CN103680152A - Vehicle detecting method and system - Google Patents
Vehicle detecting method and system Download PDFInfo
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Abstract
The invention discloses a vehicle detecting method and system. The method comprises the steps that after vehicle coming data of a vehicle are determined from z-axis terrestrial magnetism data collected by a terrestrial magnetism sensor periodically, the magnetic field disturbance amplitude of the vehicle is worked out according to the coming vehicle data; according to the magnetic field disturbance amplitude of the vehicle, the corresponding vehicle leaving count value, the x-axis vehicle leaving threshold, the y-axis vehicle leaving threshold and the z-axis vehicle leaving threshold are determined; according to the determined vehicle leaving count value, the determined x-axis vehicle leaving threshold, the determined y-axis vehicle leaving threshold and the determined z-axis vehicle leaving threshold, x-axis vehicle leaving data of the vehicle, y-axis vehicle leaving data of the vehicle and z-axis vehicle leaving data of the vehicle are determined respectively from x-axis terrestrial magnetism data, y-axis terrestrial magnetism data and z-axis terrestrial magnetism data, and the face that the vehicle is left is judged; wherein the x-axis terrestrial magnetism data, the y-axis terrestrial magnetism data and the z-axis terrestrial magnetism data are collected by the terrestrial magnetism sensor after the vehicle coming data. The system comprises a terrestrial magnetism data obtaining module, a vehicle coming data determining module, a magnetic field disturbance amplitude calculating module, a vehicle leaving threshold determining module and a vehicle leaving data determining module. By the application of the vehicle detecting method and system, the vehicle detecting precision can be improved.
Description
Technical field
The present invention relates to intelligent transport technology field, relate in particular to a kind of vehicle checking method and system.
Background technology
Flourish along with automobile industry, when boosting economic growth, the surge of automobile quantity is exerted heavy pressures on to communications and transportation.For alleviating the pressure of communications and transportation, reduce the problems such as traffic congestion, traffic hazard that the surge of automobile quantity brings take place frequently, intelligent transportation system technology is arisen at the historic moment.Intelligent transportation system technology is by advanced infotech, the communication technology, control technology, sensor technology and the effective integration of system synthesis technology and is applied to service system, thus in setting up on a large scale, play a role, in real time, the assurance of traffic and transportation system accurately and efficiently.
Basis as traffic system technology, vehicle detection is occupied extremely important status in intelligent transportation system, it provides necessary Data Source for intelligent transportation system, for vehicle detection, existed based on multiple vehicle detection technology such as toroid winding, video, microwave, infrared, ultrasound waves, although above-mentioned technology respectively has outstanding advantage, effect is all undesirable in actual applications.In recent years, based on geomagnetic sensor, carry out the technology of vehicle detection because it is reliable and stable, accuracy of detection is high, be subject to paying close attention to more and more widely, occurred on this basis multiple vehicle checking method.
Publication number is that the patent of CN102289939 discloses a kind of vehicle/traffic flow detecting method based on three axle magnetoresistive transducers, and as shown in Figure 1, the method comprises the steps: the flow process of the method
S101: environmental magnetic field intensity while obtaining without car, obtained car through out-of-date environmental magnetic field intensity;
S102: institute's measuring magnetic field intensity data is carried out to filtering and obtain data sequence;
S103: data sequence is carried out to binary conversion treatment;
S104: have car judgement: data sequence becomes at 1 o'clock from 0, has car counter to start counting by 0, in data sequence maintains 1 process, has the count value of car counter to be more than or equal to the predefined car count threshold that has, and thinks and has a car process, forwards S105 to;
S105: vehicle leaves judgement: when data sequence becomes 0, have car counter O reset, vehicle leaves counter and starts counting, in data sequence maintains 0 process, if vehicle leaves counter and is more than or equal to predefined vehicle and leaves threshold value, think that vehicle leaves.
Being specially according to the fixed value of the average speed of pony car and length of wagon setting from car threshold value in said method, yet the vehicle of different automobile types in real road environment, there is very big-difference in its speed of a motor vehicle, even the vehicle of vehicle of the same race, due to driver's operation, the speed of a motor vehicle also can be different, so when judging whether vehicle leaves, for speed of a motor vehicle vehicle faster, in the time of may occurring that this vehicle has left, and also do not reach from car threshold value from car counter; For the slower vehicle of the speed of a motor vehicle, may occur that this vehicle does not also leave, and reaching from car threshold value from car counter, due in follow-up vehicle flowrate, judge a car after leaving with this car, vehicle flowrate counter could increase 1, and said method can cause the fast vehicle of the speed of a motor vehicle undetected, the slow vehicle of the speed of a motor vehicle is examined more, the precision that impact detects.Therefore the vehicle checking method that provides a kind of accuracy of detection higher is provided.
Summary of the invention
Goal of the invention of the present invention has been to provide a kind of method of vehicle detection, in order to improve vehicle detection precision.
According to an aspect of the present invention, provide a kind of vehicle checking method, described method comprises:
The z axle geomagnetic data that base area Magnetic Sensor periodically gathers, therefrom determines coming after car data of vehicle, according to the described disturbance of magnetic field amplitude of coming car data to calculate vehicle;
According to the disturbance of magnetic field amplitude of described vehicle, determine corresponding to car count value, and x, y, z axle from car threshold value;
According to determine from car count value and x, y, z axle from car threshold value, from described geomagnetic sensor the geomagnetic data of the described x, y, z axle gathering after carrying out car data, determine respectively described vehicle x, y, z axle after car data, judge that described vehicle leaves.
Further, described according to the described disturbance of magnetic field amplitude of coming car data to calculate vehicle, be specially:
According to following formula, calculate the disturbance of magnetic field amplitude l of described vehicle:
Wherein, the number of carrying out car data that m is described vehicle, what z (i), z (i+1) were respectively described vehicle comes i in car data, an i+1 data, the natural number that i is 1～m.
Further, described according to the disturbance of magnetic field amplitude of described vehicle, determine corresponding to car count value, and x, y, z axle from car threshold value, specifically comprise:
The disturbance of magnetic field amplitude of described vehicle and the standard perturbation amplitude setting in advance are contrasted, if the disturbance of magnetic field amplitude of described vehicle is greater than described standard perturbation amplitude, the x, y, z axle that corresponding increase sets in advance after car threshold value, determine the x, y, z axle corresponding with described disturbance of magnetic field amplitude from car threshold value; And corresponding reduce to set in advance after car count value, determine corresponding to described disturbance of magnetic field amplitude car count value;
If the disturbance of magnetic field amplitude of described vehicle is less than described standard perturbation amplitude, the corresponding x, y, z axle that reduces to set in advance after car threshold value, determine the x, y, z axle corresponding with described disturbance of magnetic field amplitude from car threshold value; And corresponding increase set in advance after car count value, determine corresponding to described disturbance of magnetic field amplitude car count value.
Further, the z axle geomagnetic data periodically gathering at described base area Magnetic Sensor, therefrom determine vehicle carry out car data before, also comprise:
After the geomagnetic data of the x axle that described geomagnetic sensor is gathered under without car environment is averaging, obtain the earth magnetism reference value of x axle; And
After the geomagnetic data of the y axle that described geomagnetic sensor is gathered under without car environment is averaging, obtain the earth magnetism reference value of y axle; And
After the geomagnetic data of the z axle that described geomagnetic sensor is gathered under without car environment is averaging, obtain the earth magnetism reference value of z axle.
Further, described from described geomagnetic sensor the geomagnetic data of the described x, y, z axle gathering after carrying out car data, determine respectively described vehicle x, y, z axle from car data, specifically comprise:
Determine described geomagnetic sensor in the described x axle geomagnetic data gathering after carrying out car data, be less than the data from car threshold value of described x axle with the absolute value of the difference of the earth magnetism reference value of described x axle; If it is described from car count value M that the continuous number of the data of determining reaches, the x axle using the continuous N of a determining data as described vehicle from car data; And
Determine described geomagnetic sensor in the described y axle geomagnetic data gathering after carrying out car data, be less than the data from car threshold value of described y axle with the absolute value of the difference of the earth magnetism reference value of described y axle; If it is described from car count value M that the continuous number of the data of determining reaches, the x axle using the continuous N of a determining data as described vehicle from car data;
Determine described geomagnetic sensor in the described z axle geomagnetic data gathering after carrying out car data, be less than the data from car threshold value of described z axle with the absolute value of the difference of the earth magnetism reference value of described z axle; If it is described from car count value M that the continuous number of the data of determining reaches, the x axle using the continuous N of a determining data as described vehicle from car data.
According to another aspect of the present invention, also provide a kind of vehicle detecting system, described system comprises:
Geomagnetic data acquisition module, for periodically obtaining the geomagnetic data of the x, y, z axle of geomagnetic sensor collection;
Carry out car data determination module, for the z axle geomagnetic data obtaining according to described geomagnetic data acquisition module, therefrom determine the car data that comes of vehicle;
Disturbance of magnetic field magnitude computation module, for coming the car data that comes that car data determination module is determined to calculate the disturbance of magnetic field amplitude of vehicle according to described;
From car threshold determination module, for the disturbance of magnetic field amplitude of the described vehicle that calculates according to described disturbance of magnetic field magnitude computation module, determine corresponding to car count value, and x, y, z axle from car threshold value;
From car data determination module, for according to described from car threshold determination module, determine from car threshold value with from car count value, from described geomagnetic data acquisition module the described geomagnetic data that carrys out the x, y, z axle that obtains after car data, determine respectively described vehicle x, y, z axle after car data, export the result of determination that described vehicle leaves.
Preferably, described disturbance of magnetic field magnitude computation module is specifically for calculating the disturbance of magnetic field amplitude l of described vehicle according to following formula 2:
Wherein, the number of carrying out car data that m is described vehicle, what z (i), z (i+1) were respectively described vehicle comes i in car data, an i+1 data, the natural number that i is 1～m.
Preferably, described from car threshold determination module the disturbance of magnetic field amplitude specifically for the described vehicle determined according to described disturbance of magnetic field magnitude computation module, to after the adjusting from car threshold value with from car count value of the x, y, z axle setting in advance, obtain corresponding to described disturbance of magnetic field amplitude car count value, and x, y, z axle from car threshold value.
Preferably, described system also comprises:
Geomagnetic data reference value computing module, after being averaging, obtains x, y, z axle earth magnetism reference value for the geomagnetic data without the x, y, z axle under car environment respectively described geomagnetic data acquisition module being obtained.
Preferably, describedly from car data determination module, specifically comprise:
X axle is from car data determining unit, for determining described geomagnetic data acquisition module, described, carrys out the x axle geomagnetic data that obtains after car data, is less than the data from car threshold value of described x axle with the absolute value of the difference of the earth magnetism reference value of x axle; If it is described from car count value M that the continuous number of the data of determining reaches, the x axle using the continuous N of a determining data as described vehicle from car data;
Y axle is from car data determining unit, for determining described geomagnetic data acquisition module, described, carrys out the y axle geomagnetic data that obtains after car data, is less than the data from car threshold value of described y axle with the absolute value of the difference of the earth magnetism reference value of y axle; If it is described from car count value M that the continuous number of the data of determining reaches, the y axle using the continuous N of a determining data as described vehicle from car data;
Z axle is from car data determining unit, for determining described geomagnetic data acquisition module, described, carrys out the z axle geomagnetic data that obtains after car data, is less than the data from car threshold value of described z axle with the absolute value of the difference of the earth magnetism reference value of z axle; If it is described from car count value M that the continuous number of the data of determining reaches, the z axle using the continuous N of a determining data as described vehicle from car data;
From car identifying unit, for determining after car data from car data determining unit from car data determining unit, described z axle from car data determining unit, described y axle at described x axle, export the result of determination that described vehicle leaves.
As shown from the above technical solution, vehicle checking method provided by the invention and system, vehicle for the different speed of a motor vehicle, according to the car data that comes of this car, calculate the geomagnetic disturbance amount relevant to this car speed of a motor vehicle, and magnetic perturbation momentum in base area is determined corresponding to this geomagnetic disturbance amount car count value, and x, y, z axle after car threshold value, determine this car from car data, like this, for the fast vehicle of the speed of a motor vehicle, according to its feature that geomagnetic disturbance amount is relatively large, the disturbance time is relatively short, corresponding increase x, y, z axle from car threshold value, reduce from car count value; For the slow vehicle of the speed of a motor vehicle, according to its feature that geomagnetic disturbance amount is relatively little, the disturbance time is relatively long, corresponding reduce x, y, z axle from car threshold value, increase from car count value; Thereby guarantee the vehicle of the different speed of a motor vehicle to detect in time, avoid that express is undetected, slow train is examined more; Thereby improve vehicle detection precision.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described.Apparently, the accompanying drawing in below describing is only some embodiments of the present invention, for those of ordinary skills, can also obtain according to these accompanying drawing illustrated embodiments other embodiment and accompanying drawing thereof.
Fig. 1 is the schematic flow sheet of existing vehicle checking method;
The schematic flow sheet of the vehicle checking method that Fig. 2 provides for the embodiment of the present invention;
The structural representation of the vehicle detecting system that Fig. 3 provides for the embodiment of the present invention.
Embodiment
For making object of the present invention, technical scheme and advantage clearer, referring to accompanying drawing and enumerate preferred embodiment, the present invention is described in more detail.Yet, it should be noted that, many details of listing in instructions are only used to make reader to have a thorough understanding to one or more aspects of the present invention, even if do not have these specific details also can realize these aspects of the present invention.
The terms such as " module " used in this application, " system " are intended to comprise the entity relevant to computing machine, such as but not limited to hardware, firmware, combination thereof, software or executory software.For example, module can be, but be not limited in: the thread of the process of moving on processor, processor, object, executable program, execution, program and/or computing machine.For instance, the application program of moving on computing equipment and this computing equipment can be modules.One or more modules can be positioned at an executory process and/or thread, and module also can and/or be distributed on a computing machine between two or more computing machines.
When the present inventor finds the vehicle process geomagnetic sensor of the different speed of a motor vehicle, the z axle geomagnetic data perpendicular to vehicle heading that geomagnetic sensor obtains is obviously different, that is to say, according to the send a car geomagnetic disturbance amount of this car that geomagnetic data calculates of z axle, can reflect approx this car speed of a motor vehicle.Therefore consider when determining from car data, calculate the geomagnetic disturbance amount of this car according to the geomagnetic data of sending a car of this car, and according to the geomagnetic disturbance amount of this car, determine correspondingly to this geomagnetic disturbance amount car count threshold, and x, y, z axle is from car threshold value.
In fact, for the fast vehicle of the speed of a motor vehicle, relatively large through the out-of-date geomagnetic disturbance amount that has car geomagnetic data to calculate according to this car, can be according to this geomagnetic disturbance amount by reducing from car count value is corresponding of setting in advance, simultaneously for avoiding external interference impact, by the x, y, z axle setting in advance from the corresponding increase of car threshold value; For the slow vehicle of the speed of a motor vehicle, relatively little through the out-of-date geomagnetic disturbance amount that has car geomagnetic data to calculate according to this car, can according to this geomagnetic disturbance amount by set in advance from the corresponding increase of car count value, for avoiding external interference impact, the x, y, z axle setting in advance is reduced from car threshold value is corresponding simultaneously.
Determine x, y, z axle from car data time, take x axle as example, determine in the x axle geomagnetic data that geomagnetic sensor gathers after carrying out car data, be less than the data from car threshold value of x axle with the absolute value of the difference of the earth magnetism reference value of x axle; If the continuous number of the data of determining reaches from car count value M, the x axle using the continuous N of a determining data as this car from car data; And determine this car x, y, z axle after car data, judge that this car leaves.Like this, according to the geomagnetic disturbance amount of sending a car, determine corresponding to this geomagnetic disturbance amount car count value, and x, y, z axle from car threshold value, for speed of a motor vehicle vehicle faster, its x, y, z axle relatively large from car threshold value, relatively little from car count value; For the slower vehicle of the speed of a motor vehicle, its x, y, z axle relatively little from car threshold value, relatively large from car count value; Avoid adopting fixing from car count value, while leaving for the fast vehicle of the speed of a motor vehicle, because not meeting from spoke part, cause this car undetected, while leaving for the slow vehicles failed of the speed of a motor vehicle, because meeting from spoke part, cause this car to examine more.Thereby improve vehicle detection precision.
Below in conjunction with accompanying drawing, describe the technical scheme of the embodiment of the present invention in detail.
After the geomagnetic data of the x, y, z axle respectively geomagnetic sensor being gathered under without car environment is in advance averaging, obtain the earth magnetism reference value of x, y, z axle.Afterwards, start to carry out vehicle detection, concrete method flow as shown in Figure 2, comprises the steps:
S201: the z axle geomagnetic data that base area Magnetic Sensor periodically gathers, therefrom determine coming after car data of vehicle, according to this, come car data to calculate the disturbance of magnetic field amplitude of vehicle.
In this step, determine geomagnetic sensor in the z axle geomagnetic data gathering of a upper vehicle after car data, be less than with the absolute value of the difference of z axle geomagnetic data reference value the threshold value of sending a car; If the continuous number of the data of determining reaches the count value N that sends a car, the car data that comes using the N continuous of a determining data as this car; Afterwards, according to this, come car data to calculate the disturbance of magnetic field amplitude of this car.
Particularly, according to following formula 1, calculate the disturbance of magnetic field amplitude l of this car:
In formula 1, m is the number of carrying out car data of this car, and what z (i), z (i+1) were respectively this car comes i in car data, an i+1 data, the natural number that i is 1～m.
Wherein, the count value of sending a car is fixed value with the threshold value of sending a car, and those skilled in the art can rule of thumb arrange it, repeat no more herein.
S202: according to the disturbance of magnetic field amplitude of this car, determine corresponding to car count value, and x, y, z axle from car threshold value.
In this step, according to the disturbance of magnetic field amplitude of this car calculating, to after the adjusting from car threshold value with from car count value of the x, y, z axle setting in advance, determine corresponding to this disturbance of magnetic field amplitude car count value, and x, y, z axle from car threshold value.
Particularly, the disturbance of magnetic field amplitude calculating and predefined standard perturbation amplitude are contrasted, if this disturbance of magnetic field amplitude is greater than standard perturbation amplitude, the x, y, z axle that corresponding increase sets in advance after car threshold value, determine the x, y, z axle corresponding with this disturbance of magnetic field amplitude from car threshold value; And corresponding reduce to set in advance after car count value, determine corresponding to this disturbance of magnetic field amplitude car count value; Wherein, set in advance from car count value, and x, y, z axle can be that technician determines according to practical experience from car threshold value.
In fact, the method from car threshold value of the x, y, z axle that corresponding increase sets in advance can be that the different perturbation amplitudes region rule of thumb presetting out, determines the affiliated perturbation amplitude region of disturbance of magnetic field amplitude calculating; According to predefined each perturbation amplitude region is corresponding, from car threshold value, increase, by the corresponding x, y, z axle in perturbation amplitude region of determining from car threshold value increase value, respectively with being added from car threshold value of the x, y, z axle setting in advance after, obtain x, y, z axle that increase, corresponding with the disturbance of magnetic field amplitude calculating from car threshold value;
The corresponding method from car count value that reduces to set in advance can be, rule of thumb predefined variant perturbation amplitude region is corresponding reduces value from car count value, behind perturbation amplitude region under definite disturbance of magnetic field amplitude calculating, by set in advance from car count value and the perturbation amplitude region determined are corresponding from car count value, reduce value and subtract each other after, that obtain reducing, corresponding with the disturbance of magnetic field amplitude calculating from car count value.
Like this, for speed of a motor vehicle vehicle faster, in technical solution of the present invention according to its feature that geomagnetic disturbance amount is relatively large, the disturbance time is relatively short, the x, y, z axle that corresponding increase sets in advance from car threshold value, reduce to set in advance from car count value, thereby guarantee the speed of a motor vehicle timely detection of vehicle faster, avoid express undetected.
Or, according to the amplitude difference of priori and x, y, z axle from the funtcional relationship between car threshold value increase value, after calculating the amplitude difference of disturbance of magnetic field amplitude and predefined disturbance of magnetic field reference amplitude, according to above-mentioned funtcional relationship calculate corresponding x, y, z axle from car threshold value increase value; By the x, y, z axle calculating from car threshold value increase value, respectively with being added from car threshold value of the x, y, z axle setting in advance after, obtain x, y, z axle that increase, corresponding with the disturbance of magnetic field amplitude calculating from car threshold value;
According to the amplitude difference of priori and reduce the funtcional relationship between value from car count value, after calculating the amplitude difference of disturbance of magnetic field amplitude and predefined disturbance of magnetic field reference amplitude, according to above-mentioned funtcional relationship, calculate and corresponding from car count value, reduce value; By set in advance from car threshold value with calculate from car count value, reduce value and subtract each other after, that obtain reducing, corresponding with the disturbance of magnetic field amplitude calculating from car count value; The amplitude difference of above-mentioned priori and x, y, z axle from the funtcional relationship between car threshold value increase value, and amplitude difference and the funtcional relationship that reduces between value from car count value can be the funtcional relationships that those skilled in the art simulate according to many experiments result.
If this disturbance of magnetic field amplitude is less than standard perturbation amplitude, the corresponding x, y, z axle that reduces to set in advance after car threshold value, determine the x, y, z axle corresponding with this disturbance of magnetic field amplitude from car threshold value; And corresponding increase set in advance after car count value, determine corresponding to this disturbance of magnetic field amplitude car count value.
In fact, the method from car threshold value of the corresponding x, y, z axle that reduces to set in advance can be that the different perturbation amplitudes region rule of thumb presetting out, determines the affiliated perturbation amplitude region of disturbance of magnetic field amplitude calculating; According to predefined each perturbation amplitude region is corresponding, from car threshold value, reduce value; By the x, y, z axle setting in advance from car threshold value, respectively with the reducing value and subtract each other from car threshold value of the corresponding x, y, z axle in perturbation amplitude region of determining after, that obtain reducing, corresponding with the disturbance of magnetic field amplitude calculating x, y, z axle from car threshold value;
The method from car count value that corresponding increase sets in advance can be, rule of thumb predefined different perturbation amplitudes region is corresponding after car count value increase value, behind perturbation amplitude region under definite disturbance of magnetic field amplitude calculating, by set in advance from car count value and the perturbation amplitude region determined are corresponding from car count value increase value, be added after, that obtain increasing, corresponding with the disturbance of magnetic field amplitude calculating from car count value.
Or, according to the amplitude difference of priori and x, y, z axle, from car threshold value, reduce the funtcional relationship between value, after calculating the amplitude difference of disturbance of magnetic field amplitude and predefined disturbance of magnetic field reference amplitude, what according to above-mentioned funtcional relationship, calculate corresponding x, y, z axle reduces value from car threshold value; By the x, y, z axle setting in advance from car threshold value, respectively with the reducing value and subtract each other from car threshold value of the x, y, z axle calculating after, that obtain reducing, corresponding with the disturbance of magnetic field amplitude calculating x, y, z axle from car threshold value;
According to the amplitude difference of priori and from the funtcional relationship between car count value increase value, after calculating the amplitude difference of disturbance of magnetic field amplitude and predefined disturbance of magnetic field reference amplitude, according to above-mentioned funtcional relationship, calculate corresponding to car count value increase value; By set in advance from car count value with calculate from car count value increase value, be added after, that obtain increasing, corresponding with the disturbance of magnetic field amplitude calculating from car count value; The amplitude difference of above-mentioned priori and x, y, z axle from the funtcional relationship between car threshold value increase value and amplitude difference and the funtcional relationship that reduces between value from car count value, can be the funtcional relationship that those skilled in the art simulate according to many experiments result.
Like this, for the slower vehicle of the speed of a motor vehicle, in technical solution of the present invention according to its feature that geomagnetic disturbance amount is relatively little, the disturbance time is relatively long, the corresponding x, y, z axle that reduces to set in advance from car threshold value, corresponding increase, set in advance from car count value, can avoid many inspections of slow train.
S203: according to determine from car threshold value with from car count value, the geomagnetic data of the x, y, z axle gathering after carrying out car data from geomagnetic sensor, determine vehicle after car data, judge that vehicle leaves.
Particularly, determine in the x axle geomagnetic data that geomagnetic sensor gathers after carrying out car data, be less than the data from car threshold value of x axle with the absolute value of the difference of the earth magnetism reference value of x axle; If the continuous number of the data of determining reaches from car count value M, the x axle using the continuous N of a determining data as vehicle from car data;
Determine in the x axle geomagnetic data that geomagnetic sensor gathers after carrying out car data, be less than the data from car threshold value of y axle with the absolute value of the difference of the earth magnetism reference value of y axle; If the continuous number of the data of determining reaches from car count value M, the y axle using the continuous N of a determining data as vehicle from car data;
Determine in the z axle geomagnetic data that geomagnetic sensor gathers after carrying out car data, be less than the data from car threshold value of z axle with the absolute value of the difference of the earth magnetism reference value of z axle; If the continuous number of the data of determining reaches from car count value M, the z axle using the continuous N of a determining data as vehicle from car data.
Determine x, y, z axle this car after car data, judge that this car leaves.
Afterwards, base area Magnetic Sensor upper one leave after, before next car sails into, without the x, y, z axle geomagnetic data gathering under car environment, upgrade after x, y, z axle earth magnetism reference value, according to said method step, determine next car carry out car data and from car data.
In practical application, the geomagnetic data of the x, y, z axle that geomagnetic sensor periodically can be gathered is stored in this locality, by arithmetical unit according to the time period arranging, from this locality, extract the geomagnetic data of the x, y, z axle gathering in this time period, and step is analyzed according to the method described above, realize the vehicle detection in Preset Time section.
The structure of the vehicle detecting system that the embodiment of the present invention provides as shown in Figure 3, specifically comprises: geomagnetic data acquisition module 301, come car data determination module 302, disturbance of magnetic field magnitude computation module 303, from car threshold determination module 304, from car data determination module 305.
Geomagnetic data acquisition module 301 is for periodically obtaining the geomagnetic data of the x, y, z axle of geomagnetic sensor collection.
The z axle geomagnetic data that comes car data determination module 302 base area magnetic data acquisition modules 301 to obtain, therefrom determines the car data that comes of vehicle.
Disturbance of magnetic field magnitude computation module 303 comes the car data that comes that car data determination module 302 is determined to calculate the disturbance of magnetic field amplitude of vehicle for basis.
Disturbance of magnetic field amplitude from car threshold determination module 304 for the vehicle that calculates according to disturbance of magnetic field magnitude computation module 303, determine corresponding to car count value, and x, y, z axle from car threshold value.
From car data determination module 305 for according to from car threshold determination module 304, determine from car threshold value with from car count value, the geomagnetic data of the x, y, z axle obtaining after carrying out car data from geomagnetic data acquisition module 301, determine respectively vehicle x, y, z axle after car data, the result of determination left of output vehicle.
Further, the vehicle detecting system that the embodiment of the present invention provides also comprises: geomagnetic data reference value computing module 306;
After geomagnetic data reference value computing module 306 is averaging for the geomagnetic data without the x, y, z axle under car environment respectively geomagnetic data acquisition module 301 being obtained, obtain the earth magnetism reference value of x, y, z axle.
Further, disturbance of magnetic field amplitude from car threshold determination module 304 specifically for the vehicle determined according to disturbance of magnetic field magnitude computation module 303, to after the adjusting from car threshold value with from car count value of the x, y, z axle setting in advance, determine corresponding to this disturbance of magnetic field amplitude car count value, and x, y, z axle from car threshold value.
From car data determination module 305, specifically comprise: x axle is from car data determining unit, y axle from car data determining unit, z axle from car data determining unit, and from car identifying unit.
Wherein, x axle for determining the x axle geomagnetic data that geomagnetic data acquisition module 301 obtains after carrying out car data, is less than the data from car threshold value of x axle with the absolute value of the difference of the earth magnetism reference value of x axle from car data determining unit; If the continuous number of the data of determining reaches from car count value M, the x axle using the continuous N of a determining data as vehicle from car data;
Y axle for determining the y axle geomagnetic data that geomagnetic data acquisition module 301 obtains after carrying out car data, is less than the data from car threshold value of y axle with the absolute value of the difference of the earth magnetism reference value of y axle from car data determining unit; If the continuous number of the data of determining reaches from car count value M, the y axle using the continuous N of a determining data as vehicle from car data;
Z axle for determining the z axle geomagnetic data that geomagnetic data acquisition module 301 obtains after carrying out car data, is less than the data from car threshold value of z axle with the absolute value of the difference of the earth magnetism reference value of z axle from car data determining unit; If the continuous number of the data of determining reaches from car count value M, the z axle using the continuous N of a determining data as vehicle from car data;
From car identifying unit, for determining after car data from car data determining unit from car data determining unit, z axle from car data determining unit, y axle at x axle, export the result of determination that vehicle leaves.
As shown from the above technical solution, the vehicle checking method that the embodiment of the present invention provides and system, vehicle for the different speed of a motor vehicle, according to the car data that comes of this car, calculate the geomagnetic disturbance amount relevant to this car speed of a motor vehicle, and magnetic perturbation momentum in base area is determined corresponding to this geomagnetic disturbance amount car count value, and x, y, z axle after car threshold value, determine this car from car data, like this, for the fast vehicle of the speed of a motor vehicle, relatively large according to its geomagnetic disturbance amount, the feature that the disturbance time is relatively short, the x that corresponding increase sets in advance, y, z axle from car threshold value, reduce to set in advance from car count value, for the slow vehicle of the speed of a motor vehicle, according to its feature that geomagnetic disturbance amount is relatively little, the disturbance time is relatively long, the corresponding x, y, z axle that reduces to set in advance from car threshold value, increase set in advance from car count value, assurance detects in time to the vehicle of the different speed of a motor vehicle, avoids that express is undetected, slow train is examined more, thereby improve vehicle detection precision.
These are only preferred embodiment of the present invention, not for limiting the scope of the invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a vehicle checking method, is characterized in that, comprising:
The z axle geomagnetic data that base area Magnetic Sensor periodically gathers, therefrom determines coming after car data of vehicle, according to the described disturbance of magnetic field amplitude of coming car data to calculate vehicle;
According to the disturbance of magnetic field amplitude of described vehicle, determine corresponding to car count value, and x, y, z axle from car threshold value;
According to determine from car count value and x, y, z axle from car threshold value, from described geomagnetic sensor the geomagnetic data of the described x, y, z axle gathering after carrying out car data, determine respectively described vehicle x, y, z axle after car data, judge that described vehicle leaves.
2. vehicle checking method according to claim 1, is characterized in that, described according to the described disturbance of magnetic field amplitude of coming car data to calculate vehicle, is specially:
According to following formula, calculate the disturbance of magnetic field amplitude l of described vehicle:
Wherein, the number of carrying out car data that m is described vehicle, what z (i), z (i+1) were respectively described vehicle comes i in car data, an i+1 data, the natural number that i is 1～m.
3. vehicle checking method according to claim 1, is characterized in that, described according to the disturbance of magnetic field amplitude of described vehicle, determine corresponding to car count value, and x, y, z axle from car threshold value, specifically comprise:
The disturbance of magnetic field amplitude of described vehicle and the standard perturbation amplitude setting in advance are contrasted, if the disturbance of magnetic field amplitude of described vehicle is greater than described standard perturbation amplitude, the x, y, z axle that corresponding increase sets in advance after car threshold value, determine the x, y, z axle corresponding with described disturbance of magnetic field amplitude from car threshold value; And corresponding reduce to set in advance after car count value, determine corresponding to described disturbance of magnetic field amplitude car count value;
If the disturbance of magnetic field amplitude of described vehicle is less than described standard perturbation amplitude, the corresponding x, y, z axle that reduces to set in advance after car threshold value, determine the x, y, z axle corresponding with described disturbance of magnetic field amplitude from car threshold value; And corresponding increase set in advance after car count value, determine corresponding to described disturbance of magnetic field amplitude car count value.
4. according to the vehicle checking method described in claim 1-3 any one, it is characterized in that, the z axle geomagnetic data periodically gathering at described base area Magnetic Sensor, therefrom determine vehicle carry out car data before, also comprise:
After the geomagnetic data of the x axle that described geomagnetic sensor is gathered under without car environment is averaging, obtain the earth magnetism reference value of x axle; And
After the geomagnetic data of the y axle that described geomagnetic sensor is gathered under without car environment is averaging, obtain the earth magnetism reference value of y axle; And
After the geomagnetic data of the z axle that described geomagnetic sensor is gathered under without car environment is averaging, obtain the earth magnetism reference value of z axle.
5. vehicle checking method according to claim 4, it is characterized in that, described from described geomagnetic sensor the geomagnetic data of the described x, y, z axle gathering after carrying out car data, determine respectively described vehicle x, y, z axle from car data, specifically comprise:
Determine described geomagnetic sensor in the described x axle geomagnetic data gathering after carrying out car data, be less than the data from car threshold value of described x axle with the absolute value of the difference of the earth magnetism reference value of described x axle; If it is described from car count value M that the continuous number of the data of determining reaches, the x axle using the continuous N of a determining data as described vehicle from car data; And
Determine described geomagnetic sensor in the described y axle geomagnetic data gathering after carrying out car data, be less than the data from car threshold value of described y axle with the absolute value of the difference of the earth magnetism reference value of described y axle; If it is described from car count value M that the continuous number of the data of determining reaches, the x axle using the continuous N of a determining data as described vehicle from car data;
Determine described geomagnetic sensor in the described z axle geomagnetic data gathering after carrying out car data, be less than the data from car threshold value of described z axle with the absolute value of the difference of the earth magnetism reference value of described z axle; If it is described from car count value M that the continuous number of the data of determining reaches, the x axle using the continuous N of a determining data as described vehicle from car data.
6. a vehicle detecting system, is characterized in that, comprising:
Geomagnetic data acquisition module, for periodically obtaining the geomagnetic data of the x, y, z axle of geomagnetic sensor collection;
Carry out car data determination module, for the z axle geomagnetic data obtaining according to described geomagnetic data acquisition module, therefrom determine the car data that comes of vehicle;
Disturbance of magnetic field magnitude computation module, for coming the car data that comes that car data determination module is determined to calculate the disturbance of magnetic field amplitude of vehicle according to described;
From car threshold determination module, for the disturbance of magnetic field amplitude of the described vehicle that calculates according to described disturbance of magnetic field magnitude computation module, determine corresponding to car count value, and x, y, z axle from car threshold value;
From car data determination module, for according to described from car threshold determination module, determine from car threshold value with from car count value, from described geomagnetic data acquisition module the described geomagnetic data that carrys out the x, y, z axle that obtains after car data, determine respectively described vehicle x, y, z axle after car data, export the result of determination that described vehicle leaves.
7. vehicle detecting system according to claim 6, is characterized in that,
Described disturbance of magnetic field magnitude computation module is specifically for calculating the disturbance of magnetic field amplitude l of described vehicle according to following formula 2:
Wherein, the number of carrying out car data that m is described vehicle, what z (i), z (i+1) were respectively described vehicle comes i in car data, an i+1 data, the natural number that i is 1～m.
8. vehicle detecting system according to claim 6, is characterized in that,
Described from car threshold determination module the disturbance of magnetic field amplitude specifically for the described vehicle determined according to described disturbance of magnetic field magnitude computation module, to after the adjusting from car threshold value with from car count value of the x, y, z axle setting in advance, obtain corresponding to described disturbance of magnetic field amplitude car count value, and x, y, z axle from car threshold value.
9. according to the vehicle detecting system described in claim 6-8 any one, it is characterized in that, also comprise:
Geomagnetic data reference value computing module, after being averaging, obtains x, y, z axle earth magnetism reference value for the geomagnetic data without the x, y, z axle under car environment respectively described geomagnetic data acquisition module being obtained.
10. vehicle detecting system according to claim 9, is characterized in that, describedly from car data determination module, specifically comprises:
X axle is from car data determining unit, for determining described geomagnetic data acquisition module, described, carrys out the x axle geomagnetic data that obtains after car data, is less than the data from car threshold value of described x axle with the absolute value of the difference of the earth magnetism reference value of x axle; If it is described from car count value M that the continuous number of the data of determining reaches, the x axle using the continuous N of a determining data as described vehicle from car data;
Y axle is from car data determining unit, for determining described geomagnetic data acquisition module, described, carrys out the y axle geomagnetic data that obtains after car data, is less than the data from car threshold value of described y axle with the absolute value of the difference of the earth magnetism reference value of y axle; If it is described from car count value M that the continuous number of the data of determining reaches, the y axle using the continuous N of a determining data as described vehicle from car data;
Z axle is from car data determining unit, for determining described geomagnetic data acquisition module, described, carrys out the z axle geomagnetic data that obtains after car data, is less than the data from car threshold value of described z axle with the absolute value of the difference of the earth magnetism reference value of z axle; If it is described from car count value M that the continuous number of the data of determining reaches, the z axle using the continuous N of a determining data as described vehicle from car data;
From car identifying unit, for determining after car data from car data determining unit from car data determining unit, described z axle from car data determining unit, described y axle at described x axle, export the result of determination that described vehicle leaves.
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