CN104123837A - Interrupted flow travel time estimation method based on microwave and video data fusion - Google Patents
Interrupted flow travel time estimation method based on microwave and video data fusion Download PDFInfo
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Abstract
The invention discloses an interrupted flow travel time estimation method based on microwave and video data fusion. The method, based on microwave and video data fusion, carries out estimation on travel time of an interrupted flow road section; the microwave data can be used to estimate sectional average speed; the video data can be used to estimate downstream intersection delay; and the average travel time of the road section can be obtained by combining the sectional average travel time and delay.
Description
Technical field
the present invention relates to intelligent transport technology field, particularly a kind of popular journey Time Estimation Method of interruption based on microwave and video data fusion.
Background technology
be interrupted traffic flow (Interrupted Flow) and refer to that traffic flow facility has the fixed element that causes traffic flow periodic breaks, these elements comprise the control equipment of traffic signals, stop sign and other types.No matter there are how many volume of traffic to exist, these equipment all can cause that traffic periodically stops (or significantly slowing down), that is to say that the traffic flow of travelling on road is because of extraneous factor, as the reason of intersection, mark or signal, and the liquid that stagnation of movement interrupts.In general, the traffic flow on urban streets stops between being.
forecasting of Travel Time value referred in the next one (multiple) period, the journey time in certain section (or path), it is an important parameter in intelligent transportation service and management, can directly apply to the many-sides such as path induction, traffic control and tissue, traffic state judging.Travel time estimation value referred in the current period, the journey time in certain section (or path), and travel time estimation value is a key input parameter in Forecasting of Travel Time research, therefore travel time estimation has important researching value.Because a cutout is subject to the impact of the control equipment such as traffic signals, its traffic behavior has space-time characterisation complicated and changeable, and the estimation that is therefore interrupted stream journey time is all a Research Challenges all the time.
microwave remote sensor is a kind of for monitoring the reproduction formula radar installations of traffic.It can measure the distance of microwave view field internal object, realizes stationary vehicle to multilane and the detection of driving vehicle by distance.In the time carrying out vehicle detection, microwave remote sensor receives the continuously echo on various surfaces in microwave view field, as walkway, fence, vehicle and trees etc.Fixed object echoed signal in each microwave aspect will form background threshold, if the intensity of echoed signal during higher than the background threshold of microwave aspect, showing has automobile storage to exist.
because microwave data can only detect the traffic data (section flow, speed etc.) of section section, between being therefore difficult to pair by means of microwave data merely, incur loss through delay and journey time is accurately estimated in the section of cutout.
video frequency vehicle detecting device is a kind of integrated system of analyzing that detects based on video image analysis and computer vision technique road pavement Vehicular behavior.The traffic image of its energy real-time analysis input, the vehicle in tracking image obtains various traffic datas.
video frequency vehicle detecting device adopts video camera as video sensor.Camera pedestal is located at correct position (isolation strip of road top, the road central authorities) vision signal of road through video line input video detection system, utilize the method for Image Engineering (image is processed and machine vision), each on-the-spot image of Real-Time Monitoring, and remove the impact that various environment cause and obtain required various traffic datas by image analysis processing, detection line and detection zone can freely arrange on the image frame of computing machine or monitor.
video detector can detect that the license plate number of each car and section section thereof pass through the moment more exactly.If one the upstream and downstream section in section exists video detecting device simultaneously, just can accurately estimate the journey time in this section.But because the installation rate of video detector is very low, therefore, under many circumstances, there is not video detector in the upstream and downstream section in a section simultaneously.
in sum, utilize merely microwave detector data or single video detector data all cannot effectively estimate being interrupted stream journey time, therefore the present invention estimates these two kinds of data of fusion to being interrupted stream journey time.
Summary of the invention
the object of this invention is to provide a kind of popular journey Time Estimation Method of interruption based on microwave and video data fusion, solve defect and deficiency that prior art exists.
the invention provides a kind of popular journey Time Estimation Method of interruption based on microwave and video data fusion, it is characterized in that:
at a certain section, microwave detector is set, gathers wagon flow section speed data and section data on flows;
set up the section average travel time computation model based on wagon flow section speed data, section data on flows, section length, the described wagon flow section speed data gathering and section data on flows are inputted to described computation model acquisition section average travel time data;
downstream intersection at described section arranges video detector, gathers the traffic flow data in each counting period;
set up based on vehicle and evenly control the vehicle average control delay estimation model of incuring loss through delay data, incremental delay data, the described traffic flow data gathering is inputted to described vehicle average control delay estimation model and obtain vehicle average control delay data;
section average travel time data to described acquisition, vehicle average control are incured loss through delay the average travel time data in data summation acquisition target section.
described section average travel time computation model adopts following formula:
in formula,
,
for section length, S(
) be wagon flow section speed, A(
) be section flow,
for section average travel time.
described vehicle average control delay estimation model adopts following formula:
in formula,
for the average control of each car is incured loss through delay (second /);
for vehicle is evenly controlled delay, the delay while evenly arrival for hypothesis vehicle;
for incremental delay, arrive for vehicle is random and the supersaturation delay causing of queuing up;
wherein, C is intersection signal cycle long (second);
for the effective green time (s) of track group;
ratio is the saturation degree of track group;
for analyze the period, be analyze duration length (hour);
for incremental delay parameter, setting is relevant with controlling;
for the correction parameter screening of upstream, crossing or that measure;
for the track group traffic capacity (/ hour);
for track group
ratio, i.e. saturation degree.
when timing signal control, described incremental delay parameter k=0.50, the correction parameter screening of upstream, crossing or that measure
=1.0.
described microwave detector gathers and also carries out pre-service after wagon flow section speed data and section data on flows: data cleansing, and data scrubbing routine attempts to fill the value of disappearance, and smooth noise is also identified outlier, inconsistent in correction of data; Data-switching, by data-switching or be unified into be suitable for excavate form.
described video detector gathers and also carries out pre-service after the traffic flow data in each counting period: data cleansing, and data scrubbing routine attempts to fill the value of disappearance, and smooth noise is also identified outlier, inconsistent in correction of data; Data-switching, by data-switching or be unified into be suitable for excavate form.
the present invention is based on microwave and video data merges, estimate being interrupted flowpath segment journey time, wherein, microwave data can be estimated section average velocity, and video data can be estimated downstream intersection delay, then obtain average travel time for road sections by cumulative section average travel time and delay.
Brief description of the drawings
fig. 1 is process flow diagram of the present invention;
fig. 2 is data environment figure used in the present invention.
Embodiment
further illustrate technical scheme of the present invention below in conjunction with drawings and embodiments.
enforcement of the present invention must ensure to have microwave data and video data on target section simultaneously, by merging microwave and the video data on target section, average travel time for road sections is estimated.
research object of the present invention is the average travel time for road sections (signal controlling that comprises downstream intersection is incured loss through delay) between two crossings.For the convenience of studying, section is divided into two parts (see figure 2):
(1) intersection exit section in upstream is to the section (signal controlling of not considering downstream intersection is incured loss through delay, and sees Fig. 2) of downstream intersection admission section.Its objective is the average velocity in order to estimate this section
.
(2) downstream intersection.Its objective is the signal controlling delay in order to estimate downstream intersection
.
utilize microwave data to estimate section average velocity, then utilize section length to obtain section average travel time divided by this speed.
utilize video data to estimate downstream intersection delay.
cumulative section average travel time and downstream intersection delay obtain average travel time for road sections.
several links involved in the present invention:
a. the definition in section: oriented section between Wei Liang crossing, the defined section of the present invention (comprising three kinds, craspedodrome section, left-hand rotation section and right-hand rotation section).Choose the position of upstream intersection exit section as the reference position in section, Fig. 2, as the final position in section, is seen in the position of downstream intersection admission section.Wherein, the delay of downstream intersection is also included in the journey time in this section.
b. microwave raw data pre-service: object is the abnormal data of repairing wherein.For example, in microwave data, some data traffic is not 0, and occupation rate and speed are 0.Effective reparation of these abnormal datas is directly affected to the accuracy of Link Travel Time Estimation.
c. video raw data pre-service: object is the abnormal data of repairing wherein.For example, the license number None-identified of some data in video data.Effective reparation of these abnormal datas is directly affected to the accuracy of Link Travel Time Estimation.
referring to Fig. 1, Fig. 2, the invention provides a kind of popular journey Time Estimation Method of interruption based on microwave and video data fusion, comprise the following steps: at a certain section, microwave detector is set, gathers wagon flow section speed data and section data on flows; Set up the section average travel time computation model based on wagon flow section speed data, section data on flows, section length, the described wagon flow section speed data gathering and section data on flows are inputted to described computation model acquisition section average travel time data; Downstream intersection at described section arranges video detector, gathers the traffic flow data in each counting period; Set up based on vehicle and evenly control the vehicle average control delay estimation model of incuring loss through delay data, incremental delay data, the described traffic flow data gathering is inputted to described vehicle average control delay estimation model and obtain vehicle average control delay data; Section average travel time data to described acquisition, vehicle average control are incured loss through delay the average travel time data in data summation acquisition target section.
the present invention, taking the target Link Travel Time Estimation shown in Fig. 2 as example, describes.This target section can be divided into two parts: (1) upstream intersection exit section is to the section of downstream intersection admission section; (2) downstream intersection.Wherein, utilize microwave data can estimate to comprise the steps: section averaging time
pre-service microwave data, comprising:
a) data cleansing: data scrubbing routine attempts to fill the value of disappearance, and smooth noise is also identified outlier, inconsistent in correction of data;
b) data-switching: by data-switching or be unified into be suitable for excavate form;
microwave detector can obtain wagon flow section speed data by divided lane
, and by the link flow data in each track
, can obtain the average velocity of section by arithmetic mean
;
（1）
section average travel time
computing formula as follows:
（2）
wherein,
represent the length of section.
wherein, utilize video data can estimate downstream intersection delay, comprise the steps:
preprocessed video data, comprising:
a) data cleansing: data scrubbing routine attempts to fill the value of disappearance, and smooth noise is also identified outlier, inconsistent in correction of data;
b) data-switching: by data-switching or be unified into be suitable for excavate form;
the video data is here mainly video flow data.Be chosen in each counting period the magnitude of traffic flow of downstream intersection craspedodrome (turn left or turn right)
,
,
, calculate its corresponding average vehicle delay
, this delay can calculate (HCM2000) by following formula:
（3）
wherein,
the average control that refers to each car is incured loss through delay (second /),
for evenly controlling and incur loss through delay, the delay while evenly arrival for hypothesis vehicle;
for incremental delay, be to arrive because vehicle is random and the supersaturation delay causing of queuing up.
（4）
wherein, C is intersection signal cycle long (second);
for the effective green time (s) of track group;
ratio, the i.e. saturation degree of track group.
（5）
wherein,
for analyze the period, be analyze duration length (hour);
for incremental delay parameter, setting is relevant with controlling;
for the correction parameter screening of upstream, crossing or that measure;
for the track group traffic capacity (/ hour);
for track group
ratio, i.e. saturation degree.
for timing signal control, k=0.50, can regard vehicle as and arrive at random, and evenly service time and the track group traffic capacity adapt.I value in formula (5) generally gets 1.0.
finally, target Estimation method of average travel time for road sections is as follows:
cumulative section average travel time and downstream intersection delay obtain target average travel time for road sections.Concrete formula is as follows:
wherein,
implication described above.
those of ordinary skill in the art will be appreciated that, above embodiment is only for the present invention is described, and be not used as limitation of the invention, as long as within the scope of connotation of the present invention, variation, modification to above embodiment all will drop within the scope of claims of the present invention.
Claims (6)
1. the popular journey Time Estimation Method of interruption based on microwave and video data fusion, is characterized in that, comprises the following steps:
At a certain section, microwave detector is set, gathers wagon flow section speed data and section data on flows;
Set up the section average travel time computation model based on wagon flow section speed data, section data on flows, section length, the described wagon flow section speed data gathering and section data on flows are inputted to described computation model acquisition section average travel time data;
Downstream intersection at described section arranges video detector, gathers the traffic flow data in each counting period;
Set up based on vehicle and evenly control the vehicle average control delay estimation model of incuring loss through delay data, incremental delay data, the described traffic flow data gathering is inputted to described vehicle average control delay estimation model and obtain vehicle average control delay data;
Section average travel time data to described acquisition, vehicle average control are incured loss through delay the average travel time data in data summation acquisition target section.
2. the method for claim 1, is characterized in that, described section average travel time computation model adopts following formula:
In formula,
,
for section length, S(
) be wagon flow section speed, A(
) be section flow,
for section average travel time.
3. method as claimed in claim 1 or 2, is characterized in that, described vehicle average control delay estimation model adopts following formula:
In formula,
for the average control of each car is incured loss through delay (second /);
for vehicle is evenly controlled delay, the delay while evenly arrival for hypothesis vehicle;
for incremental delay, arrive for vehicle is random and the supersaturation delay causing of queuing up;
Wherein, C is intersection signal cycle long (second);
for the effective green time (s) of track group;
ratio is the saturation degree of track group;
for analyze the period, be analyze duration length (hour);
for incremental delay parameter, setting is relevant with controlling;
for the correction parameter screening of upstream, crossing or that measure;
for the track group traffic capacity (/ hour);
for track group
ratio, i.e. saturation degree.
4. method as claimed in claim 3, is characterized in that, when timing signal control, and described incremental delay parameter k=0.50, the correction parameter screening of upstream, crossing or that measure
=1.0.
5. the method for claim 1, it is characterized in that, after described microwave detector collection wagon flow section speed data and section data on flows, also carry out pre-service: data cleansing, data scrubbing routine attempts to fill the value of disappearance, smooth noise is also identified outlier, inconsistent in correction of data; Data-switching, by data-switching or be unified into be suitable for excavate form.
6. the method for claim 1, it is characterized in that, described video detector gathers and also carries out pre-service after the traffic flow data in each counting period: data cleansing, and data scrubbing routine attempts to fill the value of disappearance, smooth noise is also identified outlier, inconsistent in correction of data; Data-switching, by data-switching or be unified into be suitable for excavate form.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105427622A (en) * | 2015-12-24 | 2016-03-23 | 上海展为软件技术有限公司 | Microwave vehicle detection device and method based on geomagnetism guidance |
| CN106408940A (en) * | 2016-11-02 | 2017-02-15 | 南京慧尔视智能科技有限公司 | Microwave and video data fusion-based traffic detection method and device |
| CN110444012A (en) * | 2019-06-26 | 2019-11-12 | 南京慧尔视智能科技有限公司 | The calculation method and device of intersection vehicles delay time at stop and stop frequency |
| CN111292533A (en) * | 2020-02-11 | 2020-06-16 | 北京交通大学 | Method for estimating flow of arbitrary section of highway at any time period based on multi-source data |
| CN113643449A (en) * | 2021-08-11 | 2021-11-12 | 周健龙 | Vehicle following prevention device for entrance/exit of barrier-free parking lot and processing method |
| CN115019525A (en) * | 2022-06-20 | 2022-09-06 | 杭州海康威视数字技术股份有限公司 | Travel time data screening method and traffic signal control method |
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- 2013-04-28 CN CN201310153653.9A patent/CN104123837A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105427622A (en) * | 2015-12-24 | 2016-03-23 | 上海展为软件技术有限公司 | Microwave vehicle detection device and method based on geomagnetism guidance |
| CN106408940A (en) * | 2016-11-02 | 2017-02-15 | 南京慧尔视智能科技有限公司 | Microwave and video data fusion-based traffic detection method and device |
| CN106408940B (en) * | 2016-11-02 | 2023-04-14 | 南京慧尔视智能科技有限公司 | Traffic detection method and device based on microwave and video data fusion |
| CN110444012A (en) * | 2019-06-26 | 2019-11-12 | 南京慧尔视智能科技有限公司 | The calculation method and device of intersection vehicles delay time at stop and stop frequency |
| CN111292533A (en) * | 2020-02-11 | 2020-06-16 | 北京交通大学 | Method for estimating flow of arbitrary section of highway at any time period based on multi-source data |
| CN111292533B (en) * | 2020-02-11 | 2021-07-30 | 北京交通大学 | Method for estimating flow of arbitrary section of highway at any time period based on multi-source data |
| CN113643449A (en) * | 2021-08-11 | 2021-11-12 | 周健龙 | Vehicle following prevention device for entrance/exit of barrier-free parking lot and processing method |
| CN115019525A (en) * | 2022-06-20 | 2022-09-06 | 杭州海康威视数字技术股份有限公司 | Travel time data screening method and traffic signal control method |
| CN115019525B (en) * | 2022-06-20 | 2024-06-11 | 杭州海康威视数字技术股份有限公司 | Screening method of travel time data and traffic signal control method |
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Application publication date: 20141029 |