CN102521891B - 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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- CN102521891B CN102521891B CN201110401729.6A CN201110401729A CN102521891B CN 102521891 B CN102521891 B CN 102521891B CN 201110401729 A CN201110401729 A CN 201110401729A CN 102521891 B CN102521891 B CN 102521891B
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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 freeway toll station vehicle congestion queuing detection technique, is a kind of detection method and system of vehicle congestion at toll station concretely, for the fast passing of vehicle provides strong support.
Background technology
Some freeway toll station queuing is at present blocked up very serious, has caused 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, or queuing vehicle number are over designated vehicle number, needs free clearance, to improve the traffic efficiency of charge station if queued up.
Due to toll plaza and charge mill train scene difference excessive, also do not have at present a kind of detection method and system to detect charge mill train and toll plaza vehicle queue simultaneously.And what can detect vehicle queue at present is mainly that video queue up to detect, the problem of its existence mainly:
Single video detects and is difficult to the vehicle of the vehicle of charge station's mill train and toll plaza to count simultaneously; Owing to existing tollbooth to block, can cause mill train vehicle count to have error; Due to occlusion problem, can cause video to detect vehicle data queued accuracy inadequate.
Summary of the invention
The object of the invention is to propose a kind of detection method and system of vehicle congestion at toll station, to solve exist in prior art vehicle congestion at toll station situation is detected slowly and the not high problem of accuracy.
In order to achieve the above object, the embodiment of the invention discloses a kind of detection method of vehicle congestion at toll station, comprising: obtain the high-definition image data of charge station's upstream end, according to vehicle location and car plate location, generate incremental data and vehicle commander's data of sailing vehicle into; By the lane in which the drivers should pay fees ground induction coil, obtain incremental data and vehicle commander's data of outgoing vehicles; According to the length corresponding to number and each track in the open track of the charge station prestoring, generate the total length in the open track of charge station; According to incremental data and vehicle commander's data of the described incremental data that sails vehicle into and vehicle commander's data, outgoing vehicles, calculate the gross vehicle length generating in charge station square; Total length by the gross vehicle length in described charge station square divided by the open track of described charge station, the ratio that blocks up on generation charge station square; According to the described ratio that blocks up, generate the testing result of described vehicle congestion at toll station.
In order to achieve the above object, the embodiment of the invention also discloses a kind of detection system of vehicle congestion at toll station, comprising: video camera, for obtaining 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, triggers number of times and the time of described each ground induction coil for obtaining outgoing vehicles; Master control set, for the data of obtaining according to described high-definition image data and ground induction coil, generate testing result, wherein, described master control set comprises: sail information generating unit into, for according to vehicle location, car plate location and described high-definition image data, generate incremental data and vehicle commander's data of sailing vehicle into; Roll information generating unit away from, for the outgoing vehicles obtaining according to described charge station ground induction coil, trigger number of times and the time of described each ground induction coil, generate incremental data and vehicle commander's data of described outgoing vehicles; Open track total length generation unit, for according to the length corresponding to number and each track in the open track of the charge station prestoring, generates the total length in the open track of charge station; Square gross vehicle length generation unit, for sailing incremental data and vehicle commander's data of the incremental data of vehicle and vehicle commander's data, outgoing vehicles described in basis into, calculates the gross vehicle length generating in charge station square; The ratio generation unit that blocks up, for the total length divided by the open track of described charge station by the gross vehicle length on described charge station square, generates the ratio that blocks up on charge station square; Testing result generation unit, for according to the described ratio that blocks up, generates the testing result of described vehicle congestion at toll station.
The detection method of the vehicle congestion at toll station of the embodiment of the present invention and system, can to the vehicle on charge station's mill train and toll plaza, count simultaneously simultaneously, and the thought of the ratio that proposes to block up, react fast and intuitively vehicle jam situation, therefore can be quick, detect accurately charge station's degree of blocking up, thereby the dynamic opportunity of opening the number of charge outlet and adopting multifee, and possible blocking up reported to the police in advance, allowing toll administration personnel carry out in advance prediction scheme prepares, thereby improve vehicle pass-through efficiency and service quality, for the fast passing of vehicle provides strong support.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those skilled in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the method flow diagram of detection method of the vehicle congestion at toll station of the embodiment of the present invention;
Fig. 2 is the schematic diagram of the embodiment of a kind of calculating of the present invention vehicle commander's data of sailing vehicle into;
Fig. 3 is the structural representation of detection system of a kind of vehicle congestion at toll station of the embodiment of the present invention;
Fig. 4 is the structural representation of master control set 3 embodiment illustrated in fig. 3;
Fig. 5 is the embodiment illustrated in fig. 4 structural representation that sails information generating unit 301 into;
Fig. 6 is the embodiment illustrated in fig. 4 structural representation that rolls information generating unit 302 away from;
Fig. 7 is the structural representation of another embodiment of the master control set 3 in Fig. 3;
Fig. 8 sails vehicle number time history plot in 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
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the method flow diagram of detection method of the vehicle congestion at toll station of the embodiment of the present invention, and as shown in the figure, the detection method of the 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 by the lane in which the drivers should pay fees ground induction coil; Step S103, according to the length corresponding to number and each track in the open track of the charge station prestoring, generates the total length in the open track of charge station; Step S104, according to incremental data and vehicle commander's data of the described incremental data that sails vehicle into and vehicle commander's data, outgoing vehicles, calculates the gross vehicle length generating in charge station square; Step S105, the total length by the gross vehicle length in described charge station square divided by the open track of described charge station, the ratio that blocks up on generation charge station square; Step S106, according to the described ratio that blocks up, generates the testing result of described vehicle congestion at toll station.
In step S101, described high-definition image data are obtained by being arranged on the video camera of charge station's upstream end.In the present embodiment, video camera is high-definition camera, is arranged on the L bar of the porch, charge station square at 100~300 meters of of tollbooth, and camera height, in 6-8 rice left and right, is equipped with light compensating lamp for carrying out at night light filling.
In the present embodiment, described according to vehicle location and car plate location in step S101, incremental data and vehicle commander's data of vehicle are sailed in generation into, comprise: first, according to vehicle location and car plate location, location effective wagon, generates the incremental data that sails vehicle into, and described in setting up, sails the vehicle tracking chain of vehicle into; Secondly, in described vehicle tracking chain, according to the interframe time interval in the high-definition image data of sailing vehicle into of obtaining, sail the vehicle average velocity of vehicle described in calculating into; Finally, porch, charge station square in described high-definition image arranges a virtual coil, described in record, sail the headstock of vehicle and the time interval that the tailstock triggers described virtual coil into, described vehicle average velocity and the described 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 by the method that the cycle upgrades and full figure upgrades, present frame and background corresponding point pixel are done poor to obtain background subtraction figure, with OTSU, carry out binaryzation, in background subtraction binary map, find the connected domain that area is greater than setting regions, according to white point connectedness, position searching vehicle; On candidate region out, location, according to color and texture information, carry out car plate location, characters on license plate cutting, character recognition, whether detection and location vehicle region out can accurately extract license board information, when having license plate recognition result, set up a new tracking chain, follow the tracks of chain and preserve vehicle in the information such as vehicle location, car plate position, license plate recognition result, vehicle and body color of each frame, can add according to user's request.In order to improve treatment effeciency and to suppress, disturb, vehicle has a probable ranges in charge station's porch speed, after orienting effective wagon for the first time, take car plate as object of reference, should in-position according to predetermined speed range prediction next frame vehicle, when the second two field picture is processed, take this position carries out vehicle location and car plate location as benchmark respectively expands certain area up and down, can reduce like this time that full figure location consumes, and suppress to disturb, according to this two frame times interval and car plate displacement, calculate vehicle actual motion speed simultaneously, by this speed, substitute predetermined speed in previous frame, continue vehicle location prediction below, vehicle location, car plate location and character recognition.For example, vehicle tracking chain length is 5 two field pictures, if there are 2 frames to have license plate recognition result in 5 frames, just think a car, the vehicle number sailing in square increases 1, eliminates and follows the tracks of chain.Otherwise for disturbing, eliminate this tracking chain.
In one embodiment, the vehicle commander that can take following methods to calculate to sail vehicle into: on the complete tracking chain of car, each frame recording this car plate position, place, utilize the interframe time interval in view data, ask for the average velocity v in car plate five frames.Porch, charge station square on image arranges 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, the vehicle commander that vehicle is sailed in calculating into can also take following method:
Two dummy line are set in image, as shown in Figure 2, and converse in practice 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 travel between these two lines, when being detected vehicle and just swarmed into by the poor and background subtraction of frame, headstock is through the time t1 of start line, detect the time t2 that the tailstock crosses start line, headstock crosses the time t3 of terminated line, and car speed is s/ (t
3-t
1), vehicle commander nInLen
i=s (t
2-t
1)/(t
3-t
1).
In step S102, by the lane in which the drivers should pay fees coil, obtain the incremental data of outgoing vehicles and the method for vehicle commander's data comprises: described the lane in which the drivers should pay fees coil comprises tollbooth ground induction coil and barrier machine ground induction coil, two known spacing of coil are L, according to described outgoing vehicles, trigger the number of times of described ground induction coil, generate the incremental data of described outgoing vehicles.It is identical with the number of times of barrier machine ground induction coil that outgoing vehicles triggers tollbooth ground induction coil, and ground induction coil can detect on ground whether have object, when ground induction coil is triggered, just thinks and has vehicle to roll away from, and outgoing vehicles number adds 1.
The time that described tollbooth ground induction coil and barrier machine ground induction coil are triggered by same outgoing vehicles is respectively t
1, t
2, to roll the speed of charge station away from be v '=L/ (t to described outgoing vehicles
2-t
1), the time while being triggered as same coil detection is t
3, the time after described outgoing vehicles crosses is t
4, 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 and eliminating sailing the residual error of vehicle and outgoing vehicles into.
In the present embodiment, in the algorithm routine of master control set, comprise three queues: sail in vehicle, outgoing vehicles and square and have vehicle.Sail vehicle into and by image processing method, detect the length of vehicle, and according to existing vehicle in the open number in track and square, for each, sail vehicle into and distribute certain priority.When charge station outlet ground induction coil has detected vehicle and has rolled away from, outgoing vehicles feature is mated with vehicle in square, according to priority order from high to low, mate, after the match is successful, in square, vehicle platoon is deleted this car, and other car priority of corresponding queue increase 1.If there is the priority of certain car plate change or do not roll away from for a long time compared with high always, think to sail into end and detect wrong or roll end away from and do not detect vehicle and roll away from, be surviving error in track, surviving 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 to a certain the long words of car chargeable time compare Chang Er afterbody vehicle queue, suppose that the probability that driver sails each track into is impartial, driver just enters other tracks while seeing this track queue queue head, and vehicle has the principle of first-in first-out.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 uniquely tagged that the license plate number identifying is each car, is then accompanied with the information such as vehicle commander that video detects, overall height, vehicle, color.This car priority is 1 the highest, the vehicle priority of next sailing into arranges 2 successively backward, 3, ...., when rolling end away from and vehicle detected and roll away from, by ground induction coil, detect length and the big or small vehicle feature of vehicle, outgoing vehicles with sail vehicle into and mate according to the height of priority, after the match is successful in square vehicle platoon by this car deletion.Special time is set, if block up smaller certain the car never elimination in for a long time that has, thinks that this car is that residual error will eliminate.
In step S103, the length corresponding to number and each track in the open track of charge station that described basis prestores, generates the total length that charge station opens track, comprising:
The number in the open track of described charge station is nLaneNums, and the length in described each open track is respectively nLaneLen
1, nLaneLen
2... nLaneLen
n, the open track of described charge station total length is
In step S104, described basis is sailed incremental data and vehicle commander's data of the incremental data of vehicle and vehicle commander's data, outgoing vehicles into, calculates the gross vehicle length generating in 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 described incremental data nInCarNums that sails vehicle into is for according to the quantity summation of sailing vehicle into of high-definition image data picked-up, described in sail vehicle into vehicle commander's data n InLen be 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 quantity summation that the incremental data nOutCarNums of described outgoing vehicles is the outgoing vehicles that obtains according to the lane in which the drivers should pay fees ground induction coil, the summation of vehicle commander's data that vehicle commander's data n OutLen of described outgoing vehicles is outgoing vehicles; Gross vehicle length=nInLen-nOutLen in described charge station square.
In step S105, the described total length in track that gross vehicle length in charge station square is opened divided by described charge station, generate the ratio that blocks up on charge station square, comprise: nCrowdedRate=(nInLen-nOutLen)/nSumLaneLen * 100%, wherein, nCrowdedRate is for calculating the ratio that blocks up on the charge station square generating, and nSumLaneLen is the total length in the open track of charge station.
Calculating the blocking up during ratio of described charge station square, also be included as the vehicle set zone bit in each square, automatically cumulative while exceeding the threshold value of setting when described zone bit, assert that the vehicle that described zone bit is corresponding is residual error, now, the ratio that blocks up described in is:
NCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%, wherein, nCarLen
0vehicle commander's data for vehicle corresponding to described zone bit.
The swarming into break in precision and have certain error of vehicle in square, likely breaks vehicle and is greater than and swarms into vehicle, and now in Yao Dui square, quantity is carried out zero clearing.For each car designs certain existence zone bit, along with the continuity of time, this zone bit is automatically cumulative, when reaching, does not enough detect yet greatly while rolling away from, thinks that residual error is to eliminating.The threshold size that default residual error is eliminated with block up than proportional, when jam situation is more serious, vehicle rolls away from slower, in Ze square, the residence time is longer.While supposing that t constantly, having a certain length is nCarLen
0in Che square, the residence time does not still eliminate over specific threshold, thinks that this car is that residual error will eliminate, and now square blocks up than being nCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%.
In step S106, the ratio that blocks up described in described basis, generates the testing result of described vehicle congestion at toll station, comprise: if the ratio that blocks up rises, send early warning, indication increases open track quantity or freely lets pass, to improve the traffic efficiency of charge station, reduction is blocked up.
Fig. 3 is the structural representation of detection system of a kind of vehicle congestion at toll station of the embodiment of the present invention, and as shown in the figure, described detection system comprises:
Video camera 1, for obtaining 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, triggers number of times and the time of described each ground induction coil for obtaining outgoing vehicles; Master control set 3, for the data of obtaining according to described high-definition image data and ground induction coil, generates testing result.In the present embodiment, video camera 1 is high-definition camera, is arranged on the L bar of the porch, charge station square at 300 meters of of tollbooth, and camera height is in 6-8 rice left and right, and light compensating lamp is housed for carrying out at night light filling.Master control set is a set of FPGA+DSP Duo-Core Architecture master control processing platform, for fast, accurately detecting charge station's problem of blocking up of queuing up.
Wherein, as shown in Figure 4, described master control set 3 comprises: sail information generating unit 301 into, for according to vehicle location, car plate location and described high-definition image data, generate incremental data and vehicle commander's data of sailing vehicle into; Roll information generating unit 302 away from, for the outgoing vehicles obtaining according to described charge station ground induction coil, trigger number of times and the time of described each ground induction coil, generate incremental data and vehicle commander's data of described outgoing vehicles; Open track total length generation unit 303, for according to the length corresponding to number and each track in the open track of the charge station prestoring, generates the total length in the open track of charge station; Square gross vehicle length generation unit 304, for sailing incremental data and vehicle commander's data of the incremental data of vehicle and vehicle commander's data, outgoing vehicles described in basis into, calculates the gross vehicle length generating in charge station square; The ratio generation unit 305 that blocks up, for the total length divided by the open track of described charge station by the gross vehicle length on described charge station square, generates the ratio that blocks up on charge station square; Testing result generation unit 306, for according to the described ratio that blocks up, generates the testing result of described vehicle congestion at toll station.
In the present embodiment, as shown in Figure 5, described in sail information generating unit 301 into and comprise: vehicle location module 3011, for carrying out vehicle location, generates the incremental data that sails vehicle into; Car plate locating module 3012, for carrying out car plate location; Vehicle tracking chain is set up module 3013, and for according to described vehicle location and car plate location, location effective wagon, sails the vehicle tracking chain of vehicle described in foundation into; Sail vehicle average velocity computing module 3014 into, for the vehicle tracking chain that sails vehicle in described foundation, according to the interframe time interval in the high-definition image data of sailing vehicle into of obtaining, sail the vehicle average velocity of vehicle described in calculating into; Time interval generation module 3015, arranges a virtual coil for the porch, charge station square at described high-definition image, sails the headstock of vehicle and the time interval that the tailstock triggers described virtual coil into described in record; Vehicle commander's data generation module 3016, for described vehicle average velocity and the described time interval are multiplied each other, generates vehicle commander's data of sailing vehicle into.
In the present embodiment, when vehicle location module 3011 is carried out vehicle location, because charge station's porch scene compares single stable, can obtain stable background by the method that the cycle upgrades and full figure upgrades, present frame and background corresponding point pixel are done poor to obtain background subtraction figure, with OTSU, carry out binaryzation, in background subtraction binary map, find the connected domain that area is greater than setting regions, according to white point connectedness, position searching vehicle; When car plate locating module 3012 carries out car plate location, on candidate region out, location, according to color and texture information, carry out car plate location, characters on license plate cutting, character recognition, whether detection and location vehicle region out can accurately extract license board information, when having license plate recognition result, vehicle tracking chain is set up module 3013 and is set up a new tracking chain, follow the tracks of chain and preserve vehicle in the information such as vehicle location, car plate position, license plate recognition result, vehicle and body color of each frame, can add according to user's request.In order to improve treatment effeciency and to suppress, disturb, vehicle has a probable ranges in charge station's porch speed, after orienting effective wagon for the first time, take car plate as object of reference, should in-position according to predetermined speed range prediction next frame vehicle, when the second two field picture is processed, take this position carries out vehicle location and car plate location as benchmark respectively expands certain area up and down, can reduce like this time that full figure location consumes, and suppress to disturb, according to this two frame times interval and car plate displacement, calculate vehicle actual motion speed simultaneously, by this speed, substitute predetermined speed in previous frame, continue vehicle location prediction below, vehicle location, car plate location and character recognition.For example, vehicle tracking chain length is 5 two field pictures, if there are 2 frames to have license plate recognition result in 5 frames, just think a car, the vehicle number sailing in square increases 1, eliminates and follows the tracks of chain.Otherwise for disturbing, eliminate this tracking chain.
In the present embodiment, as shown in Figure 6, the described information generating unit 302 of rolling away from comprises: outgoing vehicles average velocity computing module 3021, and for according to the spacing L of described tollbooth ground induction coil and barrier machine ground induction coil, and the time t that triggered by same outgoing vehicles of each ground induction coil
1, t
2, calculating the speed that described outgoing vehicles rolls charge station away from is v '=L/ (t
2-t
1); Outgoing vehicles length computation module 3022, for according to the same ground induction coil of described outgoing vehicles process, detects the time t while being triggered
3, and the time t after crossing
4, the length of calculating described outgoing vehicles is nOutLen=L * (t
4-t
3)/(t
2-t
1).
In the present embodiment, described sails information generating unit 301 into and rolls information generating unit 302 away from for calculating incremental data and vehicle commander's data, the incremental data that sails vehicle into and vehicle commander's data of sailing vehicle into, also for eliminating sailing the residual error of vehicle and outgoing vehicles into.
In the present embodiment, in the algorithm routine of master control set 3, comprise three queues: sail in vehicle, outgoing vehicles and square and have vehicle.Sail vehicle into and by image processing method, detect the length of vehicle, and according to existing vehicle in the open number in track and square, for each, sail vehicle into and distribute certain priority.When charge station outlet ground induction coil has detected vehicle and has rolled away from, outgoing vehicles feature is mated with vehicle in square, according to priority order from high to low, mate, after the match is successful, in square, vehicle platoon is deleted this car, and other car priority of corresponding queue increase 1.If there is the priority of certain car plate change or do not roll away from for a long time compared with high always, think to sail into end and detect wrong or roll end away from and do not detect vehicle and roll away from, be surviving error in track, surviving 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 to a certain the long words of car chargeable time compare Chang Er afterbody vehicle queue, suppose that the probability that driver sails each track into is impartial, driver just enters other tracks while seeing this track queue queue head, and vehicle has the principle of first-in first-out.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 uniquely tagged that the license plate number identifying is each car, is then accompanied with the information such as vehicle commander that video detects, overall height, vehicle, color.This car priority is 1 the highest, the vehicle priority of next sailing into arranges 2 successively backward, 3, ...., when rolling end away from and vehicle detected and roll away from, by ground induction coil, detect length and the big or small vehicle feature of vehicle, outgoing vehicles with sail vehicle into and mate according to the height of priority, after the match is successful in square vehicle platoon by this car deletion.Special time is set, if block up smaller certain the car never elimination in for a long time that has, thinks that this car is that residual error will eliminate.
In the present embodiment, described open track total length generation unit is for opening the length corresponding to number and each track in track according to the charge station prestoring, generate the total length in the open track of charge station, comprise: the number in the open track of described charge station is nLaneNums, and the length in described each open track is respectively nLaneLen
1, nLaneLen
2... nLaneLen
n, the open track of described charge station total length is
In the present embodiment, described square gross vehicle length generation unit is for according to incremental data and vehicle commander's data of sailing the incremental data of vehicle and vehicle commander's data, outgoing vehicles into, calculate the gross vehicle length generating in charge station square, comprise: the incremental data that sails vehicle into is nInCarNums, vehicle commander's data of sailing vehicle into are nInLen, wherein, the described incremental data nInCarNums that sails vehicle into is for according to the quantity summation of sailing vehicle into of high-definition image data picked-up, described in sail vehicle into vehicle commander's data n InLen be 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 quantity summation that the incremental data nOutCarNums of described outgoing vehicles is the outgoing vehicles that obtains according to the lane in which the drivers should pay fees ground induction coil, the summation of vehicle commander's data that vehicle commander's data n OutLen of described outgoing vehicles is outgoing vehicles; Gross vehicle length=nInLen-nOutLen in described charge station square.
In the present embodiment, the described ratio generation unit that blocks up is for the total length divided by the open track of described charge station by the gross vehicle length on charge station square, generate the ratio that blocks up on charge station square, comprise: nCrowdedRate=(nInLen-nOutLen)/nSumLaneLen * 100%, wherein, nCrowdedRate is for calculating the ratio that blocks up on the charge station square generating, 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 also comprise zone bit setting unit 307, be used to vehicle set zone bit in each square, when described zone bit automatically cumulative while exceeding the threshold value of setting, assert that the vehicle that described zone bit is corresponding is residual error, now, described in the ratio that blocks up be: nCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%, wherein, nCarLen
0vehicle commander's data for vehicle corresponding to described zone bit.
The swarming into break in precision and have certain error of vehicle in square, likely breaks vehicle and is greater than and swarms into vehicle, and now in Yao Dui square, quantity is carried out zero clearing.For each car designs certain existence zone bit, along with the continuity of time, this zone bit is automatically cumulative, when reaching, does not enough detect yet greatly while rolling away from, thinks that residual error is to eliminating.The threshold size that default residual error is eliminated with block up than proportional, when jam situation is more serious, vehicle rolls away from slower, in Ze square, the residence time is longer.While supposing that t constantly, having a certain length is nCarLen
0in Che square, the residence time does not still eliminate over specific threshold, thinks that this car is that residual error will eliminate, and now square blocks up than being nCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%.
Testing result generation unit 306, for according to the described ratio that blocks up, generates the testing result of described vehicle congestion at toll station, comprising: if the ratio that blocks up rises, send early warning, indication increases open track quantity or freely lets pass, and to improve the traffic efficiency of charge station, reduction is blocked up.
Following examples are to utilize detection method and the system of the embodiment of the present invention, test statistics are carried out in certain expressway charge station, sailing the situation of rolling away from into and blocking up than situation schematic diagram within a period of time.
Fig. 8 sails vehicle number time history plot in the unit interval; Vehicle residue number time history plot in Tu9Wei square; Figure 10 is the ratio time history plot that blocks up in square.In Fig. 8, curve represents in the unit interval and sails vehicle number into, can find out, As time goes on, sails vehicle into and increases gradually, and data rheology is large, and curve is skew upwards, starts to open number of track-lines most less, and outgoing vehicles is few; The curve showing in Fig. 9 starts also to rise most, represents to sail vehicle number into much larger than outgoing vehicles number, and in square, vehicle is always cumulative; Figure 10 shows that the ratio that blocks up in square increases gradually, now detection system proposes pre-alarm, notify the open track of staff number very few, so in Fig. 8, dotted line starts to rise, represent that open number of track-lines increases, so right side graph starts to decline in Fig. 9, in square, vehicle number reduces gradually, and in Figure 10, the ratio that blocks up also reduces along with the minimizing of number of vehicles in square.
If vehicle flowrate is larger, there is a process that is free of charge and automatically lets pass, if vehicle flowrate is less, just the vehicle number that can reduce in square along with increasing of the open number in charge station track is to reach the effect that reduces the ratio that blocks up.
The detection method of a kind of vehicle congestion at toll station of the embodiment of the present invention and system, the block up thought of ratio of proposition, and can to the vehicle on charge station's mill train and toll plaza, count simultaneously simultaneously, react fast and intuitively vehicle jam situation, therefore can detect fast and accurately vehicle queue of the charge station problem of blocking up, thereby vehicle pass-through efficiency and service quality have been improved, for the fast passing of vehicle provides strong support.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; the protection domain being not intended to limit the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (14)
1. a detection method for vehicle congestion at toll station, is characterized in that, described detection method comprises:
Obtain the high-definition image data of charge station's upstream end, according to vehicle location and car plate location, generate incremental data and vehicle commander's data of sailing vehicle into;
By the lane in which the drivers should pay fees ground induction coil, obtain incremental data and vehicle commander's data of outgoing vehicles;
For the vehicle set zone bit in each toll plaza, when described zone bit automatically cumulative while exceeding the threshold value of setting, vehicle corresponding to zone bit that exceeds the threshold value of setting described in identification is residual error, and described in obtaining, exceeds vehicle commander's data of the vehicle that the zone bit of threshold value of setting is corresponding;
According to the length corresponding to number and each track in the open track of the charge station prestoring, generate the total length in the open track of charge station;
According to incremental data and vehicle commander's data of the described incremental data that sails vehicle into and vehicle commander's data, outgoing vehicles, exceed vehicle commander's data of the vehicle that the zone bit of threshold value of setting is corresponding, calculate the gross vehicle length generating in charge station square;
Total length by the gross vehicle length in described charge station square divided by the open track of described charge station, the ratio that blocks up on generation charge station square;
According to the described ratio that blocks up, generate the testing result of described vehicle congestion at toll station.
2. detection method as claimed in claim 1, is characterized in that, described high-definition image data are obtained by being arranged on the video camera of charge station's upstream end, and described video camera is equipped with light compensating lamp.
3. detection method as claimed in claim 1, is characterized in that, described according to vehicle location and car plate location, incremental data and vehicle commander's data that vehicle is sailed in generation into, comprising:
According to vehicle location and car plate location, location effective wagon, generates the incremental data that sails vehicle into, and described in setting up, sails the vehicle tracking chain of vehicle into;
In described vehicle tracking chain, according to the interframe time interval in the high-definition image data of sailing vehicle into of obtaining, sail the vehicle average velocity of vehicle described in calculating into;
Porch, charge station square in described high-definition image arranges a virtual coil, described in record, sail the headstock of vehicle and the time interval that the tailstock triggers described virtual coil into, described vehicle average velocity and the described 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, described incremental data and the vehicle commander's data of obtaining outgoing vehicles by the lane in which the drivers should pay fees coil, comprising:
Described 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 described ground induction coil according to described outgoing vehicles, generates the incremental data of described outgoing vehicles;
The time of being triggered by same outgoing vehicles when described tollbooth ground induction coil and barrier machine ground induction coil is respectively t
1, t
2, to roll the speed of charge station away from be v'=L/ (t to described outgoing vehicles
2-t
1), the time while being triggered as same coil detection is t
3, the time after described outgoing vehicles crosses is t
4, 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 length corresponding to number and each track in the open track of charge station that described basis prestores, generates the total length that charge station opens track, comprising:
The number in the open track of described charge station is nLaneNums, and the length in described each open track is respectively nLaneLen
1, nLaneLen
2... nLaneLen
n, the open track of described charge station total length is
6. detection method as claimed in claim 5, it is characterized in that, described basis sail into the incremental data of vehicle and vehicle commander's data, outgoing vehicles incremental data and vehicle commander's data, exceed vehicle commander's data of the vehicle that the zone bit of threshold value of setting is corresponding, calculate the gross vehicle length generating in charge station square, and the described total length in track that gross vehicle length in described charge station square is opened divided by described charge station, the ratio that blocks up that generates 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 described incremental data nInCarNums that sails vehicle into is for according to the quantity summation of sailing vehicle into of high-definition image data picked-up, described in sail vehicle into vehicle commander's data n InLen be 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 quantity summation that the incremental data nOutCarNums of described outgoing vehicles is the outgoing vehicles that obtains according to the lane in which the drivers should pay fees ground induction coil, the summation of vehicle commander's data that vehicle commander's data n OutLen of described outgoing vehicles is outgoing vehicles;
The described ratio that blocks up is:
NCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%, wherein, nCrowdedRate is for calculating the ratio that blocks up on the charge station square generating, nCarLen
0for vehicle commander's data of vehicle corresponding to described zone bit, nSumLaneLen is the total length in the open track of charge station.
7. the detection method as described in claim 1~6 any one, is characterized in that, according to the described ratio that blocks up, generates the testing result of described vehicle congestion at toll station, comprising:
If blocked up, ratio rises, and sends early warning, and indication increases open track quantity or freely lets pass.
8. a detection system for vehicle congestion at toll station, is characterized in that, described detection system comprises:
Video camera, for obtaining 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, triggers number of times and the time of ground induction coil described in each for obtaining outgoing vehicles;
Master control set, for the data of obtaining according to described high-definition image data and ground induction coil, generates testing result, and wherein, described master control set comprises:
Sail information generating unit into, for according to vehicle location, car plate location and described high-definition image data, generate incremental data and vehicle commander's data of sailing vehicle into;
Roll information generating unit away from, for the outgoing vehicles obtaining according to described charge station ground induction coil, trigger number of times and the time of ground induction coil described in each, generate incremental data and vehicle commander's data of described outgoing vehicles;
Zone bit setting unit, be used to the vehicle set zone bit in each toll plaza, when described zone bit automatically cumulative while exceeding the threshold value of setting, vehicle corresponding to zone bit that exceeds the threshold value of setting described in identification is residual error, and described in obtaining, exceeds vehicle commander's data of the vehicle that the zone bit of threshold value of setting is corresponding;
Open track total length generation unit, for according to the length corresponding to number and each track in the open track of the charge station prestoring, generates the total length in the open track of charge station;
Square gross vehicle length generation unit, for according to described in sail into the incremental data of vehicle and vehicle commander's data, outgoing vehicles incremental data and vehicle commander's data, exceed vehicle commander's data of the vehicle that the zone bit of threshold value of setting is corresponding, calculate the gross vehicle length generating in charge station square;
The ratio generation unit that blocks up, for the total length divided by the open track of described charge station by the gross vehicle length on described charge station square, generates the ratio that blocks up on charge station square;
Testing result generation unit, for according to the described ratio that blocks up, generates the testing result of described vehicle congestion at toll station.
9. detection system as claimed in claim 8, is characterized in that, described video camera is equipped with light compensating lamp.
10. detection system as claimed in claim 8, is characterized in that, described in sail information generating unit into and comprise:
Vehicle location module, for carrying out vehicle location, generates the incremental data that sails vehicle into;
Car plate locating module, for carrying out car plate location;
Vehicle tracking chain is set up module, and for according to described vehicle location and car plate location, location effective wagon, sails the vehicle tracking chain of vehicle described in foundation into;
Sail vehicle average velocity computing module into, for the vehicle tracking chain that sails vehicle in described foundation, according to the interframe time interval in the high-definition image data of sailing vehicle into of obtaining, sail the vehicle average velocity of vehicle described in calculating into;
Time interval generation module, arranges a virtual coil for the porch, charge station square at described high-definition image, sails the headstock of vehicle and the time interval that the tailstock triggers described virtual coil into described in record;
Vehicle commander's data generation module, for described vehicle average velocity and the described time interval are multiplied each other, generates vehicle commander's data of sailing vehicle into.
11. detection systems as claimed in claim 8, is characterized in that, described in roll information generating unit away from and comprise:
Outgoing vehicles average velocity computing module, for according to the spacing L of described tollbooth ground induction coil and barrier machine ground induction coil, and the time t that triggered by same outgoing vehicles of each ground induction coil
1, t
2, calculating the speed that described outgoing vehicles rolls charge station away from is v'=L/ (t
2-t
1);
Outgoing vehicles length computation module, for according to the same ground induction coil of described outgoing vehicles process, detects the time t while being triggered
3, and the time t after crossing
4, the length of calculating described outgoing vehicles is nOutLen=L * (t
4-t
3)/(t
2-t
1).
12. detection systems as claimed in claim 8, is characterized in that, described open track total length generation unit, for according to the length corresponding to number and each track in the open track of the charge station prestoring, generates the total length in the open track of charge station, comprising:
The number in the open track of described charge station is nLaneNums, and the length in described each open track is respectively nLaneLen
1, nLaneLen
2... nLaneLen
n, the open track of described charge station total length is
13. detection systems as claimed in claim 12, it is characterized in that, described square gross vehicle length generation unit for according to sail into the incremental data of vehicle and vehicle commander's data, outgoing vehicles incremental data and vehicle commander's data, exceed vehicle commander's data of the vehicle that the zone bit of threshold value of setting is corresponding, calculate the gross vehicle length generating in charge station square, and described in block up ratio generation unit for the total length divided by the open track of described charge station by the gross vehicle length on described charge station square, the ratio that blocks up that generates 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 described incremental data nInCarNums that sails vehicle into is for according to the quantity summation of sailing vehicle into of high-definition image data picked-up, described in sail vehicle into vehicle commander's data n InLen be 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 quantity summation that the incremental data nOutCarNums of described outgoing vehicles is the outgoing vehicles that obtains according to the lane in which the drivers should pay fees ground induction coil, the summation of vehicle commander's data that vehicle commander's data n OutLen of described outgoing vehicles is outgoing vehicles;
The described ratio that blocks up is:
NCrowdedRate=(nInLen-nOutLen-nCarLen
0)/nSumLaneLen * 100%, wherein, nCrowdedRate is for calculating the ratio that blocks up on the charge station square generating, nCarLen
0for vehicle commander's data of vehicle corresponding to described zone bit, nSumLaneLen is the total length in the open track of charge station.
14. detection systems as described in claim 8~13 any one, is characterized in that, according to testing result generation unit, for according to the described ratio that blocks up, generate the testing result of described vehicle congestion at toll station, comprising:
If blocked up, ratio rises, and sends early warning, and indication increases open track quantity or freely lets pass.
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