CN102930738A - Vehicle positioning and traffic flow detection system and method - Google Patents

Vehicle positioning and traffic flow detection system and method Download PDF

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Publication number
CN102930738A
CN102930738A CN2012104150691A CN201210415069A CN102930738A CN 102930738 A CN102930738 A CN 102930738A CN 2012104150691 A CN2012104150691 A CN 2012104150691A CN 201210415069 A CN201210415069 A CN 201210415069A CN 102930738 A CN102930738 A CN 102930738A
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China
Prior art keywords
vehicle
roadside
traffic flow
information
positioning unit
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CN2012104150691A
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Chinese (zh)
Inventor
王忠立
蔡伯根
王剑
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Beijing Jiaotong University
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Beijing Jiaotong University
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Priority to CN2012104150691A priority Critical patent/CN102930738A/en
Publication of CN102930738A publication Critical patent/CN102930738A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a vehicle positioning and traffic flow detection system and method. The system comprises a plurality of roadside devices, a vehicle-mounted positioning unit and a remote monitoring center, wherein the roadside devices are arranged on the two sides of a road and used for transmitting wireless signals containing positions and ID (identifies) of the roadside devices to the vehicle-mounted positioning unit; the vehicle-mounted positioning unit is used for receiving and integrating satellite positioning signals and the signals transmitted by the roadside devices, calculating the positions and speeds of vehicles and sending to the remote monitoring center; and the remote monitoring center is used for receiving and displaying position and speed information sent by the different vehicles. The invention further discloses the vehicle positioning and traffic flow detection method. The system disclosed by the invention is easy to realize a large detection and coverage range and detection of the traffic flow, vehicle speed and even traffic events by mounting the roadside devices. The system can be used for traffic flow detection of an intelligent traffic system and is a core device of the intelligent traffic system.

Description

A kind of vehicle location and traffic flow detection system and method
Technical field
The present invention relates to the intelligent transport technology field, relate in particular to a kind of vehicle location and traffic flow detection system and method.
Background technology
Along with continuing to increase of large-and-medium size cities vehicle population, caused thus many traffic problems, crowded such as road, Frequent Accidents, ecological deterioration, air pollution are day by day serious.In order to address these problems, intelligent transportation system (Intelligent Transportation Systems, ITS) in response to and give birth to.Along with people to the going deep into of the understanding of people, car, road Relations Among, intelligent transportation system is being brought into play more and more important effect day by day in people's life.Intelligent transportation system take infotech as means, with the relation between landman, car, the road, by multifactorial collaborative, realizes efficient, safe, energy-conservation communications and transportation take computing machine as instrument.The research in this field has been obtained in countries in the world paying attention to widely, and obtained and develop rapidly.
In intelligent transportation system, be one of core technology to the Detection ﹠ Controling of road traffic flow.By location and the tracking to vehicle, can obtain the transport information such as vehicle flowrate, running velocity in detected highway section, traffic signals control and inducible system can be controlled traffic signals or induce according to the transport information that detection obtains, and realization is to the control of traffic.
Be used widely based on vehicle location and the airmanship of satellite navigation system at present.Utilize satellite positioning tech can obtain position, the velocity information of vehicle, but satellite positioning method can not normally receive at satellite navigation signals, the sections such as the high building such as road, both sides under the bridge of incity blocks, open-air tunnel, satellite-signal easily is blocked and can not be normally received, or visual Navsat number is less than minimum satellite number, sometimes, because the GNSS bearing accuracy degradation that multipath effect causes etc., so that satellite positioning method is subject to certain restrictions.Vehicle-mounted odometer also is a kind of positioning means, but has accumulated error based on the localization method of odometer, and with the increase of distance, error can be increasing; The vehicle positioning method that proposes based on GSM/GPRS is also arranged, utilize the signal power of the different base station of portable terminal reception to position, but owing to reasons such as the city buildings blocks, reflections, precision is relatively poor; Based on the vehicle positioning technology of REID (RFID), usually need the rfid device in vehicle and roadside to satisfy certain required distance, and the speed of vehicle can not be too fast, otherwise reliability decrease; Also have some vehicle positioning technologies that two kinds of localization methods are merged, such as the fusion location of GPS/INS, this location can obtain higher effect, but the cost of this combination is very high, is difficult for popularizing.
Summary of the invention
The technical matters that the present invention solves is the installation by trackside, is easy to realize large detection coverage, realizes the magnitude of traffic flow, car speed, and even the detection of traffic events.
In order to solve above technical matters, the embodiment of the invention discloses a kind of vehicle location and traffic flow detection system, comprise a plurality of roadside devices, vehicle positioning unit and remote monitoring center;
Roadside device is arranged on the road both sides, comprises the wireless signal of roadside device position and ID to the emission of vehicle positioning unit;
The reception of vehicle positioning unit and fusion satellite positioning signal and roadside device transmit, and calculate position and the speed of vehicle, and are sent to remote monitoring center;
Remote monitoring center receives position and velocity information and the demonstration that different vehicle sends.
Preferably, the vehicle positioning unit further comprises satellite positioning receiver, trackside wireless signal receiver, wireless locating module, fusion locating module and telecommunications transceiver;
Satellite positioning receiver is used for receiving satellite positioning information;
The trackside wireless signal receiver is used for receiving the signal of roadside device emission;
Wireless locating module is used for receiving signal according to the trackside wireless signal receiver and determines positional information;
Merge locating module and be used for merging satnav and roadside device locating information;
Telecommunications transceiver is used for communicating by letter with remote monitoring center.
Preferably, the vehicle positioning unit further comprises information display module, is used for information and shows.
Preferably, remote monitoring center comprises wireless transmitter, monitor message processing enter; Wireless transmitter is used for and the vehicle positioning unit communication;
The monitor message processing enter for the treatment of with show transport information.
Preferably, satnav is GPS or GNSS or Big Dipper 2BD2.
The embodiment of the invention also discloses a kind of vehicle location and magnitude of traffic flow detection method, may further comprise the steps:
The vehicle positioning unit at first receives the wireless signal of at least two roadside device emissions, according to the ID data in the trackside signal that receives, confirms the position of this roadside device;
Utilize the trackside wireless signal receiver to obtain the signal intensity of this roadside device;
According to position and its signal intensity of known a plurality of roadside devices, estimation obtains position and the speed of vehicle;
This estimation is obtained position and speed that the position of vehicle and speed and satellite receiver obtain merge, improve reliability and the precision of positioning result;
In the monitor message processing enter, by gathering position and the velocity information of all vehicles in the overlay area, in conjunction with electronic chart, the marking of cars is arrived a certain highway section of map according to the position of vehicle; By the Information Statistics of all vehicles, obtain vehicle fleet and the average velocity in each highway section in the overlay area.
The present invention is easy to realize large detection coverage by the installation of trackside, realizes the magnitude of traffic flow, car speed, and even the detection of traffic events.The magnitude of traffic flow that can be used for intelligent transportation system detects, and is the nucleus equipment of intelligent transportation system.
Description of drawings
When considered in conjunction with the accompanying drawings, by the following detailed description of reference, can more completely understand better the present invention and learn easily wherein many advantages of following, but accompanying drawing described herein is used to provide a further understanding of the present invention, consist of a part of the present invention, illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of to improper restriction of the present invention, wherein:
Fig. 1 is vehicle location and traffic flow detection system synoptic diagram.
Fig. 2 is the structural representation of vehicle positioning unit.
Fig. 3 is the flow chart of data processing figure of vehicle positioning unit.
Fig. 4 is the flow chart of data processing figure of monitor message processing enter.
Embodiment
Referring to figs. 1 through Fig. 4 embodiments of the invention are described.
For above-mentioned purpose, feature and advantage can be become apparent more, the present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, a kind of vehicle location and traffic flow detection system comprise a plurality of roadside devices 1, vehicle positioning unit 2 and remote monitoring center 3;
Roadside device 1 is arranged on the road both sides, and 2 emissions comprise the wireless signal of roadside device 1 position and ID to the vehicle positioning unit;
2 receptions of vehicle positioning unit and fusion satellite positioning signal and roadside device transmit, and calculate position and the speed of vehicle, and are sent to remote monitoring center 3;
Remote monitoring center 3 receives position and velocity information and the demonstration that different vehicle sends.
Embodiment 1:
The wireless transmit of roadside device 1 adopts special-purpose short-distance wireless communication (DSRC) module, comprises the longitude and latitude of roadside device 1 in the datagram.
As shown in Figure 2, the trackside reception of wireless signals 5 of vehicle positioning unit 2 adopts the DSRC module, when this module receives the data such as longitude and latitude of roadside device by wireless locating module 7, can also detect the intensity that receives signal; Satellite positioning receiver 4 adopts the GPS location receiver; Telecommunications transceiver 6 adopts the 3G module; The output of the output of GPS location and wireless signal location adopts Kalman (Kalman) filtering to realize the fusion of locating information by merging locating module 7.And show that by information 9 modules show.
In remote monitoring center 3 one sides, radio receiver 10 adopts the 3G module.According to the position of road in electronic map, mate the position of each vehicle that monitor message processing enter 11 will receive, with the current location mark of vehicle to a certain highway section; All vehicle numbers in this highway section can be added up and obtain under the current time, and the change in location of each vehicle to the time differentiate, can be obtained velocity amplitude, and the speed of different vehicle is averaging, and obtains the average speed in this highway section.
Embodiment 2:
The wireless transmit of roadside device 1 adopts the WLAN module, comprises the longitude and latitude of roadside device in the datagram.
As shown in Figure 2, the trackside reception of wireless signals 5 of vehicle positioning unit 2 adopts the WLAN module, when this module receives the data such as longitude and latitude of roadside device by wireless locating module 7, can also detect the intensity that receives signal; Satellite positioning receiver 4 adopts the BD2(Big Dipper 2) location receiver; Telecommunications transceiver 6 adopts the GPRS module; The output of the output of BD2 location and wireless signal location adopts Kalman (Kalman) filtering to realize the fusion of locating information by merging locating module 7.And show that by information 9 modules show.
In remote monitoring center 3 one sides, radio receiver 10 adopts the GPRS module.According to the position of road in electronic map, mate the position of each vehicle that monitor message processing enter 11 will receive, with the current location mark of vehicle to a certain highway section; All vehicle numbers in this highway section can be added up and obtain under the current time, and the change in location of each vehicle to the time differentiate, can be obtained velocity amplitude, and the speed of different vehicle is averaging, and obtains the average speed in this highway section.
The invention also discloses a kind of vehicle location and magnitude of traffic flow detection method, may further comprise the steps:
The vehicle positioning unit at first receives the wireless signal of at least two roadside device emissions, according to the ID data in the trackside signal that receives, confirms the position of this roadside device;
Utilize the trackside wireless signal receiver to obtain the signal intensity of this roadside device;
According to position and its signal intensity of known a plurality of roadside devices, estimation obtains position and the speed of vehicle;
This estimation is obtained position and speed that the position of vehicle and speed and satellite receiver obtain merge, improve reliability and the precision of positioning result;
In the monitor message processing enter, by gathering position and the velocity information of all vehicles in the overlay area, in conjunction with electronic chart, the marking of cars is arrived a certain highway section of map according to the position of vehicle; By the Information Statistics of all vehicles, obtain vehicle fleet and the average velocity in each highway section in the overlay area.
Fig. 3 is the flow chart of data processing figure of vehicle positioning unit, and one the road judges whether the GNSS signal is available, and the location estimation based on the signal intensity RSSI of roadside device is carried out according to the input of multichannel trackside wireless data in another road.Above-mentioned data are carried out fusion treatment, be used at last data demonstration, data storage, data transmission.
Fig. 4 is the flow chart of data processing figure of monitor message processing enter, receive positioning data of vehicles, determine highway section, vehicle place in conjunction with electronic chart, the in the same way vehicle in highway section, place is added up, calculate this average link speed, carry out again data and show and storage of history data P.
Although more than described the specific embodiment of the present invention, but those skilled in the art is to be understood that, these embodiments only illustrate, those skilled in the art can carry out various omissions, replacement and change to the details of said method and system in the situation that does not break away from principle of the present invention and essence.For example, merge the said method step, then belong to scope of the present invention thereby carry out the identical function of essence according to the identical method of essence to realize the identical result of essence.Therefore, scope of the present invention is only limited by appended claims.

Claims (6)

1. a vehicle location and traffic flow detection system is characterized in that, comprise a plurality of roadside devices, vehicle positioning unit and remote monitoring center;
Roadside device is arranged on the road both sides, comprises the wireless signal of roadside device position and ID to the emission of vehicle positioning unit;
The reception of vehicle positioning unit and fusion satellite positioning signal and roadside device transmit, and calculate position and the speed of vehicle, and are sent to remote monitoring center;
Remote monitoring center receives position and velocity information and the demonstration that different vehicle sends.
2. vehicle location according to claim 1 and traffic flow detection system, it is characterized in that described vehicle positioning unit further comprises satellite positioning receiver, trackside wireless signal receiver, wireless locating module, fusion locating module and telecommunications transceiver;
Satellite positioning receiver is used for receiving satellite positioning information;
The trackside wireless signal receiver is used for receiving the signal of roadside device emission;
Wireless locating module is used for receiving signal according to the trackside wireless signal receiver and determines positional information;
Merge locating module and be used for merging satnav and roadside device locating information;
Telecommunications transceiver is used for communicating by letter with remote monitoring center.
3. vehicle location according to claim 2 and traffic flow detection system is characterized in that, described vehicle positioning unit further comprises information display module, are used for information and show.
4. vehicle location according to claim 1 and traffic flow detection system is characterized in that, described remote monitoring center comprises wireless transmitter, monitor message processing enter;
Wireless transmitter is used for and the vehicle positioning unit communication;
The monitor message processing enter for the treatment of with show transport information.
5. vehicle location according to claim 1 and traffic flow detection system is characterized in that, described satnav is GPS or GNSS or Big Dipper 2BD2.
6. a vehicle location and magnitude of traffic flow detection method is characterized in that, may further comprise the steps:
The vehicle positioning unit at first receives the wireless signal of at least two roadside device emissions, according to the ID data in the trackside signal that receives, confirms the position of this roadside device;
Utilize the trackside wireless signal receiver to obtain the signal intensity of this roadside device;
According to position and its signal intensity of known a plurality of roadside devices, estimation obtains position and the speed of vehicle;
This estimation is obtained position and speed that the position of vehicle and speed and satellite receiver obtain merge, improve reliability and the precision of positioning result;
In the monitor message processing enter, by gathering position and the velocity information of all vehicles in the overlay area, in conjunction with electronic chart, the marking of cars is arrived a certain highway section of map according to the position of vehicle; By the Information Statistics of all vehicles, obtain vehicle fleet and the average velocity in each highway section in the overlay area.
CN2012104150691A 2012-10-25 2012-10-25 Vehicle positioning and traffic flow detection system and method Pending CN102930738A (en)

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Cited By (14)

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CN103198690A (en) * 2013-03-12 2013-07-10 中国联合网络通信集团有限公司 Traffic information transmitting method, vehicle-mounted information terminal, road side unit and data center
CN103377561A (en) * 2013-07-30 2013-10-30 甘永伦 System, method and device for vehicle positioning
CN104809893A (en) * 2015-04-14 2015-07-29 深圳市润安科技发展有限公司 Traffic light optimizing system and method based on ultra-wideband wireless positioning technology
CN104809872A (en) * 2015-04-14 2015-07-29 深圳市润安科技发展有限公司 Road monitoring system and method based on ultra-wideband wireless positioning technology
CN104949684A (en) * 2015-06-23 2015-09-30 西华大学 Vehicle-mounted navigation system based on vehicle access collaboration
CN105046983A (en) * 2015-08-14 2015-11-11 奇瑞汽车股份有限公司 Traffic flow prediction system and method based on vehicle-road cooperation
CN105957380A (en) * 2016-07-14 2016-09-21 天津职业技术师范大学 Road traffic incident detection and early warning method based on vehicle and road cooperation and detection and early warning system thereof
CN105974453A (en) * 2015-11-05 2016-09-28 乐卡汽车智能科技(北京)有限公司 Difference location method based on intelligent vehicular access cooperation system and intelligent vehicular access cooperation system
CN106022437A (en) * 2016-05-13 2016-10-12 深圳智英电子有限公司 Beidou-satellite-based embedded ID identification encryption card of traffic violation control board
CN106875716A (en) * 2017-04-27 2017-06-20 上海喆之信息科技有限公司 A kind of intelligent traffic monitoring system
CN107644527A (en) * 2016-07-21 2018-01-30 苏州蓝色力量信息科技有限公司 Magnitude of traffic flow detection method and system
CN108510091A (en) * 2018-03-16 2018-09-07 厦门华方软件科技有限公司 A method of the reservation right of way based on electronic license plate
CN108682151A (en) * 2018-05-30 2018-10-19 苏州广元智感智能交通技术有限公司 Mobile magnitude of traffic flow statistic device based on wireless signal scan technology and method
CN109697877A (en) * 2019-02-18 2019-04-30 河北省交通规划设计院 Bus or train route Synergistic method and system based on the high fine positioning of Beidou

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Cited By (19)

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Publication number Priority date Publication date Assignee Title
CN103198690A (en) * 2013-03-12 2013-07-10 中国联合网络通信集团有限公司 Traffic information transmitting method, vehicle-mounted information terminal, road side unit and data center
CN103198690B (en) * 2013-03-12 2016-02-17 中国联合网络通信集团有限公司 Traffic information transferring method, board information terminal, roadside unit and data center
CN103377561A (en) * 2013-07-30 2013-10-30 甘永伦 System, method and device for vehicle positioning
CN104809893A (en) * 2015-04-14 2015-07-29 深圳市润安科技发展有限公司 Traffic light optimizing system and method based on ultra-wideband wireless positioning technology
CN104809872A (en) * 2015-04-14 2015-07-29 深圳市润安科技发展有限公司 Road monitoring system and method based on ultra-wideband wireless positioning technology
CN104809893B (en) * 2015-04-14 2017-09-08 深圳市润安科技发展有限公司 Traffic lights optimization system and optimization method based on ultra-wideband wireless location technology
CN104949684A (en) * 2015-06-23 2015-09-30 西华大学 Vehicle-mounted navigation system based on vehicle access collaboration
CN105046983A (en) * 2015-08-14 2015-11-11 奇瑞汽车股份有限公司 Traffic flow prediction system and method based on vehicle-road cooperation
CN105974453A (en) * 2015-11-05 2016-09-28 乐卡汽车智能科技(北京)有限公司 Difference location method based on intelligent vehicular access cooperation system and intelligent vehicular access cooperation system
CN106022437A (en) * 2016-05-13 2016-10-12 深圳智英电子有限公司 Beidou-satellite-based embedded ID identification encryption card of traffic violation control board
CN105957380A (en) * 2016-07-14 2016-09-21 天津职业技术师范大学 Road traffic incident detection and early warning method based on vehicle and road cooperation and detection and early warning system thereof
CN107644527A (en) * 2016-07-21 2018-01-30 苏州蓝色力量信息科技有限公司 Magnitude of traffic flow detection method and system
CN107644527B (en) * 2016-07-21 2020-12-25 苏州蓝色力量信息科技有限公司 Traffic flow detection method and system
CN106875716A (en) * 2017-04-27 2017-06-20 上海喆之信息科技有限公司 A kind of intelligent traffic monitoring system
CN106875716B (en) * 2017-04-27 2020-04-21 山东高企动力信息科技有限公司 Intelligent traffic monitoring system
CN108510091A (en) * 2018-03-16 2018-09-07 厦门华方软件科技有限公司 A method of the reservation right of way based on electronic license plate
CN108682151A (en) * 2018-05-30 2018-10-19 苏州广元智感智能交通技术有限公司 Mobile magnitude of traffic flow statistic device based on wireless signal scan technology and method
CN108682151B (en) * 2018-05-30 2020-11-17 广东矩阵流大数据科技有限公司 Mobile traffic flow statistical device and method based on wireless signal scanning technology
CN109697877A (en) * 2019-02-18 2019-04-30 河北省交通规划设计院 Bus or train route Synergistic method and system based on the high fine positioning of Beidou

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Application publication date: 20130213