CN102881171B - 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 basis be also important step the most.On current road traffic, conventional vehicle detection technology mainly contains toroid winding, video, microwave and magnetoresistive transducer, the vehicle detection technology of magnetoresistive transducer, having that size is little, easy for installation, reactionless to nonferromagnetic object, reliability high, is a kind of well vehicle detection apparatus.
But traditional vehicle checking method based on magnetoresistive transducer is easily subject to the impact of geomagnetic excursion, the vehicle response signal detecting under same detection site is also not quite similar, and causes undetected or examines more, and precision is lower.
Summary of the invention
Based on this, provide vehicle checking method and vehicle detecting system and vehicle path planning system that a kind of precision is higher.
A kind of vehicle checking method, comprises the following steps:
The original dimensionally magnetic signal on Real-time Collection target ground obtains corresponding three-dimensional base-line data from described original dimensionally magnetic signal;
The dimensionally magnetic signal collecting is carried out to filtering, and therefrom obtain level and smooth dimensionally magnetic signal data;
Described dimensionally magnetic signal data and base-line data are done to difference calculating, if having at least two to be greater than predetermined threshold value in three differences, described dimensionally magnetic signal has been judged as to car signal, and
According to the judged result of described dimensionally magnetic signal, described base-line data is upgraded;
When continuous several times dimensionally magnetic signal be car signal, be designated as car state.
In an embodiment, also comprise therein:
There is car state when having car state 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;
By vehicle flowrate data upload to respective server.
In an embodiment, described base-line data is carried out step of updating according to the judged result of described dimensionally magnetic signal and is comprised therein:
If dimensionally magnetic signal is for there being car signal, base-line data is according to formula
Upgrade; Otherwise base-line data remains unchanged;
Wherein, Bs (k) is self-adaptation baseline value,
for weighting coefficient, f (k) is the magnetic signal after after filtering, the number of times that k is collection signal, and one of i is D coordinates value.
Therein in an embodiment, if continuous several times dimensionally magnetic signal be car signal, be designated as car state.
In an embodiment, described filtering adopts mean filter as default filter patterns therein, if car signal detected, next filtering adopts medium filtering, if car signal do not detected, next filtering adopts mean filter.
In an embodiment, described mean filter comprises by default sample window samples to original dimensionally magnetic signal, using the arithmetic mean value of sampled value as filtered dimensionally magnetic signal therein.
In an embodiment, described medium filtering comprises by default sample window samples to original dimensionally magnetic signal, using the intermediate value of sampled value as filtered dimensionally magnetic signal therein.
In an embodiment, also relate to a kind of vehicle detecting system therein, comprising:
Acquisition module for the original dimensionally magnetic signal on Real-time Collection target ground, and obtains base-line data from described original dimensionally magnetic signal;
Filter, for the dimensionally magnetic signal collecting is carried out to filtering, and therefrom obtains dimensionally magnetic signal data;
Pick-up unit, for described dimensionally magnetic signal data and base-line data are done to difference calculating, if having at least two to be greater than predetermined threshold value in three differences, has been judged as car signal by described dimensionally magnetic signal; And
When continuous several times dimensionally magnetic signal be car signal, be designated as car state;
Update module, for upgrading described base-line data according to the judged result of described dimensionally magnetic signal.
In an embodiment, also comprise therein
Counting assembly, for have car state when having car state at every turn next time, has been designated as a car by target ground, and cumulative vehicle fleet size;
Vehicle flowrate calculation element, according to cumulative vehicle fleet size, calculates the vehicle flowrate on target ground;
Upper transmission module, for by described vehicle flowrate data upload to respective server.
In an embodiment, also relate to a kind of vehicle path planning system therein, comprising:
Vehicle detecting system, for calculating vehicle flowrate and uploading vehicle flowrate data to Cloud Server;
Cloud Server, the vehicle flowrate data of uploading for receiving vehicle detecting system, and according to user's request, calculate corresponding Route Planning Data by vehicle flowrate data, be issued to relative users terminal;
User terminal, for send path planning request to Cloud Server, and the Route Planning Data issuing according to Cloud Server carries out path planning.
Above-mentioned a kind of vehicle checking method and system and vehicle path planning system, can adjust dynamically baseline by the judged result of magnetic signal dimensionally, well solve terrestrial magnetic field drift phenomenon, and to there being the continuous several times judgement of car signal, avoided undetected or examined more, larger raising detect precision.
Brief description of the 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, comprises the following steps:
The original dimensionally magnetic signal on S110, Real-time Collection target ground obtains corresponding three-dimensional base-line data from described original dimensionally magnetic signal;
S120, the dimensionally magnetic signal collecting is carried out to filtering, and therefrom obtain level and smooth dimensionally magnetic signal data;
S130, described dimensionally magnetic signal data and base-line data are done to difference calculate;
If have at least two to be greater than predetermined threshold value in three differences of S140, described dimensionally magnetic signal is judged as to car signal, otherwise has been without car signal, described base-line data obtains from original dimensionally magnetic signal, and
S150, according to the judged result of described dimensionally magnetic signal, described base-line data is upgraded;
S160, when continuous several times dimensionally magnetic signal be car signal, be designated as car state, same, continuous during without car signal when detecting, be designated as detected state.
The present embodiment method can be adjusted baseline dynamically by the judged result of magnetic signal dimensionally, well solve terrestrial magnetic field drift phenomenon, and to there being the continuous several times judgement of car signal, avoid undetected or examined more, larger raising the precision detecting, can realize in road and parking lot the detection of vehicle.
As shown in Figure 2, in the time entering vehicle detection, detected state and the circulation that has two states of car state will be carried out.In detected state, constantly the signal that collects of judgement has car signal or without car signal; What collect when continuous several times is, while having car signal, to have entered car state from detected state, and what collect when continuous several times is during without car signal, and 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, more real-time road information is arrived to 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, in an embodiment, also comprise therein:
There is car state when having car state 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;
By vehicle flowrate data upload to respective server.
Vehicle flowrate data on 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 geomagnetic excursion phenomenon, and in an embodiment, the base-line data basis dimensionally judged result of magnetic signal is upgraded specifically therein:
If dimensionally magnetic signal is for there being car signal, base-line data is according to formula
Upgrade, next difference is calculated the base-line data adopting after upgrading; Otherwise,
Base-line data remains unchanged, and next difference is calculated the base-line data that still adopts last time;
Wherein, Bs (k) is self-adaptation baseline value,
for weighting coefficient, f (k) is the magnetic signal after after filtering, the number of times that k is collection signal, and one of i is D coordinates value.
Therein in an embodiment, if continuous three times dimensionally magnetic signal be car signal, be designated as car state, can avoid preferably like this situation of undetected or many inspections; Certainly,, using double dimensionally magnetic signal as basis for estimation, be also fine.
In order to improve accuracy of detection, need to carry out filtering to the original signal collecting:
Particularly, in an embodiment, filtering adopts mean filter as default filter patterns therein, if car signal detected, next filtering adopts medium filtering, if car signal do not detected, next filtering adopts mean filter.
Mean filter is by default sample window, original dimensionally magnetic signal to be sampled, and using the arithmetic mean value of sampled value as filtered dimensionally magnetic signal, can eliminate burr signal;
Medium filtering is by default sample window, original dimensionally magnetic signal to be sampled, and using the intermediate value of sampled value as filtered dimensionally magnetic signal, can eliminate jump signal.
As shown in Figure 3, in an embodiment, also relate to a kind of vehicle detecting system 100 therein, comprising:
Acquisition module 110 for the original dimensionally magnetic signal on Real-time Collection target ground, and obtains base-line data from described original dimensionally magnetic signal;
Filter 120, for the dimensionally magnetic signal collecting is carried out to filtering, and therefrom obtains dimensionally magnetic signal data;
Pick-up unit 130, for described dimensionally magnetic signal data and base-line data are done to difference calculating, if having at least two to be greater than predetermined threshold value in three differences, has been judged as car signal by described dimensionally magnetic signal; And
When continuous several times dimensionally magnetic signal be car signal, be designated as car state;
Update module 140, for upgrading described base-line data according to the judged result of described dimensionally magnetic signal.
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, in an embodiment, also comprise therein:
Counting assembly 150, for have car state when having car state at every turn next time, has been designated as a car by target ground, 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, for by described vehicle flowrate data upload to respective server.
Vehicle flowrate data on server can be used for traffic department and grasp in real time road traffic condition.
Vehicle detecting system 100 taking the terminal device node of wireless sensor network WSN as platform, completes the processing of data and the transmission of information on terminal device node, finally sends information to respective server by terminal device node.
Can imagine, by the multiple nodes on each road and section, can know the real-time congestion of whole transportation network, therefore, above-mentioned vehicle detecting system 100 bond networkings also can be provided convenience for self driving user choice for traveling route.
Particularly, as shown in Figure 4, in an embodiment, also relate to a kind of vehicle path planning system therein, comprising:
Vehicle detecting system 100, for calculating vehicle flowrate and uploading vehicle flowrate data to respective server;
Cloud Server 200, the vehicle flowrate data of uploading for receiving vehicle detecting system, and according to user's request, calculate corresponding Route Planning Data by vehicle flowrate data, be issued to relative users terminal;
User terminal 300, for send path planning request to Cloud Server, and the Route Planning Data issuing according to Cloud Server carries out path planning.
Wherein user terminal 300 can be intelligent vehicle mounted terminal, can be also the mobile terminal of cell phone type.
Can obtain in real time the comparatively accurate road data of each road and section by vehicle detecting system 100, and by the integration of Cloud Server 200 to road data, obtain the needed real-time route layout data of user terminal 300, 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 the scope of the claims of the present invention.It 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 (9)
1. a vehicle checking method, is characterized in that, comprises the following steps:
The original dimensionally magnetic signal on Real-time Collection target ground obtains corresponding three-dimensional base-line data from described original dimensionally magnetic signal;
The dimensionally magnetic signal collecting is carried out to filtering, and therefrom obtain level and smooth dimensionally magnetic signal data;
Described dimensionally magnetic signal data and base-line data are done to difference calculating, if having at least two to be greater than predetermined threshold value in three differences, described dimensionally magnetic signal has been judged as to car signal, and
According to the judged result of described dimensionally magnetic signal, described base-line data is upgraded;
When continuous several times dimensionally magnetic signal be car signal, be designated as car state; When continuous several times is when dimensionally magnetic signal is without car signal, by there being car state to jump to detected state, so circulation;
Wherein, if dimensionally magnetic signal is for there being car signal, base-line data is according to formula
Wherein, Bs (k) is self-adaptation baseline value,
for weighting coefficient, f (k) is the magnetic signal after after filtering, the number of times that k is collection signal, and one of i is D coordinates value.
2. vehicle checking method according to claim 1, is characterized in that, also comprises:
There is car state when having car state 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;
By vehicle flowrate data upload to respective server.
3. a kind of vehicle checking method according to claim 1 and 2, is characterized in that, if continuous three times dimensionally magnetic signal be car signal, be designated as car state.
4. a kind of vehicle checking method according to claim 3, is characterized in that, described filtering adopts mean filter as default filter patterns, if car signal detected, next filtering adopts medium filtering, if car signal do not detected, next filtering adopts mean filter.
5. a kind of vehicle checking method according to claim 4, is characterized in that, described mean filter comprises by default sample window samples to original dimensionally magnetic signal, using the arithmetic mean value of sampled value as filtered dimensionally magnetic signal.
6. a kind of vehicle checking method according to claim 4, is characterized in that, described medium filtering comprises by default sample window samples to original dimensionally magnetic signal, using the intermediate value of sampled value as filtered dimensionally magnetic signal.
7. a vehicle detecting system, is characterized in that, comprising:
Acquisition module for the original dimensionally magnetic signal on Real-time Collection target ground, and obtains base-line data from described original dimensionally magnetic signal;
Filter, for the dimensionally magnetic signal collecting is carried out to filtering, and therefrom obtains dimensionally magnetic signal data;
Pick-up unit, for described dimensionally magnetic signal data and base-line data are done to difference calculating, if having at least two to be greater than predetermined threshold value in three differences, has been judged as car signal by described dimensionally magnetic signal; And
When continuous several times dimensionally magnetic signal be car signal, be designated as car state; When continuous several times is when dimensionally magnetic signal is without car signal, by there being car state to jump to detected state, so circulation;
Wherein, if dimensionally magnetic signal is for there being car signal, base-line data is according to formula
Wherein, Bs (k) is self-adaptation baseline value,
for weighting coefficient, f (k) is the magnetic signal after after filtering, the number of times that k is collection signal, and one of i is D coordinates value;
Update module, for upgrading described base-line data according to the judged result of described dimensionally magnetic signal.
8. vehicle detecting system according to claim 7, is characterized in that, also comprises
Counting assembly, for have car state when having car state at every turn next time, has been designated as a car by target ground, and cumulative vehicle fleet size;
Vehicle flowrate calculation element, according to cumulative vehicle fleet size, calculates the vehicle flowrate on target ground;
Upper transmission module, for by described vehicle flowrate data upload to respective server.
9. a vehicle path planning system, is characterized in that, comprising:
Vehicle detecting system claimed in claim 8, for calculating vehicle flowrate and uploading vehicle flowrate data to Cloud Server;
Cloud Server, the vehicle flowrate data of uploading for receiving vehicle detecting system, and according to user's request, calculate corresponding Route Planning Data by vehicle flowrate data, be issued to relative users terminal;
User terminal, for send path planning request to Cloud Server, and the Route Planning Data issuing according to Cloud Server carries out path planning.
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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 |
| CN103794058B (en) * | 2014-03-05 | 2016-04-13 | 武汉慧联无限科技有限公司 | Based on vehicle checking method and the device of state machine |
| CN104036555B (en) * | 2014-06-16 | 2016-09-21 | 无锡普智联科高新技术有限公司 | Parking charging method based on earth magnetism platform bistable definite value |
| CN104835326A (en) * | 2015-04-24 | 2015-08-12 | 周欣 | Vehicle detector based on anisotropy magnetic resistance sensor array |
| CN105096611B (en) * | 2015-08-17 | 2017-07-14 | 中科车港（深圳）实业股份有限公司 | A kind of road vehicle detection system and method |
| CN107065886A (en) * | 2017-05-25 | 2017-08-18 | 郑州坤博科技有限公司 | Automobile Unmanned Systems based on cloud |
| CN107945570B (en) * | 2017-12-18 | 2020-05-26 | 浙江工业大学 | Geomagnetic parking space detection optimization method |
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