CN102881171A - Vehicle detecting method, vehicle detecting system and vehicle path planning system - Google Patents
Vehicle detecting method, vehicle detecting system and vehicle path planning system Download PDFInfo
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Abstract
The invention discloses a vehicle detecting method. The method comprises the following steps of: acquiring the original three-dimensional terrestrial magnetism signal of a destination in real time, and acquiring corresponding three-dimensional baseline data from the original three-dimensional terrestrial magnetism signal; filtering the acquired three-dimensional terrestrial magnetism signal, and acquiring smooth three-dimensional terrestrial magnetism signal data from the filtered three-dimensional terrestrial magnetism signal; calculating difference values between the three-dimensional terrestrial magnetism signal data and the baseline data, if at least two difference values in three difference values are greater than a preset threshold value, determining the three-dimensional terrestrial magnetism signal as a vehicle signal, and updating the baseline data according to a determination result of the three-dimensional terrestrial magnetism signal; and when the three-dimensional terrestrial magnetism signal is continuously determined to be the vehicle signal for multiple times, marking a vehicle state. By the vehicle detecting method, a baseline can be dynamically adjusted through the determination result of the three-dimensional terrestrial magnetism signal, and the problem of drifting of a terrestrial magnetic field is well solved; and the vehicle signal is continuously judged for multiple times, so that detection leakage or detection redundancy is prevented, and the detection accuracy is greatly improved.
Description
Technical field
The present invention relates to vehicle detection, particularly relate to a kind of vehicle checking method and vehicle detecting system thereof and vehicle path planning system.
Background technology
Vehicle detection be intelligent transportation system the most the basis also be important step the most.Vehicle detection technology commonly used mainly contains toroid winding, video, microwave and magnetoresistive transducer on the current road traffic, the vehicle detection technology of magnetoresistive transducer, having that size is little, easy for installation, reactionless to the nonferromagnetic object, the reliability high, is a kind of good vehicle detection apparatus.
But, traditional being subject to easily the impact of geomagnetic excursion based on the vehicle checking method of magnetoresistive transducer, the vehicle response signal that detects under same detection site also is not quite similar, and causes undetected or many inspections, and precision is lower.
Summary of the invention
Based on this, provide the higher vehicle checking method of a kind of precision and vehicle detecting system thereof and vehicle path planning system.
A kind of vehicle checking method may further comprise the steps:
The original three-dimensional Geomagnetic signal on Real-time Collection target ground obtains corresponding three-dimensional base-line data from described original three-dimensional Geomagnetic signal;
The three-dimensional Geomagnetic signal that collects is carried out filtering, and therefrom obtain level and smooth three-dimensional Geomagnetic signal data;
Described three-dimensional Geomagnetic signal data and base-line data are done difference calculating, if having two at least greater than predetermined threshold value in three differences, then described three-dimensional Geomagnetic signal has been judged as the car signal, and
Judged result according to described three-dimensional Geomagnetic signal is upgraded described base-line data;
When the three-dimensional Geomagnetic signal of continuous several times has been the car signal, then be designated as the car state.
Among embodiment, also comprise therein:
The car state is arranged when the car state is arranged at every turn next time, be designated as a car and passed through, and cumulative vehicle fleet size;
According to cumulative vehicle fleet size, calculate vehicle flowrate;
With the vehicle flowrate data upload to respective server.
Among embodiment, described base-line data is carried out step of updating according to the judged result of described three-dimensional Geomagnetic signal and is comprised therein:
If three-dimensional Geomagnetic signal is for there being the car signal, then base-line data is according to formula
Upgrade; Otherwise then base-line data remains unchanged;
Wherein, Bs (k) is self-adaptation baseline value,
Be weighting coefficient, f (k) is the filtered magnetic signal of process, and k is the number of times of collection signal, and i is one of D coordinates value.
Among embodiment, if the three-dimensional Geomagnetic signal of continuous several times has been the car signal, then be designated as the car state therein.
Among embodiment, described filtering adopts mean filter as default filter patterns therein, if detected the car signal, then medium filtering is adopted in next filtering, if do not detected the car signal, then mean filter is adopted in next filtering.
Among embodiment, described mean filter comprises by default sample window samples to original three-dimensional Geomagnetic signal therein, with the arithmetic mean value of sampled value as filtered three-dimensional Geomagnetic signal.
Among embodiment, described medium filtering comprises by default sample window samples to original three-dimensional Geomagnetic signal therein, with the intermediate value of sampled value as filtered three-dimensional Geomagnetic signal.
Among embodiment, also relate to a kind of vehicle detecting system therein, comprising:
Acquisition module is used for the original three-dimensional Geomagnetic signal on Real-time Collection target ground, and obtains base-line data from described original three-dimensional Geomagnetic signal;
Filter is used for the three-dimensional Geomagnetic signal that collects is carried out filtering, and therefrom obtains three-dimensional Geomagnetic signal data;
Pick-up unit is used for described three-dimensional Geomagnetic signal data and base-line data are done difference calculating, if having two at least greater than predetermined threshold value in three differences, then described three-dimensional Geomagnetic signal has been judged as the car signal; And
When the three-dimensional Geomagnetic signal of continuous several times has been the car signal, then be designated as the car state;
Update module is used for according to the judged result of described three-dimensional Geomagnetic signal described base-line data being upgraded.
Among embodiment, also comprise therein
Counting assembly is used for having the car state when the car state is arranged next time at every turn, has been designated as a car by target, and cumulative vehicle fleet size;
The vehicle flowrate calculation element according to cumulative vehicle fleet size, calculates the vehicle flowrate on target ground;
Upper transmission module is used for described vehicle flowrate data upload to respective server.
Therein among embodiment, also relate to a kind of vehicle path planning system, comprising:
Vehicle detecting system is used for calculating vehicle flowrate and uploading the vehicle flowrate data to Cloud Server;
Cloud Server is used for receiving the vehicle flowrate data that vehicle detecting system is uploaded, and according to user's request, calculates corresponding Route Planning Data by the vehicle flowrate data, is issued to the relative users terminal;
User terminal is used for sending the path planning request to Cloud Server, and carries out path planning according to the Route Planning Data that Cloud Server issues.
Above-mentioned a kind of vehicle checking method and system and vehicle path planning system, can adjust dynamically baseline by the judged result of three-dimensional Geomagnetic signal, well solved the terrestrial magnetic field drift phenomenon, and the continuous several times that the car signal is arranged is judged, avoided undetected or many inspections, larger raising the precision that detects.
Description of drawings
Fig. 1 is the FB(flow block) of the vehicle checking method of an embodiment;
Fig. 2 is the state transition diagram of the vehicle checking method of an embodiment;
Fig. 3 is the structural representation of the vehicle detecting system of an embodiment;
Fig. 4 is the structural representation of the vehicle path planning system of an embodiment.
Embodiment
As shown in Figure 1, a kind of vehicle checking method may further comprise the steps:
The original three-dimensional Geomagnetic signal on S110, Real-time Collection target ground obtains corresponding three-dimensional base-line data from described original three-dimensional Geomagnetic signal;
S120, the three-dimensional Geomagnetic signal that collects is carried out filtering, and therefrom obtain level and smooth three-dimensional Geomagnetic signal data;
S130, described three-dimensional Geomagnetic signal data and base-line data are done difference calculate;
If have two at least greater than predetermined threshold value in three differences of S140, then described three-dimensional Geomagnetic signal has been judged as the car signal, otherwise has been without the car signal, described base-line data obtains from original three-dimensional Geomagnetic signal, and
S150, according to the judged result of described three-dimensional Geomagnetic signal described base-line data is upgraded;
S160, when the three-dimensional Geomagnetic signal of continuous several times has been the car signal, then be designated as the car state, same, continuous during without the car signal when detecting, then be designated as detected state.
The present embodiment method can be adjusted baseline dynamically by the judged result of three-dimensional Geomagnetic signal, well solved the terrestrial magnetic field drift phenomenon, and the continuous several times that the car signal is arranged is judged, undetected or many inspections have been avoided, larger raising the precision that detects, can realize in road and parking lot the detection of vehicle.
As shown in Figure 2, when entering vehicle detection, will carry out detected state and the circulation that two states of car state are arranged.In detected state, judge constantly that the signal collect has the car signal or without the car signal; What collect when continuous several times is when the car signal is arranged, to have entered the car state from detected state, and what collect when continuous several times is during without the car signal, and the rebound detected state has so been realized the circulation change of state.Every circulation primary just note is made a car and is passed through, and so just can realize the detection of road traffic, real-time again road information is arrived Surveillance center by wireless network transmissions, has realized thus the Real Time Monitoring of road traffic.
Particularly, in order to reach the Real Time Monitoring of traffic route vehicle flowrate, among embodiment, also comprise therein:
The car state is arranged when the car state is arranged at every turn next time, be designated as a car and passed through, and cumulative vehicle fleet size;
According to cumulative vehicle fleet size, calculate vehicle flowrate;
With the vehicle flowrate data upload to respective server.
Vehicle flowrate data on the server can be used for traffic department and grasp in real time road traffic condition.
The dynamic base-line data of adjusting can well be avoided the geomagnetic excursion phenomenon, and among embodiment, base-line data is upgraded specifically according to the judged result of three-dimensional Geomagnetic signal therein:
If three-dimensional Geomagnetic signal is for there being the car signal, then base-line data is according to formula
Upgrade, next difference is calculated the base-line data that adopts after upgrading; Otherwise,
Then base-line data remains unchanged, and next difference is calculated and still adopted the base-line data of last time;
Wherein, Bs (k) is self-adaptation baseline value,
Be weighting coefficient, f (k) is the filtered magnetic signal of process, and k is the number of times of collection signal, and i is one of D coordinates value.
Among embodiment, if continuous three three-dimensional Geomagnetic signals have been the car signal, then be designated as the car state therein, can have avoided preferably like this situation of undetected or many inspections; Certainly,, also be fine as basis for estimation with double three-dimensional Geomagnetic signal.
In order to improve accuracy of detection, need to carry out filtering to the original signal that collects:
Particularly, among embodiment, filtering adopts mean filter as default filter patterns therein, if detected the car signal, then medium filtering is adopted in next filtering, if do not detected the car signal, then mean filter is adopted in next filtering.
Mean filter is by default sample window original three-dimensional Geomagnetic signal to be sampled, and the arithmetic mean value of sampled value as filtered three-dimensional Geomagnetic signal, can be eliminated burr signal;
Medium filtering is by default sample window original three-dimensional Geomagnetic signal to be sampled, and the intermediate value of sampled value as filtered three-dimensional Geomagnetic signal, can be eliminated jump signal.
As shown in Figure 3, among embodiment, also relate to a kind of vehicle detecting system 100 therein, comprising:
Acquisition module 110 is used for the original three-dimensional Geomagnetic signal on Real-time Collection target ground, and obtains base-line data from described original three-dimensional Geomagnetic signal;
Filter 120 is used for the three-dimensional Geomagnetic signal that collects is carried out filtering, and therefrom obtains three-dimensional Geomagnetic signal data;
Pick-up unit 130 is used for described three-dimensional Geomagnetic signal data and base-line data are done difference calculating, if having two at least greater than predetermined threshold value in three differences, then described three-dimensional Geomagnetic signal has been judged as the car signal; And
When the three-dimensional Geomagnetic signal of continuous several times has been the car signal, then be designated as the car state;
Update module 140 is used for according to the judged result of described three-dimensional Geomagnetic signal described base-line data being upgraded.
Wherein, acquisition module 110 adopts three axle anisotropic magnetoresistive sensor.
Be understandable that, in order to reach the Real Time Monitoring of traffic route vehicle flowrate, as shown in Figure 3, among embodiment, also comprise therein:
Counting assembly 150 is used for having the car state when the car state is arranged next time at every turn, has been designated as a car by target, and cumulative vehicle fleet size;
Vehicle flowrate calculation element 160 according to cumulative vehicle fleet size, calculates the vehicle flowrate on target ground;
Upper transmission module 170 is used for described vehicle flowrate data upload to respective server.
Vehicle flowrate data on the server can be used for traffic department and grasp in real time road traffic condition.
Can imagine, by a plurality of nodes on each road and the highway section, can know the real-time congestion of whole transportation network, therefore, above-mentioned vehicle detecting system 100 bonds networking also can be provided convenience for self driving user choice for traveling route.
Particularly, as shown in Figure 4, therein among embodiment, also relate to a kind of vehicle path planning system, comprising:
Wherein user terminal 300 can be intelligent vehicle mounted terminal, also can be the portable terminal of cell phone type.
Can obtain in real time the comparatively accurate road data of each road and highway section by vehicle detecting system 100, and pass through the integration of 200 pairs of road datas of Cloud Server, obtain user terminal 300 needed real-time route layout data, and upgrade in real time.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a vehicle checking method is characterized in that, may further comprise the steps:
The original three-dimensional Geomagnetic signal on Real-time Collection target ground obtains corresponding three-dimensional base-line data from described original three-dimensional Geomagnetic signal;
The three-dimensional Geomagnetic signal that collects is carried out filtering, and therefrom obtain level and smooth three-dimensional Geomagnetic signal data;
Described three-dimensional Geomagnetic signal data and base-line data are done difference calculating, if having two at least greater than predetermined threshold value in three differences, then described three-dimensional Geomagnetic signal has been judged as the car signal, and
Judged result according to described three-dimensional Geomagnetic signal is upgraded described base-line data;
When the three-dimensional Geomagnetic signal of continuous several times has been the car signal, then be designated as the car state.
2. vehicle checking method according to claim 1 is characterized in that, also comprises:
The car state is arranged when the car state is arranged at every turn next time, be designated as a car and passed through, and cumulative vehicle fleet size;
According to cumulative vehicle fleet size, calculate vehicle flowrate;
With the vehicle flowrate data upload to respective server.
3. a kind of vehicle checking method according to claim 1 and 2 is characterized in that, described base-line data is carried out step of updating according to the judged result of described three-dimensional Geomagnetic signal and comprised:
If three-dimensional Geomagnetic signal is for there being the car signal, then base-line data is according to formula
Upgrade; Otherwise then base-line data remains unchanged;
Wherein, Bs (k) is self-adaptation baseline value,
Be weighting coefficient, f (k) is the filtered magnetic signal of process, and k is the number of times of collection signal, and i is one of D coordinates value.
4. a kind of vehicle checking method according to claim 3 is characterized in that, if continuous three three-dimensional Geomagnetic signals have been the car signal, then has been designated as the car state.
5. a kind of vehicle checking method according to claim 4 is characterized in that, described filtering adopts mean filter as default filter patterns, if detected the car signal, then medium filtering is adopted in next filtering, if do not detected the car signal, then mean filter is adopted in next filtering.
6. a kind of vehicle checking method according to claim 5 is characterized in that, described mean filter comprises by default sample window samples to original three-dimensional Geomagnetic signal, with the arithmetic mean value of sampled value as filtered three-dimensional Geomagnetic signal.
7. a kind of vehicle checking method according to claim 5 is characterized in that, described medium filtering comprises by default sample window samples to original three-dimensional Geomagnetic signal, with the intermediate value of sampled value as filtered three-dimensional Geomagnetic signal.
8. a vehicle detecting system is characterized in that, comprising:
Acquisition module is used for the original three-dimensional Geomagnetic signal on Real-time Collection target ground, and obtains base-line data from described original three-dimensional Geomagnetic signal;
Filter is used for the three-dimensional Geomagnetic signal that collects is carried out filtering, and therefrom obtains three-dimensional Geomagnetic signal data;
Pick-up unit is used for described three-dimensional Geomagnetic signal data and base-line data are done difference calculating, if having two at least greater than predetermined threshold value in three differences, then described three-dimensional Geomagnetic signal has been judged as the car signal; And
When the three-dimensional Geomagnetic signal of continuous several times has been the car signal, then be designated as the car state;
Update module is used for according to the judged result of described three-dimensional Geomagnetic signal described base-line data being upgraded.
9. vehicle detecting system according to claim 8 is characterized in that, also comprises
Counting assembly is used for having the car state when the car state is arranged next time at every turn, has been designated as a car by target, and cumulative vehicle fleet size;
The vehicle flowrate calculation element according to cumulative vehicle fleet size, calculates the vehicle flowrate on target ground;
Upper transmission module is used for described vehicle flowrate data upload to respective server.
10. a vehicle path planning system is characterized in that, comprising:
Vehicle detecting system claimed in claim 9 is used for calculating vehicle flowrate and uploading the vehicle flowrate data to Cloud Server;
Cloud Server is used for receiving the vehicle flowrate data that vehicle detecting system is uploaded, and according to user's request, calculates corresponding Route Planning Data by the vehicle flowrate data, is issued to the relative users terminal;
User terminal is used for sending the path planning request to Cloud Server, and carries out path planning according to the Route Planning Data that Cloud Server issues.
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| CN103593984A (en) * | 2013-11-29 | 2014-02-19 | 浙江工业大学 | Environmentally adaptive traffic flow detection method based on terrestrial magnetism |
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