CN103514746B - Vehicle speed measurement method based on DSRC, device and DSRC application system - Google Patents
Vehicle speed measurement method based on DSRC, device and DSRC application system Download PDFInfo
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Abstract
This application discloses a kind of vehicle speed measurement method based on DSRC, device and DSRC application system, method comprises the following steps: RSU receives multiple microwave signals that vehicle is sent by OBU, at least one microwave signal carries the information of vehicles of vehicle, at least two microwave signal corresponds respectively to t1 and the t2 moment, and the time interval between t1 and the t2 moment is t0；RSU is according to the microwave signal in t1 moment, it is thus achieved that vehicle is in the location information in t1 moment, according to the microwave signal in t2 moment, it is thus achieved that vehicle is in the location information in t2 moment；RSU utilizes the vehicle location information in the t1 moment and the location information in t2 moment, calculates vehicle range information between t1 and the t2 moment, and according to range information and time interval t0, calculates vehicle velocity information between t1 and the t2 moment.The application simplifies and can expand the function of existing DSRC equipment to vehicle and be accurately positioned.
Description
Technical field
The application relates to intelligent transportation (ITS:Intelligent Transportation System) field, especially relates to
And one is based on DSRC(DSRC:Dedicated Short Range Communications) vehicle speed measurement method, device
And DSRC application system.
Background technology
The DSRC application systems such as electric non-stop toll (ETC:Electronic Toll Collection) system are usual
Use DSRC key equipment roadside unit (RSU:Road Side Unit) and board units (OBU:On-board Units) right
Vehicle carries out charging, detect or monitoring.
The road such as municipal highway, highway is for the driving safety of support vehicles, it is sometimes desirable to carry out current vehicle
Test the speed, in order to these vehicles are monitored and manage, such as, be less than road in the travel speed current vehicle being detected more than person
During the travel speed that road specifies, need the unlawful practice of this vehicle is carried out record, but, current DSRC application system is not
Possesses vehicle speed measurement function.
Summary of the invention
The application provides a kind of vehicle speed measurement method based on DSRC, device i.e. DSRC application system.
According to the first aspect of the application, the application provides a kind of vehicle speed measurement method based on DSRC, including following step
Rapid:
Signal accepts step: roadside unit (RSU:Road Side Unit) receives vehicle by board units (OBU:On-
Board Units) multiple microwave signals of sending, at least one described microwave signal carries the information of vehicles of described vehicle, extremely
Few two described microwave signals correspond respectively to t1 and the t2 moment, and wherein, the time interval between t1 and the t2 moment is t0；
Positioning step: RSU is according to the described microwave signal in t1 moment, it is thus achieved that described vehicle in the location information in t1 moment,
Described microwave signal according to the t2 moment, it is thus achieved that described vehicle is in the location information in t2 moment；
Calculation procedure: RSU utilizes the described vehicle location information in the t1 moment and the location information in t2 moment, calculates described
Vehicle range information between t1 and the t2 moment, and according to described range information and time interval t0, calculate described vehicle and exist
Velocity information between t1 and the t2 moment；
In a kind of embodiment, after calculation procedure, also include information matches step: the RSU velocity information by described vehicle
Match with the information of vehicles of described vehicle.
In a kind of embodiment, the described vehicle location information in the t1 moment includes the position coordinates y1 of first direction, described
The vehicle location information in the t2 moment includes the position coordinates y2 of first direction；Described range information includes the traveling of first direction
Distance Sy, its computing formula is Sy=| y2-y1 |；Described velocity information includes travel speed Vy of first direction, its computing formula
For Vy=Sy/t0.
In a kind of embodiment, the described vehicle location information in the t1 moment includes the position coordinates y1 and second of first direction
The position coordinates x1 in direction, the described vehicle location information in the t2 moment includes position coordinates y2 and the second direction of first direction
Position coordinates x2, wherein, first direction is vertical with second direction；Described range information includes total distance S0, its computing formula
ForDescribed velocity information includes general speed V0, and its computing formula is V0=S0/t0.
In a kind of embodiment, described velocity information also includes that the velocity component Vy of first direction and the speed of second direction are divided
Amount Vx, wherein, the computing formula of Vy is Vy=| y2-y1 |/t0, and the computing formula of Vx is Vx=| x2-x1 |/t0.
In a kind of embodiment, described positioning step uses phase contrast positioning mode.
According to the second aspect of the application, the application provides a kind of vehicle speed measurement device based on DSRC, including RSU, institute
State RSU to include:
Signal receiving module, for receiving multiple microwave signals that vehicle is sent by OBU, at least one described microwave is believed
Number carrying the information of vehicles of described vehicle, microwave signal described at least two corresponds respectively to t1 and t2 moment, wherein, t1 and t2
Time interval between moment is t0；
Locating module, for by the described microwave signal in t1 moment, it is thus achieved that described vehicle in the location information in t1 moment,
By the described microwave signal in t2 moment, it is thus achieved that described vehicle is in the location information in t2 moment；
Computing module, for utilizing the described vehicle location information in the t1 moment and the location information in t2 moment, calculates institute
State vehicle range information between t1 and the t2 moment, and according to described range information and time interval t0, calculate described vehicle
Velocity information between t1 and the t2 moment；
Signal Matching module, for matching the velocity information of described vehicle with the information of vehicles of described vehicle.
According to the third aspect of the application, the application provides a kind of DSRC application system, surveys including above-described speed
Amount device.
In a kind of embodiment, described DSRC application system is bicycle road band barrier machine electric non-stop toll system
System, multilane band barrier machine electronic charging system without parking, the free streaming system in bicycle road or the free streaming system of multilane, described letter
Number receiver module is arranged on described bicycle road band barrier machine electronic charging system without parking, multilane band barrier machine electronic non-parking
On the corresponding track of the free streaming system of Fare Collection System or bicycle road, or at least one being arranged in the free streaming system of multilane is certainly
By on flow section.
In a kind of embodiment, described DSRC application system includes vehicle detecting system, vehicle speed measurement system, car
At least one in type identification system, image identification system, video capture system.
The application provides the benefit that: the application is applied to highway communication field, by DSRC technology, utilizes RSU and OBU
Between information can be realized as vehicle speed measurement alternately, existing RSU and OBU application mode is defined useful supplement, expand
The function of existing DSRC application system and range.
The application obtains corresponding information of vehicles while vehicle speed measurement, with traditional employing tachymeter coordinate auxiliary
Equipment carries out the mode of vehicle speed measurement and compares, and the application need not use velocity information and the car of two complete equipments collection vehicle respectively
Information, therefore the application simplifies system structure and the method for operation, reduces design cost and equipment cost.It addition, this Shen
Same RSU please be utilize to obtain velocity information and information of vehicles, it is to avoid multiple equipment are working alone or producing in cooperating process
Give birth to fault and measurement result is produced impact, improve the stability of measurement the most to a certain extent.
Accompanying drawing explanation
Fig. 1 is the flow chart of the application a kind of embodiment vehicle speed measurement method；
Fig. 2 is the side view that the vehicle of a kind of embodiment of the application is positioned at RSU signal coverage areas；
Fig. 3 is the top view that the vehicle of a kind of embodiment of the application is positioned at RSU signal coverage areas；
Fig. 4 is the reception antenna layout of the localization method of a kind of embodiment of the application；
Fig. 5 is the structured flowchart of the vehicle speed measurement device of a kind of embodiment of the application.
Specific embodiment
Combine accompanying drawing below by specific embodiment the application is described in further detail.
In the embodiment of the present application, achieving vehicle speed measurement by DSRC technology, specifically, DSRC key equipment RSU exists
During interacting with the OBU on vehicle, receiving the repeatedly microwave signal of OBU, RSU at least one microwave from which is believed
Obtain information of vehicles in number, according to two microwave signals the most in the same time, vehicle is carried out twice location, thus obtain car
Two location information the most in the same time, then according to the location information obtained calculate vehicle two the most in the same time between
Velocity information.
Embodiment one:
Refer to Fig. 1, the vehicle speed measurement method of the present embodiment is mutual based on the information between RSU and OBU.Wherein, RSU bag
Including outdoor unit and indoor unit, RSU outdoor unit has dual-mode antenna, for OBU send microwave signal and receive from
The microwave signal of OBU, RSU outdoor unit is typically mounted on above road or road sidepiece, and RSU indoor unit is for RSU room
Outer unit is controlled and processes the reception of RSU outdoor unit and the information sent；OBU also has antenna, for RSU
Sending microwave signal and receive the microwave signal from RSU, OBU is typically mounted in vehicle, such as, be fixed on the front of vehicle
On wind glass.The method of the present embodiment mainly includes with step:
S101: refer to Fig. 2 and Fig. 3, after vehicle enters in the RSU signal coverage areas shown in dotted line, vehicle is pacified
The wake-up signal that the OBU of dress is periodically sent by RSU wakes up up, and this OBU sends answer signal to RSU thus and sets up between RSU
Communication link.
S102:RSU sends microwave signal to OBU, carries request data frame in this microwave signal, the tool of this request data frame
Internal appearance as required depending on, be generally used for asking OBU to return certain information, the request data of such as the present embodiment to RSU
Frame is used for asking information of vehicles (including one or more in the information such as license plate number, vehicle model, vehicle color).
After S103:OBU receives the microwave signal of RSU, it is resolved, then obtain RSU by internal calculation and asked
The information of vehicles asked also is packaged into reply data frame, then returns microwave signal to RSU, and this microwave signal comprises reply data frame
And the information such as the ID of OBU.
S104: signal receiving step, microwave signal A that RSU returns to RSU at t1 reception to OBU.
S105: positioning step: RSU record receives the moment t1 of microwave signal A of OBU, after resolving this signal
Obtain reply data frame, and utilize this microwave signal A to obtain the vehicle location information in the t1 moment.In the present embodiment, RSU is to car
Carry out the location of both direction and obtain the location information that comprises two-dimensional coordinate, i.e. the vehicle location information in the t1 moment includes
Vehicle position coordinates y1 in a first direction and the position coordinates x1 of second direction, wherein second direction and first direction Dou road
Facial plane is interior and is mutually perpendicular to, and first direction is parallel with road bearing of trend, and second direction is vertical with road bearing of trend.Obtain
The method of vehicle location information at a time includes multiple, such as phase contrast positioning mode or signal intensity positioning mode, the former
Utilizing the phase difference value that in RSU, different reception antennas are corresponding when receiving same microwave signal to position OBU, the latter utilizes
OBU is positioned by the signal intensity size that in RSU, reception antenna is corresponding when receiving microwave signal.
A kind of phase contrast positioning mode of microwave signal particularly as follows:
Refer to Fig. 4, utilize the reception antenna 1 arranged on the same line, reception antenna 2, reception antenna 3 to form antenna
Group receives the microwave signal that same OBU sends, distance d between reception antenna 1 and reception antenna 212< λ, reception antenna 1 with connect
Receive distance d between antenna 313> N λ, OBU send microwave signal arrival bearing and aerial array normal between angle be
The deflection of θ, i.e. microwave signal.When microwave signal arrives separately at three reception antennas, due to microwave signal and reception antenna it
Spacing is distant, belongs to reception antenna far-field region, is therefore equivalent to microwave signal each reception antenna of parallel arrival, receives
The delayed phase of the microwave signal that the microwave signal that antenna 2 receives receives than reception antenna 1I.e. reception antenna 2 is relative to connecing
The phase contrast receiving antenna 1 isThe phase steric retardation of the microwave signal that the microwave signal that reception antenna 3 receives receives than reception antenna 1
AfterI.e. reception antenna 3 relative to the phase contrast of reception antenna 1 is
Then(formula one)
Then(formula two)
Wherein,For obtaining phase contrast by phase bit comparisonTime the actual number of degrees, due toTherefore this numerical value tool
There is uniqueness.
In order to determine N value, available equation below:
(formula three)
In above formula, d12And d13It is known thatActual read number can be obtained by phase bit comparison, andCan be according to formula three
Calculate.
In acceptable range of error, if it is assumed that:
Then can obtain below equation to determine N in conjunction with formula three:
(formula four)
ConsiderIn include the error that in signal receiving path, every process is caused, formula three calculate
Error value beError valueTherefore calculated by formula three and formula twoOnly approximately equal, it is impossible to
Essentially equal, as long as calculateError in tolerance interval, it is possible to combine formula two and formula four obtain with
Lower formula determines θ:
(formula five)
In above derivation, from formula two,Numerical value and hypothesis value between difference beN value is the biggest, thenError amount the least, but the excessive then d of N value13Relatively big, cause that the total length positioning antenna increases and layout is difficult, therefore may be used
Choose 3≤N≤10, certain positioning precision, again convenient antenna layout can either be guaranteed.Finally, according to the numerical value of θ, in conjunction with each
The setting height(from bottom) of reception antenna and angle, calculate the location information of OBU, and i.e. it covers in RSU antennas orthogonal subpoint front
The concrete coordinate in region.
OBU can be carried out one-dimensional location according to upper type, if being further added by one group of antenna vertical with above antenna sets
Group, uses same processing mode OBU can be carried out two-dimensional localization.
S106:RSU sends microwave signal to OBU again, carries request data frame, this request data frame in this microwave signal
For asking OBU to return other information to RSU.
S107: be similar to step S103, after OBU is received again by the microwave signal of RSU, obtains RSU institute by internal calculation
Please other information be packaged into reply data frame, again return microwave signal to RSU, this microwave signal comprise reply data frame with
And the information such as the ID of OBU.
The microwave letter that S108: be similar to step S104, RSU return to RSU in S107 step at t2 reception to OBU
Number B, RSU record current time, obtain reply data frame, and utilize this microwave signal B to obtain car after resolving this signal
In the location information in t2 moment.In the present embodiment, the t2 moment, the vehicle location information in the t2 moment included after instant tl
The position coordinates y2 of first direction and the position coordinates x2 of second direction.
S109: calculation procedure, RSU utilizes the vehicle location information in the t1 moment and the location information in t2 moment, calculates car
Range information between t1 and the t2 moment, and calculate time interval t0 between t1 and the t2 moment, finally according to this distance
Information and time interval t0, calculate vehicle velocity information between t1 and the t2 moment.In the present embodiment, range information includes car
Total distance S0 travelled between t1 and the t2 moment, its computing formula isSpeed is believed
Breath includes general speed V0, and its computing formula is V0=S0/t0, and further, velocity information may also include general speed V0 in first party
To velocity component Vy and the velocity component Vx of second direction, wherein, the computing formula of Vy is Vy=| y2-y1 |/t0, the meter of Vx
Calculating formula is Vx=| x2-x1 |/t0.
The information of vehicles of the velocity information of vehicle with vehicle is matched by S110:RSU, will the license plate number of vehicle, vehicle
One or more in the information such as model, vehicle color, especially license plate number and the velocity information especially general speed of this vehicle
V0 matches.
In the present embodiment, the method calculating time interval t0 can use moment subtractive method, i.e. utilizes the moment t2's of record
Numerical value subtracts each other with the numerical value of t1, in another embodiment, also can directly initiate a timer in the t1 moment, read in the t2 moment
The reading of timer directly obtains t0.The specific size of time interval t0 is controlled as required by RSU.
In actual application, the information between RSU and OBU is likely to be of repeatedly alternately, the microwave signal that OBU sends to RSU
The most also having multiple, these signals all comprise No. ID of OBU, in order to reach location and obtain the purpose of information of vehicles, OBU
In the microwave signal that RSU sends, a microwave signal at least should be had to carry information of vehicles, at least should have two for fixed
The moment that the microwave signal of position is corresponding is respectively t1 moment and t2 moment.T1 moment and t2 moment typically refer to RSU and receive microwave
In the moment of signal, in some embodiment, t1 moment and t2 can also refer to that OBU sends the moment of microwave signal.
Embodiment two:
The present embodiment is unlike a upper embodiment, and RSU only achieves a side during positioning vehicle
To location, especially achieve vehicle and obtain comprise one-dimensional seat in the location of first direction being parallel to road bearing of trend
Target location information, specifically, in twice positioning step of the present embodiment, obtains the vehicle location information in the t1 moment and includes car
Position coordinates y1 in a first direction, the vehicle location information in the t2 moment includes the position coordinates y2 of first direction, calculates
In step, range information includes vehicle operating range Sy between t1 and the t2 moment in the first direction, and its computing formula is Sy
=| y2-y1 |, velocity information includes vehicle travel speed Vy between t1 and the t2 moment in the first direction, and its computing formula is
Vy=Sy/t0。
Embodiment three:
As it is shown in figure 5, the present embodiment is for realizing the vehicle speed measurement device based on DSRC of embodiment one or embodiment two
Signal receiving module 10, locating module 20, computing module 30 and Signal Matching module 40 is mainly included including RSU, RSU.
Wherein signal receiving module 10 is arranged on RSU outdoor unit, and it includes antenna, is used for receiving vehicle and is sent out by OBU
The multiple microwave signals sent, at least one microwave signal carries the information of vehicles of vehicle, at least two microwave signal difference correspondence
In t1 and the t2 moment, wherein, the time interval between t1 and the t2 moment is t0；
Locating module 20 is for by the microwave signal in t1 moment, it is thus achieved that vehicle, in the location information in t1 moment, passes through t2
The microwave signal in moment, it is thus achieved that vehicle is in the location information in t2 moment；Time block 20 may also include time logging modle 21,
The time interval that time logging modle 21 is mainly used in obtaining between t1 and the t2 moment is t0, such as in a kind of embodiment, and the time
Logging modle 21 records moment in moment t1 corresponding to two microwave signals and t2 moment respectively, and uses moment subtractive method to obtain
To t0, in another kind of embodiment, time logging modle 21 includes a timer, directly initiates a timer in the t1 moment, at t2
Moment reads the reading of timer and directly obtains t0.According to the difference of location mode, locating module can carry out a side to vehicle
To location and obtain the location information that comprises one-dimensional coordinate, it is possible to carry out the location of both direction and obtain and comprise two-dimensional coordinate
Location information.
Computing module 30, for utilizing the vehicle location information in the t1 moment and the location information in t2 moment, calculates vehicle and exists
Range information between t1 and the t2 moment, and according to range information and time interval t0, calculate vehicle between t1 and the t2 moment
Velocity information.According to the difference of location mode, computing module can get vehicle between t1 and the t2 moment in one direction
Travel speed, it is possible to obtain the total travel speed of vehicle, and vehicle is along the velocity component of both direction.
Signal Matching module 40 is for matching the velocity information of vehicle with the information of vehicles of vehicle, and is used for according to tool
Information after body needs coupling sends control centre to.
The vehicle speed measurement method of various embodiments above is widely portable to all kinds of DSRC application system, such as bicycle road band hurdle
Bar machine ETC system, multilane band barrier machine ETC system, the free streaming system in bicycle road, the free streaming system of multilane and be used for
Vehicle is monitored in real time or the vehicle speed measuring system of violation inspection, model recognition system, image identification system, video capture
The various types of vehicles monitoring systems such as system.Wherein, signal receiving module is arranged on bicycle road band barrier machine electronics ETC system, many cars
On the corresponding track of road band barrier machine ETC system or the free streaming system in bicycle road, or it is arranged in the free streaming system of multilane
On at least one free flow section, easy to operate, detection speed is fast and accuracy is high.Above example two can be used for bicycle road
DSRC application system, the structure of RSU and information processing side are more relatively easy, and cost is relatively low, and embodiment one can be used for bicycle road
Or multilane DSRC application system, the result that tests the speed is more accurately, reliably.
It will be understood by those skilled in the art that in above-described embodiment, all or part of step of various methods can pass through journey
Sequence instructs related hardware and completes, and this program can be stored in a computer-readable recording medium, and storage medium may include that
Read only memory, random access memory, disk or CD etc..
Above content is the further description made the application in conjunction with specific embodiments, it is impossible to assert the application
Be embodied as be confined to these explanations.For the application person of an ordinary skill in the technical field, without departing from
On the premise of the application design, it is also possible to make some simple deduction or replace.
Claims (10)
1. a vehicle speed measurement method based on DSRC, it is characterised in that comprise the following steps:
Signal accepts step: roadside unit receives multiple microwave signals that vehicle is sent by board units, described at least one
Microwave signal carries the information of vehicles of described vehicle, and microwave signal described at least two corresponds respectively to t1 and the t2 moment, wherein,
Time interval between t1 and the t2 moment is t0；
Positioning step: roadside unit is according to the described microwave signal in t1 moment, it is thus achieved that described vehicle in the location information in t1 moment,
Described microwave signal according to the t2 moment, it is thus achieved that described vehicle is in the location information in t2 moment；Described positioning step uses phase place
Difference positioning mode；
Calculation procedure: roadside unit utilizes the described vehicle location information in the t1 moment and the location information in t2 moment, calculates institute
State vehicle range information between t1 and the t2 moment, and according to described range information and time interval t0, calculate described vehicle
Velocity information between t1 and the t2 moment；
Described phase contrast positioning mode is particularly as follows: utilize the reception antenna (1) arranged on the same line, reception antenna (2), receive
Antenna (3) forms antenna sets and receives the microwave signal that same board units sends, the incoming wave of the microwave signal that board units sends
Angle between direction and aerial array normal is the deflection of θ, i.e. microwave signal；
According to the numerical value of θ, in conjunction with setting height(from bottom) and the angle of each reception antenna, calculate the location information of board units.
2. the method for claim 1, it is characterised in that after described calculation procedure, also includes information matches step: road
The information of vehicles of the velocity information of described vehicle with described vehicle is matched by side unit.
3. the method for claim 1, it is characterised in that the described vehicle location information in the t1 moment includes first direction
Position coordinates y1, the described vehicle location information in the t2 moment includes the position coordinates y2 of first direction；Described range information
Including the operating range Sy of first direction, its computing formula is Sy=| y2-y1 |；Described velocity information includes the row of first direction
Sailing speed Vy, its computing formula is Vy=Sy/t0.
4. the method for claim 1, it is characterised in that the described vehicle location information in the t1 moment includes first direction
Position coordinates y1 and the position coordinates x1 of second direction, the described vehicle location information in the t2 moment includes the position of first direction
Putting the position coordinates x2 of coordinate y2 and second direction, wherein, first direction is vertical with second direction；Described range information includes always
Distance S0, its computing formula isDescribed velocity information includes general speed V0, and it calculates
Formula is V0=S0/t0.
5. method as claimed in claim 4, it is characterised in that described velocity information also includes the velocity component Vy of first direction
With the velocity component Vx of second direction, wherein, the computing formula of Vy is Vy=| y2-y1 |/t0, and the computing formula of Vx is Vx=|
x2-x1|/t0。
6. a vehicle speed measurement device based on DSRC, it is characterised in that include that roadside unit, described roadside unit include:
Signal receiving module, for receiving multiple microwave signals that vehicle is sent by board units, at least one described microwave
Signal carries the information of vehicles of described vehicle, and microwave signal described at least two corresponds respectively to t1 and the t2 moment, wherein, t1 and
Time interval between the t2 moment is t0；
Locating module, for by the described microwave signal in t1 moment, it is thus achieved that described vehicle, in the location information in t1 moment, passes through
The described microwave signal in t2 moment, it is thus achieved that described vehicle is in the location information in t2 moment；Described locating module is used for using phase place
Difference positioning mode；
Computing module, for utilizing the described vehicle location information in the t1 moment and the location information in t2 moment, calculates described car
Range information between t1 and the t2 moment, and according to described range information and time interval t0, calculate described vehicle at t1
And the velocity information between the t2 moment；
Described phase contrast positioning mode is particularly as follows: utilize the reception antenna (1) arranged on the same line, reception antenna (2), receive
Antenna (3) forms antenna sets and receives the microwave signal that same board units sends, the incoming wave of the microwave signal that board units sends
Angle between direction and aerial array normal is the deflection of θ, i.e. microwave signal；
According to the numerical value of θ, in conjunction with setting height(from bottom) and the angle of each reception antenna, calculate the location information of board units.
7. device as claimed in claim 6, it is characterised in that also include Signal Matching module, for by the speed of described vehicle
Degree information matches with the information of vehicles of described vehicle.
8. a DSRC application system, it is characterised in that include the vehicle speed measurement device described in claim 6 or 7.
9. system as claimed in claim 8, it is characterised in that described DSRC application system is single or multiple track band
Barrier machine electronic charging system without parking, the free streaming system in bicycle road or the free streaming system of multilane, described signal receiving module
Be arranged on described bicycle road band barrier machine electronic charging system without parking, multilane band barrier machine electronic charging system without parking or
On the corresponding track of the free streaming system in bicycle road, or at least one the free flow section being arranged in the free streaming system of multilane
On.
10. system as claimed in claim 8, it is characterised in that described DSRC application system includes vehicle detection
At least one in system, vehicle speed measurement system, model recognition system, image identification system, video capture system.
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