just think a car, the vehicle number that sails in the square increases 1, eliminates and follows the tracks of chain.Otherwise, eliminate and to follow the tracks of chain for disturbing.
In one embodiment, can take following method to calculate the vehicle commander who sails vehicle into: on the complete tracking chain of car, each frame recording should car plate position, place, utilize the interframe time interval in the view data, ask for the average velocity v in car plate five frames.Porch, charge station square on image is provided with 1 virtual coil, and record sails the headstock of vehicle and the time interval t that the tailstock triggers this virtual coil into, just can calculate vehicle commander nInLen=vt.
In another kind of embodiment, calculate the vehicle commander who sails vehicle into and can also take following method:
Two dummy line are set in image, as shown in Figure 2, and in reality, converse the actual range s between these two dummy line.Suppose that two linear distances are enough short; And vehicle is at the uniform velocity to go between these two lines, through frame difference and background subtraction detect vehicle when just having swarmed into headstock detect the time t2 that the tailstock crosses start line through the time t1 of start line; Headstock crosses the time t3 of terminated line, and then car speed is s/ (t
3-t
1), vehicle commander nInLen
i=s (t
2-t
1)/(t
3-t
1).
In step S102; Obtain the incremental data of outgoing vehicles and the method for vehicle commander's data comprises through the lane in which the drivers should pay fees coil: said the lane in which the drivers should pay fees coil comprises tollbooth ground induction coil and barrier machine ground induction coil; Two known spacings of coil are L; Trigger the number of times of said ground induction coil according to said outgoing vehicles, generate the incremental data of said outgoing vehicles.Outgoing vehicles triggering tollbooth ground induction coil is identical with the number of times of barrier machine ground induction coil, and ground induction coil can detect whether object is arranged on the ground, just thinks have vehicle to roll away from when local sense coil is triggered, and the outgoing vehicles number adds 1.
Said tollbooth ground induction coil and barrier machine ground induction coil are respectively t by the time that same outgoing vehicles triggers
1, t
2, the speed that then said outgoing vehicles rolls charge station away from is v '=L/ (t
2-t
1), the time when being triggered like same coil detection is t
3, the time after said outgoing vehicles crosses is t
4, then outgoing vehicles length is nOutLen=L * (t
4-t
3)/(t
2-t
1).
In step S101 and step S102, calculate incremental data and vehicle commander's data, the incremental data that sails vehicle into and vehicle commander's data of sailing vehicle into, also comprise the residual error of sailing vehicle and outgoing vehicles into is eliminated.
In the present embodiment, comprise three formations in the algorithm routine of master control set: sail in vehicle, outgoing vehicles and the square and have vehicle.Sail vehicle into and detect the length of vehicle, and sail vehicle according to existing vehicle in open number in track and the square into for each and distribute certain priority through image processing method.When charge station outlet ground induction coil has detected vehicle and has rolled away from; Vehicle matees in outgoing vehicles characteristic and the square; Mate according to priority order from high to low, mate this car of vehicle formation deletion in the successfully back square, other car priority of corresponding formation increase 1.If have the priority of certain car plate to change always or higher do not roll away from for a long time then think to sail into the end faults or roll end away from do not detect vehicle and roll away from, be remaining error in the track, remaining error is eliminated after reaching certain hour automatically.
In the present embodiment; Charge station does not have too big-difference to the chargeable time of each car; Even a certain car chargeable time grown and the long words of afterbody vehicle queue; Suppose that the probability that the driver sails each track into is impartial, the driver just gets into other tracks when seeing this track queue queue head, and promptly vehicle has the principle of FIFO.It is impartial just having swarmed into the probability that a car drives towards each track, sails end into and carries out car plate identification, and the license plate number that identifies is the uniquely tagged of each car, and subsidiary then have information such as vehicle commander that Video Detection comes out, overall height, vehicle, color.This car priority is 1 the highest; The vehicle priority of next sailing into arranges 2,3 successively backward ....; When rolling end away from and detected vehicle and roll away from; Detect the length and the big or small vehicle characteristic of vehicle through ground induction coil, outgoing vehicles with sail the height of vehicle into and mate according to priority, mate successfully afterwards in the square vehicle formation this car is deleted.Special time is set, smallerly has certain car in for a long time, never to eliminate then think that this car is that residual error will eliminate if block up.
In step S103, the corresponding length of the number in the open track of the charge station that said basis prestores and each track generates the total length that charge station opens the track, comprising:
The number in the open track of said charge station is nLaneNums, and the length in said each open track is respectively nLaneLen
1, nLaneLen
2... nLaneLen
n, then said charge station open track total length does
In step S104, said basis is sailed incremental data and vehicle commander's data of vehicle, incremental data and vehicle commander's data of outgoing vehicles into, calculates the gross vehicle length that generates in the charge station square, comprising:
The incremental data that sails vehicle into is nInCarNums; Vehicle commander's data of sailing vehicle into are nInLen; Wherein, The said incremental data nInCarNums that sails vehicle into is the quantity summation of sailing vehicle into according to the picked-up of high-definition image data, and the said vehicle commander's data n InLen that sails vehicle into is the summation of sailing vehicle commander's data of vehicle into; The incremental data of outgoing vehicles is nOutCarNums; Vehicle commander's data of outgoing vehicles are nOutLen; Wherein, The incremental data nOutCarNums of said outgoing vehicles is the quantity summation of the outgoing vehicles that obtains according to the lane in which the drivers should pay fees ground induction coil, and vehicle commander's data n OutLen of said outgoing vehicles is the summation of vehicle commander's data of outgoing vehicles; Gross vehicle length=nInLen-nOutLen in the said charge station square.
In step S105; Said with the total length of the gross vehicle length in the charge station square divided by the open track of said charge station; Generate the ratio that blocks up on charge station square, comprising: nCrowdedRate=(nInLen-nOutLen)/nSumLaneLen * 100%, wherein; NCrowdedRate is for calculating the ratio that blocks up on the charge station square that generates, and nSumLaneLen is the total length in the open track of charge station.
Calculating the blocking up during ratio of said charge station square; Also be included as the vehicle set zone bit in each square,, assert that then the corresponding vehicle of said zone bit is a residual error when said zone bit adds up when exceeding preset threshold automatically; At this moment, the said ratio that blocks up is:
NCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%, wherein, nCarLen
0Vehicle commander's data for the corresponding vehicle of said zone bit.
The swarming into to break certain error is arranged on the precision of vehicle in the square might be broken vehicle and be greater than and swarm into vehicle, and will carry out zero clearing this moment to quantity in the square.Be the certain existence zone bit of each car design, along with the continuity of time, this zone bit adds up automatically, does not enough detect yet greatly when rolling away from when reaching, and thinks then that residual error is given to eliminate.The threshold size that preset residual error is eliminated with block up than proportional, when jam situation was more serious, vehicle rolled away from slow more, then the residence time is long more in the square.When supposing that t constantly, it is nCarLen that a certain length is arranged
0Car residence time in the square surpass specific threshold and still do not eliminate, think that then this car is that residual error will eliminate, this moment, the square blocked up than being nCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%.
In step S106, said according to the described ratio that blocks up, generate the testing result that said charge station vehicle blocks up; Comprise: if the ratio that blocks up rises, then send early warning, indication increases open track quantity or free the clearance; To improve the traffic efficiency of charge station, reduction is blocked up.
The structural representation of the detection system that Fig. 3 blocks up for a kind of charge station vehicle of the embodiment of the invention, as shown in the figure, said detection system comprises:
Video camera 1 is used to obtain the high-definition image data of charge station's upstream end; Charge station's ground induction coil 2 comprises tollbooth ground induction coil 201 and barrier machine ground induction coil 202, is used to obtain number of times and the time that outgoing vehicles triggers said each ground induction coil; Master control set 3 is used for the data obtained according to said high-definition image data and ground induction coil, generates testing result.In the present embodiment, video camera 1 is a high-definition camera, is installed on the L bar of the porch, charge station square at 300 meters of tollbooth, and camera height and is equipped with the light filling lamp to be used for carrying out at night light filling about 6-8 rice.Master control set is a cover FPGA+DSP double-core framework master control processing platform, is used for fast, accurately detecting charge station's queuing problem of blocking up.
Wherein, as shown in Figure 4, said master control set 3 comprises: sail information generating unit 301 into, be used for generating incremental data and vehicle commander's data of sailing vehicle into according to vehicle location, car plate location and said high-definition image data; Roll information generating unit 302 away from, the outgoing vehicles that is used for obtaining according to said charge station ground induction coil triggers the number of times and the time of said each ground induction coil, generates incremental data and vehicle commander's data of said outgoing vehicles; Open track total length generation unit 303 is used for the corresponding length of number and each track according to the open track of the charge station that prestores, and generates the total length in the open track of charge station; Square gross vehicle length generation unit 304 is used for incremental data and vehicle commander's data according to the said incremental data that sails vehicle into and vehicle commander's data, outgoing vehicles, calculates the gross vehicle length that generates in the charge station square; The ratio generation unit 305 that blocks up is used for the gross vehicle length on the said charge station square total length divided by the open track of said charge station is generated the ratio that blocks up on charge station square; Testing result generation unit 306 is used for generating the testing result that said charge station vehicle blocks up according to the described ratio that blocks up.
In the present embodiment, as shown in Figure 5, the said information generating unit 301 of sailing into comprises: vehicle location module 3011, be used to carry out vehicle location, and generate the incremental data that sails vehicle into; Car plate locating module 3012 is used to carry out the car plate location; The vehicle tracking chain is set up module 3013, is used for according to said vehicle location and car plate location, and the location effective wagon is set up the said vehicle tracking chain that sails vehicle into; Sail vehicle average velocity computing module 3014 into, be used for the vehicle tracking chain that sails vehicle into,, calculate the said vehicle average velocity that sails vehicle into according to the interframe time interval in the high-definition image data of obtaining of sailing vehicle in said foundation; Time interval generation module 3015 is used in the porch, charge station square of said high-definition image a virtual coil being set, and writes down said sailing into the headstock of vehicle and the time interval that the tailstock triggers said virtual coil; Vehicle commander's data generation module 3016 is used for the said vehicle average velocity and the said time interval are multiplied each other, and generates vehicle commander's data of sailing vehicle into.
In the present embodiment; When vehicle location module 3011 is carried out vehicle location,, can obtain stable background through cycle renewal and full figure method for updating because charge station's porch scene compares single stable; Present frame and background corresponding point pixel are made difference to obtain background subtraction figure; Carry out binaryzation with OTSU, on the background subtraction binary map, seek the connected domain of area, position the searching vehicle according to the white point connectedness greater than regions; When car plate locating module 3012 carries out the car plate location; Carry out according to color and texture information on the candidate region of coming out in the location that cut car plate location, characters on license plate, character recognition; Whether the vehicle region that detection and location are come out can accurately extract license board information; When license plate recognition result; The vehicle tracking chain is set up module 3013 and is set up a new tracking chain, follows the tracks of chain and preserves the information such as vehicle location, car plate position, license plate recognition result, vehicle and body color of vehicle at each frame, can add according to user's request.Disturb with suppressing in order to improve treatment effeciency; Vehicle has a probable ranges in charge station's porch speed, after orienting effective wagon for the first time, is object of reference with the car plate; Should the in-position according to predetermined speed range prediction next frame vehicle; When second two field picture is handled, be that benchmark respectively enlarges certain zone up and down and carries out vehicle location and car plate location with this position, can reduce the time that the full figure location is consumed like this; And suppress to disturb; Calculate vehicle actual motion speed according to this two frame times interval and car plate displacement simultaneously, substitute predetermined speed in the previous frame with this speed, the vehicle location prediction below continuing, vehicle location, car plate are located and character recognition.For example, the vehicle tracking chain length is 5 two field pictures, if there are 2 frames that license plate recognition result is arranged in 5 frames, just think a car, the vehicle number that sails in the square increases 1, eliminates and follows the tracks of chain.Otherwise, eliminate and to follow the tracks of chain for disturbing.
In the present embodiment; As shown in Figure 6; The said information generating unit 302 of rolling away from comprises: outgoing vehicles average velocity computing module 3021, be used for spacing L, and each ground induction coil is by the time t of same outgoing vehicles triggering according to said tollbooth ground induction coil and barrier machine ground induction coil
1, t
2, calculating the speed that said outgoing vehicles rolls charge station away from is v '=L/ (t
2-t
1); Outgoing vehicles length computation module 3022 is used for detecting the time t when being triggered according to the same ground induction coil of said outgoing vehicles process
3, and the time t after crossing
4, the length of calculating said outgoing vehicles is nOutLen=L * (t
4-t
3)/(t
2-t
1).
In the present embodiment; Describedly sail information generating unit 301 into and roll information generating unit 302 away from and be used to calculate incremental data and vehicle commander's data, the incremental data that sails vehicle into and vehicle commander's data of sailing vehicle into, also be used for the residual error of sailing vehicle and outgoing vehicles into is eliminated.
In the present embodiment, comprise three formations in the algorithm routine of master control set 3: sail in vehicle, outgoing vehicles and the square and have vehicle.Sail vehicle into and detect the length of vehicle, and sail vehicle according to existing vehicle in open number in track and the square into for each and distribute certain priority through image processing method.When charge station outlet ground induction coil has detected vehicle and has rolled away from; Vehicle matees in outgoing vehicles characteristic and the square; Mate according to priority order from high to low, mate this car of vehicle formation deletion in the successfully back square, other car priority of corresponding formation increase 1.If have the priority of certain car plate to change always or higher do not roll away from for a long time then think to sail into the end faults or roll end away from do not detect vehicle and roll away from, be remaining error in the track, remaining error is eliminated after reaching certain hour automatically.
In the present embodiment; Charge station does not have too big-difference to the chargeable time of each car; Even a certain car chargeable time grown and the long words of afterbody vehicle queue; Suppose that the probability that the driver sails each track into is impartial, the driver just gets into other tracks when seeing this track queue queue head, and promptly vehicle has the principle of FIFO.It is impartial just having swarmed into the probability that a car drives towards each track, sails end into and carries out car plate identification, and the license plate number that identifies is the uniquely tagged of each car, and subsidiary then have information such as vehicle commander that Video Detection comes out, overall height, vehicle, color.This car priority is 1 the highest; The vehicle priority of next sailing into arranges 2,3 successively backward ....; When rolling end away from and detected vehicle and roll away from; Detect the length and the big or small vehicle characteristic of vehicle through ground induction coil, outgoing vehicles with sail the height of vehicle into and mate according to priority, mate successfully afterwards in the square vehicle formation this car is deleted.Special time is set, smallerly has certain car in for a long time, never to eliminate then think that this car is that residual error will eliminate if block up.
In the present embodiment; Said open track total length generation unit is used for according to the corresponding length of the number in the open track of the charge station that prestores and each track; Generate the total length in the open track of charge station; Comprise: the number in the open track of said charge station is nLaneNums, and the length in said each open track is respectively nLaneLen
1, nLaneLen
2... nLaneLen
n, then said charge station open track total length does
In the present embodiment; Said square gross vehicle length generation unit is used for incremental data and the vehicle commander's data according to incremental data and vehicle commander's data of sailing vehicle into, outgoing vehicles; Calculate the gross vehicle length that generates in the charge station square; Comprise: the incremental data that sails vehicle into is nInCarNums, and vehicle commander's data of sailing vehicle into are nInLen, wherein; The said incremental data nInCarNums that sails vehicle into is the quantity summation of sailing vehicle into according to the picked-up of high-definition image data, and the said vehicle commander's data n InLen that sails vehicle into is the summation of sailing vehicle commander's data of vehicle into; The incremental data of outgoing vehicles is nOutCarNums; Vehicle commander's data of outgoing vehicles are nOutLen; Wherein, The incremental data nOutCarNums of said outgoing vehicles is the quantity summation of the outgoing vehicles that obtains according to the lane in which the drivers should pay fees ground induction coil, and vehicle commander's data n OutLen of said outgoing vehicles is the summation of vehicle commander's data of outgoing vehicles; Gross vehicle length=nInLen-nOutLen in the said charge station square.
In the present embodiment; The said ratio generation unit that blocks up is used for the gross vehicle length on charge station square is opened divided by said charge station the total length in track; Generate the ratio that blocks up on charge station square, comprising: nCrowdedRate=(nInLen-nOutLen)/nSumLaneLen * 100%, wherein; NCrowdedRate is for calculating the ratio that blocks up on the charge station square that generates, and nSumLaneLen is the total length in the open track of charge station.
In another embodiment; As shown in Figure 7, calculate master control set 3 and comprise that also zone bit is provided with unit 307, be used to vehicle set zone bit in each square; When said zone bit adds up when exceeding preset threshold automatically; Assert that then the corresponding vehicle of said zone bit is a residual error, at this moment, the said ratio that blocks up is: nCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%, wherein, nCarLen
0Vehicle commander's data for the corresponding vehicle of said zone bit.
The swarming into to break certain error is arranged on the precision of vehicle in the square might be broken vehicle and be greater than and swarm into vehicle, and will carry out zero clearing this moment to quantity in the square.Be the certain existence zone bit of each car design, along with the continuity of time, this zone bit adds up automatically, does not enough detect yet greatly when rolling away from when reaching, and thinks then that residual error is given to eliminate.The threshold size that preset residual error is eliminated with block up than proportional, when jam situation was more serious, vehicle rolled away from slow more, then the residence time is long more in the square.When supposing that t constantly, it is nCarLen that a certain length is arranged
0Car residence time in the square surpass specific threshold and still do not eliminate, think that then this car is that residual error will eliminate, this moment, the square blocked up than being nCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%.
Testing result generation unit 306 is used for generating the testing result that said charge station vehicle blocks up according to the described ratio that blocks up, and comprising: if the ratio that blocks up rises; Then send early warning; Indication increases open track quantity or free the clearance, and to improve the traffic efficiency of charge station, reduction is blocked up.
Following examples are to utilize the detection method and the system of the embodiment of the invention, and test statistics is carried out at certain expressway charge station, sailing the situation of rolling away from into and block up than situation synoptic diagram in a period of time.
Fig. 8 sails vehicle number time history plot into in the unit interval; Fig. 9 is a vehicle residue number time history plot in the square; Figure 10 is the ratio time history plot that blocks up in the square.Curve is represented and is sailed the vehicle number in the unit interval among Fig. 8, can find out, As time goes on, sails vehicle into and increases gradually, and the data rheology is big, and curve is skew upwards, and it is less to begin to open number of track-lines most, and outgoing vehicles is few; The curve that shows among Fig. 9 begins also to rise most, and expression is sailed the vehicle number into much larger than the outgoing vehicles number, and vehicle adds up always in the square; Figure 10 shows that the ratio that blocks up in the square increases gradually, and this moment, detection system proposed pre-alarm, notifies the open track of staff number very few; So in Fig. 8, dotted line begins to rise, the open number of track-lines of expression increases; So right side graph begins to descend in Fig. 9; Vehicle number reduces gradually in the square, and in Figure 10, the ratio that blocks up also reduces and reduces along with vehicle number purpose in the square.
If vehicle flowrate is bigger, a process that is free of charge and automatically lets pass is arranged, if vehicle flowrate is less, just the vehicle number that can reduce in the square along with increasing of the open number in charge station track is to reach the effect that reduces the ratio that blocks up.
Detection method and system that a kind of charge station vehicle of the embodiment of the invention blocks up; The block up thought of ratio of proposition; And can count simultaneously the vehicle on charge station's mill train and the toll plaza simultaneously, react the vehicle jam situation fast and intuitively, so the problem of can accurate detection charge station vehicle queue blocking up; Thereby vehicle pass-through efficient and service quality have been improved, for the current fast of vehicle provides strong support.
Above-described specific embodiment; The object of the invention, technical scheme and beneficial effect have been carried out further explain, and institute it should be understood that the above is merely specific embodiment of the present invention; And be not used in qualification protection scope of the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (18)
1. the detection method that charge station's vehicle blocks up is characterized in that, said detection method comprises:
Obtain the high-definition image data of charge station's upstream end,, generate incremental data and vehicle commander's data of sailing vehicle into according to vehicle location and car plate location;
Obtain incremental data and vehicle commander's data of outgoing vehicles through the lane in which the drivers should pay fees ground induction coil;
According to the corresponding length of number and each track in the open track of the charge station that prestores, generate the total length in the open track of charge station;
According to incremental data and vehicle commander's data of the said incremental data that sails vehicle into and vehicle commander's data, outgoing vehicles, calculate the gross vehicle length that generates in the charge station square;
With the total length of the gross vehicle length in the said charge station square, generate the ratio that blocks up on charge station square divided by the open track of said charge station;
According to the described ratio that blocks up, generate the testing result that said charge station vehicle blocks up.
2. detection method as claimed in claim 1 is characterized in that, said high-definition image data are obtained through the video camera that is arranged on charge station's upstream end, and said video camera is equipped with the light filling lamp.
3. detection method as claimed in claim 1 is characterized in that, said according to vehicle location and car plate location, incremental data and vehicle commander's data that vehicle is sailed in generation into comprise:
According to vehicle location and car plate location, the location effective wagon generates and sails the incremental data of vehicle into, and sets up the said vehicle tracking chain that sails vehicle into;
In described vehicle tracking chain,, calculate the said vehicle average velocity that sails vehicle into according to the interframe time interval in the high-definition image data of obtaining of sailing vehicle into;
Porch, charge station square in said high-definition image is provided with a virtual coil; Write down said sailing into the headstock of vehicle and the time interval that the tailstock triggers said virtual coil; The said vehicle average velocity and the said time interval are multiplied each other, generate the vehicle commander's data and the incremental data that sail vehicle into.
4. detection method as claimed in claim 1 is characterized in that, saidly obtains incremental data and vehicle commander's data of outgoing vehicles through the lane in which the drivers should pay fees coil, comprising:
Said the lane in which the drivers should pay fees coil comprises tollbooth ground induction coil and barrier machine ground induction coil, and two coil-spans are L, triggers the number of times of said ground induction coil according to said outgoing vehicles, generates the incremental data of said outgoing vehicles;
When said tollbooth ground induction coil and barrier machine ground induction coil are respectively t by the time that same outgoing vehicles triggers
1, t
2, the speed that then said outgoing vehicles rolls charge station away from is v '=L/ (t
2-t
1), the time when being triggered like same coil detection is t
3, the time after said outgoing vehicles crosses is t
4, then outgoing vehicles length is nOutLen=L * (t
4-t
3)/(t
2-t
1).
5. detection method as claimed in claim 1 is characterized in that, the corresponding length of the number in the open track of the charge station that said basis prestores and each track generates the total length that charge station opens the track, comprising:
The number in the open track of said charge station is nLaneNums, and the length in said each open track is respectively nLaneLen
1, nLaneLen
2... NLaneLen
n, then said charge station open track total length does
6. detection method as claimed in claim 5 is characterized in that, said basis is sailed incremental data and vehicle commander's data of vehicle, incremental data and vehicle commander's data of outgoing vehicles into, calculates the gross vehicle length that generates in the charge station square, comprising:
The incremental data that sails vehicle into is nInCarNums; Vehicle commander's data of sailing vehicle into are nInLen; Wherein, The said incremental data nInCarNums that sails vehicle into is the quantity summation of sailing vehicle into according to the picked-up of high-definition image data, and the said vehicle commander's data n InLen that sails vehicle into is the summation of sailing vehicle commander's data of vehicle into;
The incremental data of outgoing vehicles is nOutCarNums; Vehicle commander's data of outgoing vehicles are nOutLen; Wherein, The incremental data nOutCarNums of said outgoing vehicles is the quantity summation of the outgoing vehicles that obtains according to the lane in which the drivers should pay fees ground induction coil, and vehicle commander's data n OutLen of said outgoing vehicles is the summation of vehicle commander's data of outgoing vehicles;
Gross vehicle length=nInLen-nOutLen in the said charge station square.
7. detection method as claimed in claim 6 is characterized in that, and is said with the total length of the gross vehicle length in the charge station square divided by the open track of said charge station, generates the ratio that blocks up on charge station square, comprising:
NCrowdedRate=(nInLen-nOutLen)/nSumLaneLen * 100%, wherein, nCrowdedRate is for calculating the ratio that blocks up on the charge station square that generates, and nSumLaneLen is the total length in the open track of charge station.
8. detection method as claimed in claim 7; It is characterized in that, calculate the blocking up during ratio of said charge station square, also be included as the vehicle set zone bit in each square; When said zone bit adds up when exceeding preset threshold automatically; Assert that then the corresponding vehicle of said zone bit is a residual error, at this moment, the said ratio that blocks up is:
NCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%, wherein, nCarLen
0Vehicle commander's data for the corresponding vehicle of said zone bit.
9. like each described detection method of claim 1～8, it is characterized in that,, generate the testing result that said charge station vehicle blocks up, comprising according to the described ratio that blocks up:
Ratio rises if block up, and then sends early warning, and indication increases open track quantity or free the clearance.
10. the detection system that charge station's vehicle blocks up is characterized in that, said detection system comprises:
Video camera is used to obtain the high-definition image data of charge station's upstream end;
Charge station's ground induction coil comprises tollbooth ground induction coil and barrier machine ground induction coil, is used to obtain number of times and the time that outgoing vehicles triggers said each ground induction coil;
Master control set is used for the data obtained according to said high-definition image data and ground induction coil, generates testing result, and wherein, said master control set comprises:
Sail information generating unit into, be used for generating incremental data and vehicle commander's data of sailing vehicle into according to vehicle location, car plate location and said high-definition image data;
Roll information generating unit away from, the outgoing vehicles that is used for obtaining according to said charge station ground induction coil triggers the number of times and the time of said each ground induction coil, generates incremental data and vehicle commander's data of said outgoing vehicles;
Open track total length generation unit is used for the corresponding length of number and each track according to the open track of the charge station that prestores, and generates the total length in the open track of charge station;
Square gross vehicle length generation unit is used for incremental data and vehicle commander's data according to the said incremental data that sails vehicle into and vehicle commander's data, outgoing vehicles, calculates the gross vehicle length that generates in the charge station square;
The ratio generation unit that blocks up is used for the gross vehicle length on the said charge station square total length divided by the open track of said charge station is generated the ratio that blocks up on charge station square;
The testing result generation unit is used for generating the testing result that said charge station vehicle blocks up according to the described ratio that blocks up.
11. detection system as claimed in claim 10 is characterized in that, said video camera is equipped with the light filling lamp.
12. detection system as claimed in claim 10 is characterized in that, the said information generating unit of sailing into comprises:
The vehicle location module is used to carry out vehicle location, generates the incremental data that sails vehicle into;
The car plate locating module is used to carry out the car plate location;
The vehicle tracking chain is set up module, is used for according to said vehicle location and car plate location, and the location effective wagon is set up the said vehicle tracking chain that sails vehicle into;
Sail vehicle average velocity computing module into, be used for the vehicle tracking chain that sails vehicle into,, calculate the said vehicle average velocity that sails vehicle into according to the interframe time interval in the high-definition image data of obtaining of sailing vehicle in said foundation;
Time interval generation module is used in the porch, charge station square of said high-definition image a virtual coil being set, and writes down said sailing into the headstock of vehicle and the time interval that the tailstock triggers said virtual coil;
Vehicle commander's data generation module is used for the said vehicle average velocity and the said time interval are multiplied each other, and generates vehicle commander's data of sailing vehicle into.
13. detection system as claimed in claim 10 is characterized in that, the said information generating unit of rolling away from comprises:
Outgoing vehicles average velocity computing module is used for the spacing L according to said tollbooth ground induction coil and barrier machine ground induction coil, and each ground induction coil is by the time t of same outgoing vehicles triggering
1, t
2, calculating the speed that said outgoing vehicles rolls charge station away from is v '=L/ (t
2-t
1);
Outgoing vehicles length computation module is used for detecting the time t when being triggered according to the same ground induction coil of said outgoing vehicles process
3, and the time t after crossing
4, the length of calculating said outgoing vehicles is nOutLen=L * (t
4-t
3)/(t
2-t
1).
14. detection system as claimed in claim 10 is characterized in that, said open track total length generation unit is used for generating the total length in the open track of charge station according to the corresponding length of the number in the open track of the charge station that prestores and each track, comprising:
The number in the open track of said charge station is nLaneNums, and the length in said each open track is respectively nLaneLen
1, nLaneLen
2... NLaneLen
n, then said charge station open track total length does
15. detection system as claimed in claim 14; It is characterized in that; Said square gross vehicle length generation unit is used for incremental data and the vehicle commander's data according to incremental data and vehicle commander's data of sailing vehicle into, outgoing vehicles, calculates the gross vehicle length that generates in the charge station square, comprising:
The incremental data that sails vehicle into is nInCarNums; Vehicle commander's data of sailing vehicle into are nInLen; Wherein, The said incremental data nInCarNums that sails vehicle into is the quantity summation of sailing vehicle into according to the picked-up of high-definition image data, and the said vehicle commander's data n InLen that sails vehicle into is the summation of sailing vehicle commander's data of vehicle into;
The incremental data of outgoing vehicles is nOutCarNums; Vehicle commander's data of outgoing vehicles are nOutLen; Wherein, The incremental data nOutCarNums of said outgoing vehicles is the quantity summation of the outgoing vehicles that obtains according to the lane in which the drivers should pay fees ground induction coil, and vehicle commander's data n OutLen of said outgoing vehicles is the summation of vehicle commander's data of outgoing vehicles;
Gross vehicle length=nInLen-nOutLen in the said charge station square.
16. detection system as claimed in claim 15 is characterized in that, the said ratio generation unit that blocks up is used for the gross vehicle length on the charge station square total length divided by the open track of said charge station is generated the ratio that blocks up on charge station square, comprising:
NCrowdedRate=(nInLen-nOutLen)/nSumLaneLen * 100%, wherein, nCrowdedRate is for calculating the ratio that blocks up on the charge station square that generates, and nSumLaneLen is the total length in the open track of charge station.
17. detection system as claimed in claim 16; It is characterized in that, calculate master control set and comprise that also zone bit is provided with the unit, be used to vehicle set zone bit in each square; When said zone bit adds up when exceeding preset threshold automatically; Assert that then the corresponding vehicle of said zone bit is a residual error, at this moment, the said ratio that blocks up is:
NCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%, wherein, nCarLen
0Vehicle commander's data for the corresponding vehicle of said zone bit.
18., it is characterized in that like each described detection system of claim 10～17, be used for generating the testing result that said charge station vehicle blocks up according to the testing result generation unit according to the described ratio that blocks up, comprising:
Ratio rises if block up, and then sends early warning, and indication increases open track quantity or free the clearance.
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|---|---|---|---|
| CN201110401729.6A CN102521891B (en) | 2011-12-06 | 2011-12-06 | Method and system for detecting vehicle congestion at toll station |
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| CN103150894B (en) * | 2013-02-01 | 2015-07-15 | 东南大学 | Control method for eliminating traffic jam of expressway principal line toll station through flow |
| CN104966324A (en) * | 2015-07-13 | 2015-10-07 | 东南大学 | Highway toll station automatic release system based on free release boundary and method thereof |
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| CN109064754A (en) * | 2018-10-10 | 2018-12-21 | 南京宁昱通交通科技有限公司 | A kind of expressway access shunts and flow Collaborative Control technology |
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| CN109584387A (en) * | 2018-12-28 | 2019-04-05 | 西安艾润物联网技术服务有限责任公司 | Parking exit alarm method, apparatus and system |
| CN111243275A (en) * | 2020-03-03 | 2020-06-05 | 徐州工程学院 | Toll station traffic state monitoring device and method based on computer vision |
| CN112712710A (en) * | 2020-12-04 | 2021-04-27 | 广州市北二环交通科技有限公司 | Expressway exit ramp merging point induction signal control method, system and medium |
| CN115027480A (en) * | 2021-03-03 | 2022-09-09 | 观致汽车有限公司 | Vehicle driving assistance method and system, vehicle and storage medium |
| CN113393705A (en) * | 2021-05-31 | 2021-09-14 | 云南思码蔻科技有限公司 | Road condition management system based on reserved quantity of vehicles in tunnel or road |
| CN113393705B (en) * | 2021-05-31 | 2022-07-15 | 云南思码蔻科技有限公司 | Road condition management system based on reserved quantity of vehicles in tunnel or road |
| CN114550327A (en) * | 2022-04-27 | 2022-05-27 | 四川遂广遂西高速公路有限责任公司 | Single-person multi-lane situation awareness centralized control system and method |
| CN114550327B (en) * | 2022-04-27 | 2022-08-12 | 四川遂广遂西高速公路有限责任公司 | Single-person multi-lane situation awareness centralized control system and method |
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