CN104332057A - Adaptive environment vehicle detection method based on geomagnetism - Google Patents
Adaptive environment vehicle detection method based on geomagnetism Download PDFInfo
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Abstract
The invention discloses an adaptive environment vehicle detection method based on geomagnetism. The method includes the steps: (1) an initialization step: computing a three-axis reference value of magnetic field intensity, and performing initialization; (2) an adaptive adjusting step: detecting a current environment temperature, and adaptively adjusting the three-axis reference value of the magnetic field intensity according to the detected environment temperature; (3) a vehicle coming detection step: entering a vehicle leaving detection step after vehicle coming is judged; (4) a vehicle leaving detection step. The three-axis reference value of the magnetic field intensity can be adaptively adjusted by setting the adaptive adjusting step according to the current environment temperature, the problem of the influence of environment change factors on geomagnetism detection accuracy can be effectively solved, and the detection accuracy rate and adaptivity of a geomagnetism vehicle detector are improved.
Description
Technical field
The invention belongs to technical field of intelligent traffic, specifically, relate to a kind of adaptive environment vehicle checking method based on earth magnetism.
Background technology
Along with science and technology and rapid development of economy, the vehicle guaranteeding organic quantity in city also grows with each passing day.Various traffic problems are as also following in traffic congestion, and these traffic problems annoying urban traffic control person.Urban traffic control person needs to obtain various transport information to carry out corresponding decision-making, and transport information mainly comprises the information such as vehicle flowrate, the speed of a motor vehicle, and the acquisition of information of vehicle flowrate plays sizable effect to optimization traffic organization.How to facilitate, focus that accurate, real-time acquisition transport information is current Intelligent traffic information acquiring area research.
Transport information detection mode conventional at present has multiple, as a kind of emerging detection mode, geomagnetism detecting device receives extensive concern in recent years, the ultimate principle of geomagnetism detecting device is the existence judging vehicle according to the disturbance of vehicle to magnetic field of the earth, and the car test method utilizing three axle geomagnetic sensors or employing single-axis sensors to join double-shaft sensor can gather space three-dimensional Magnetic Field.Existing based on earth magnetism vehicle checking method, often ignore the impact that current traffic condition and environment temperature cause earth magnetism, therefore detect degree of accuracy lower.Publication number is the reference value Adaptive adjusting algorithm designed in the patented claim of CN103593984A, when without car, by the real time data that collects and current reference value weighted sum, as new reference value, in these reference value computing method, weights and threshold is fixing, environmentally temperature and traffic behavior cannot carry out self-adaptative adjustment; Patent CN103794058A adopts state machine detection method, automatically upgrades the Geomagnetic signal of background environment, overcomes the drift phenomenon of terrestrial magnetic field with environmental change, but have ignored the impact of environment temperature.
Because the accuracy of reference value and threshold value is the key factor affecting geomagnetism detecting precision.In a practical situation, reference value can be subject to the impact of temperature and change, the situation such as especially suddenly rain cats and dogs summer, the abrupt change of temperature can be caused, sensor Ref value is made to have little time to adjust, cause reference value to drift about, cause accuracy of detection to decline, even occur cannot normally detecting in a period of time; In addition, relevant with from judgement and the Vehicle Speed of car, spacing to sending a car, when traffic congestion, the speed of a motor vehicle is comparatively slow, and spacing narrows, and causes sticking together, the many inspections of a car and monkey chatter phenomenon.
Based on this, how to invent a kind of can the vehicle checking method of adaptive environment, improving accuracy of detection, is the technical matters that the present invention mainly solves.
Summary of the invention
During change, the problem causing vehicle detection degree of accuracy to reduce, proposes a kind of adaptive environment vehicle checking method based on earth magnetism, improves accuracy of detection.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
Based on an adaptive environment vehicle checking method for earth magnetism, comprise the following steps:
(1), initialization step: the three-axis reference value calculating earth magnetism field intensity, and carry out initialization;
(2), self-adaptative adjustment step: detect current environment temperature, and according to detected environment temperature self-adaptative adjustment the three-axis reference value of earth magnetism field intensity;
(3), to send a car detecting step: the three axle currencys that locality magnetic field is strong, and by three axle currencys of gathered earth magnetism field intensity respectively compared with the three-axis reference value of earth magnetism field intensity, when the absolute value of the difference of the strong each axle currency in terrestrial magnetic field and reference value is all greater than threshold value, then be judged as sending a car, and enter from car detecting step;
(4), from car detecting step: continue the three axle currencys that locality magnetic field is strong, and upgrade three axle currencys of earth magnetism field intensity, three axle currencys of the earth magnetism field intensity this step gathered are respectively compared with the three-axis reference value of earth magnetism field intensity, when the absolute value of the difference of the strong each axle currency in terrestrial magnetic field and reference value is all less than threshold value, be then judged as from car.
Further, in described step (1), the computing method of the three-axis reference value of earth magnetism field intensity are:
Continuous k sampling site magnetic field is respectively in the field intensity value of three axles
,
..., and calculate the mean field intensity values of terrestrial magnetic field at each axle of this k sampled point, and using the mean field intensity values of calculated each axle as the initial baseline value of earth magnetism field intensity at this axle,
Wherein:
represent the earth magnetism field intensity initial baseline value of x-axis or y-axis or z-axis, fractionation is expressed as
, or
, or
.
Further, in described step (2), the method adapting to the three-axis reference value of the described earth magnetism field intensity of adjustment is:
；
；
Wherein,
for the three-axis reference value before adjustment,
for the three-axis reference value after adjustment,
for temperature compensation item,
for magnetic field variation with temperature rate, c is temperature variation between double sampling point.
Preferably, the adaptation of described step (2) adjusts in the method for the three-axis reference value of described earth magnetism field intensity, and also comprise and consider the gradual factor of earth magnetism field intensity with temperature, computing method are:
；
；
Wherein, wherein,
for the three-axis reference value before adjustment,
for the three-axis reference value after adjustment,
for temperature compensation item,
for magnetic field variation with temperature rate, c is temperature variation between double sampling point,
for magnetic field, current position is by force to the weights of new reference value.
Further, also comprise the step eliminating interference of sending a car, described step (3) send a car in detecting step, three axle currencys of continuous acquisition m1 earth magnetism field intensity, if wherein there be m2 point satisfied
then be judged as sending a car, perform step (4), otherwise execution elimination is sent a car and is disturbed step (3.1):
In three axle currencys of m1 described earth magnetism field intensity, meet if there be continuous m3 to put
, then confirm as without car, return step (2), otherwise, return step (3), continue judgement and send a car.
Further, also comprise the step eliminated from car interference, described step (4) from car detecting step, three axle currencys of continuous acquisition m4 earth magnetism field intensity, if wherein there be m5 point satisfied
then be judged as from car, otherwise, perform and eliminate from car interference step (4.1):
In three axle currencys of m4 described earth magnetism field intensity, meet if there be continuous m6 to put
, then return step (4), rejudge from car, otherwise confirm from car.
Further, be judged as, from after car, also comprising step (5) in described step (4):
Upgrade the step of the three-axis reference value of earth magnetism field intensity after car,
。
Further, described step (5) upgrades in the method for the three-axis reference value of earth magnetism field intensity after car, and also comprise and consider the gradual factor of earth magnetism field intensity with temperature, computing method are:
，
Wherein,
for from the magnetic field, current position after car by force to the weights of new reference value.
Further, after described step (5), also comprise step (6), according to current magnetic field fluctuating range, self-adaptative adjustment three axle threshold value
.
Compared with prior art, advantage of the present invention and good effect are: the adaptive environment vehicle checking method based on earth magnetism of the present invention, by arrange self-adaptative adjustment step can according to current environment temperature self-adaptative adjustment the three-axis reference value of earth magnetism field intensity, effectively can solve the problem of environmental change factor to geomagnetism detecting Accuracy, improve Detection accuracy and the adaptability of earth magnetism wagon detector.
After reading the detailed description of embodiment of the present invention by reference to the accompanying drawings, the other features and advantages of the invention will become clearly.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram of a kind of embodiment of adaptive environment vehicle checking method based on earth magnetism proposed by the invention;
Fig. 2 is the process flow diagram of another embodiment of adaptive environment vehicle checking method based on earth magnetism proposed by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In the practical application of earth magnetism vehicle detection, the accuracy of the strong reference value in terrestrial magnetic field and threshold value is the key factor affecting geomagnetism detecting precision, reference value changes owing to can be subject to the impact of temperature, the situation such as especially suddenly rain cats and dogs summer, the abrupt change of temperature can be caused, sensor Ref value is made to have little time to adjust, reference value is caused to drift about, accuracy of detection is caused to decline, even occur cannot normally detecting in a period of time, can not adaptive environment in order to solve in existing earth magnetism vehicle checking method, when environment parameter changes, cause the problem that vehicle detection degree of accuracy reduces, the present invention proposes a kind of adaptive environment vehicle checking method based on earth magnetism, can change environmentally and self-adaptative adjustment reference value, be described in detail with specific embodiment below.
Embodiment one, the present embodiment proposes a kind of adaptive environment vehicle checking method based on earth magnetism, shown in Figure 1, comprises the following steps:
S1, initialization step: the three-axis reference value calculating earth magnetism field intensity, and carry out initialization;
S2, self-adaptative adjustment step: detect current environment temperature, and according to detected environment temperature self-adaptative adjustment the three-axis reference value of earth magnetism field intensity;
S3, detecting step of sending a car: the three axle currencys that locality magnetic field is strong, and by three axle currencys of gathered earth magnetism field intensity respectively compared with the three-axis reference value of earth magnetism field intensity, when the absolute value of the difference of the strong each axle currency in terrestrial magnetic field and reference value is all greater than threshold value, then be judged as sending a car, and enter from car detecting step;
S4, from car detecting step: continue the three axle currencys that locality magnetic field is strong, and upgrade three axle currencys of earth magnetism field intensity, three axle currencys of the earth magnetism field intensity this step gathered are respectively compared with the three-axis reference value of earth magnetism field intensity, when the absolute value of the difference of the strong each axle currency in terrestrial magnetic field and reference value is all less than threshold value, be then judged as from car.
The vehicle checking method of the present embodiment, the reference value of initialization three axle in step S1, also comprise arrange threshold value and to send a car and from car judge counting setting, be system initialization step, for system initialization provides initialization value.
In the step S2 of said method, after the initialization step, send a car detect before, the three-axis reference value strong to terrestrial magnetic field adjusts, the foundation of adjustment is mainly in order to solve the problem that environmental change affects reference value, because in environmental change parameter, especially the variable effect of temperature to terrestrial magnetic field is maximum, therefore, adjust the three-axis reference value of described earth magnetism field intensity according to detected real time environment temperature self-adaptation in the present embodiment, for eliminating the impact of environmental change on reference value, thus promote the Detection accuracy of earth magnetism wagon detector and the adaptability to environment.
As a preferred embodiment, in described step S1, the computing method of the three-axis reference value of earth magnetism field intensity are:
Continuous k sampling site magnetic field is respectively in the field intensity value of three axles
,
..., and calculate the mean field intensity values of terrestrial magnetic field at each axle of this k sampled point, and using the mean field intensity values of calculated each axle as the initial baseline value of earth magnetism field intensity at this axle,
；
Wherein:
represent the earth magnetism field intensity initial baseline value of x-axis or y-axis or z-axis, fractionation is expressed as
, or
, or
, also namely:
；
；
；
The three-axis reference value Corpus--based Method principle of the earth magnetism field intensity calculated in the initialization step of the present embodiment, by continuous several times sampling site magnetic field respectively in the field intensity value of three axles, then draw in the mode of averaging, make terrestrial magnetic field in this initialization step respectively in the field intensity value of three axles more close to actual value, prevent the impact that accidental outside environmental elements causes this value.
In described step S2, the method adapting to the three-axis reference value of the described earth magnetism field intensity of adjustment is:
；
；
Wherein,
for the three-axis reference value before adjustment,
for the three-axis reference value after adjustment,
for temperature compensation item, representation temperature changes the reference value sudden change brought,
for magnetic field variation with temperature rate, c is temperature variation between double sampling point.Environmentally temperature variation, adaptive updates reference value, the reference value sudden change that the abrupt change in order to adaptive temperature is brought, increases the temperature compensation item of reference value.
Preferred further, due among one day because intensity of sunshine is different, also there is gradual process in environment temperature, in order to the environment self-adaption ability of this vehicle checking method more can be embodied, the adaptation of described step S2 adjusts in the method for the three-axis reference value of described earth magnetism field intensity, also comprise and consider the gradual factor of earth magnetism field intensity with temperature, computing method are:
，
Wherein,
for magnetic field, current position is by force to the weights of new reference value, is constant parameter, is determined by engineering test.
Embodiment two, the present embodiment proposes another preferred embodiment of a kind of adaptive environment vehicle checking method based on earth magnetism, the step S1-S4 all technical characteristic in embodiment one is at least comprised in the present embodiment, than additional technical feature more in embodiment one be, erroneous judgement is produced in order to prevent terrestrial magnetic field to be subject to the interference of other outside environmental elements in the present embodiment, also comprise the step eliminating interference of sending a car, described step S3 sends a car in detecting step, three axle currencys of continuous acquisition m1 earth magnetism field intensity, meet if wherein there be m2 to put
then be judged as sending a car, perform step S4, otherwise execution elimination is sent a car and is disturbed step S3.1:
In three axle currencys of m1 described earth magnetism field intensity, meet if there be continuous m3 to put
, then confirm as without car, return step S2, otherwise return step S3, continue judgement and send a car, wherein, m1, m2, m3 are positive integer,
be respectively the threshold value of x-axis, y-axis, z-axis earth magnetism field intensity, be detachablely expressed as
,
,
it should be noted that, the determining step related in this method is also that needs three coordinate axis judge respectively, and the judged result of three coordinate axis is the relation of "AND", when also namely only having three coordinate axis to meet to be less than threshold value with the absolute value of the difference of reference value, it is just this point simultaneously
.In the present embodiment, interference judges to adopt principle of probability, if when the point of some meets the threshold requirement not meeting car continuously, namely be judged as without car, judgment accuracy is higher, and, when being judged as after without car, system auto-returned step S2, carry out the self-adaptative adjustment of next round, for the follow-up steps such as judgement of sending a car are prepared, the reference value after self-adaptative adjustment etc. make the judgement of sending a car of next round more accurate.
Further preferred, preferably also comprise the step eliminated from car interference in the present embodiment simultaneously, described step S4 from car detecting step, three axle currencys of continuous acquisition m4 earth magnetism field intensity, if wherein there be m5 point satisfied
then be judged as from car, otherwise, perform and eliminate from car interference step S4.1:
In three axle currencys of m4 described earth magnetism field intensity, meet if there be continuous m6 to put
, then return step S4, rejudge from car, otherwise confirm from car.As a same reason, in the present embodiment, interference judges to adopt principle of probability, if when continuously the point of some meets the threshold requirement do not met from car, be namely judged as not from car, need to return in step S4 and rejudge, judgment accuracy is higher.
During owing to sending a car, vehicle can magnetic field reference value impact over the ground, when after car in order to eliminate the impact of vehicle magnetic field reference value over the ground, be judged as, from after car, also comprising step S5 in described step S4:
Upgrade the step of the three-axis reference value of earth magnetism field intensity after car,
；
Wherein,
for from the magnetic field, current position after car by force to the weights of new reference value.
Described step S5 upgrades in the method for the three-axis reference value of earth magnetism field intensity after car, comprises and considers that earth magnetism field intensity is with the gradual factor of temperature, leaving the rear impact on earth magnetism to eliminate vehicle, generally getting
.
Except foregoing vehicle checking method can adaptive environment, this method is provided with further can the step of self-adaptation and background magnetic field,
S6, according to current magnetic field fluctuating range, self-adaptative adjustment three axle threshold value
.
When traffic congestion, because the spacing between vehicle is less, vehicle is intensive, and the interference that background magnetic field is subject to is more, therefore needs self-adaptative adjustment three axle threshold value
, to make
adapt to the impact in magnetic field.
When traffic congestion, because the speed of a motor vehicle is comparatively slow, send a car, counting from the judgement of car also can change according to these situations.According to parameters such as the magnitude of traffic flow real-time monitored, speed, main control unit can judge current congestion according to traffic flow parameter, multiple grades such as such as stagnating, block up especially, generally block up, slightly block up, be unimpeded, arrange a look-up table, this look-up table comprises corresponding the sending a car from car of each grade and judges that parameter judges to count, set the parameters such as threshold value corresponding to various traffic as sent a car from car.Table look-up according to the Traffic volume level that master control provides, self-adaptative adjustment is sent a car, judge parameter m1, m2, m3, m4, m5, m6, three axle threshold values from car
, then jump to S2, achieve and can table look-up according to traffic, adjust detected parameters in real time.
This step to be sent a car and from car criterion according to real-time traffic condition adjustment, improve the adaptive ability of vehicle checking method to traffic behavior, according to real-time traffic condition Adaptive adjusting algorithm parameter, eliminate adhesion that traffic congestion brings, the many inspections of a car and monkey chatter, improve accuracy rate and the adaptability of algorithm.
Certainly; above-mentioned explanation is not limitation of the present invention; the present invention is also not limited in above-mentioned citing, the change that those skilled in the art make in essential scope of the present invention, remodeling, interpolation or replacement, also should belong to protection scope of the present invention.
Claims (8)
1., based on an adaptive environment vehicle checking method for earth magnetism, it is characterized in that, comprise the following steps:
(1), initialization step: the three-axis reference value calculating earth magnetism field intensity, and carry out initialization;
(2), self-adaptative adjustment step: detect current environment temperature, and according to detected environment temperature self-adaptative adjustment the three-axis reference value of earth magnetism field intensity;
(3), to send a car detecting step: the three axle currencys that locality magnetic field is strong, and by three axle currencys of gathered earth magnetism field intensity respectively compared with the three-axis reference value of earth magnetism field intensity, when the absolute value of the difference of the strong each axle currency in terrestrial magnetic field and reference value is all greater than threshold value, then be judged as sending a car, and enter from car detecting step;
(4), from car detecting step: continue the three axle currencys that locality magnetic field is strong, and upgrade three axle currencys of earth magnetism field intensity, three axle currencys of the earth magnetism field intensity this step gathered are respectively compared with the three-axis reference value of earth magnetism field intensity, when the absolute value of the difference of the strong each axle currency in terrestrial magnetic field and reference value is all less than threshold value, be then judged as from car.
2. the adaptive environment vehicle checking method based on earth magnetism according to claim 1, is characterized in that, in described step (1), the computing method of the three-axis reference value of earth magnetism field intensity are:
Continuous k sampling site magnetic field is respectively at the field intensity value M of three axles
x, y, z(0), M
x, y, z(1) ..., and calculate the mean field intensity values of terrestrial magnetic field at each axle of this k sampled point, and using the mean field intensity values of calculated each axle as the initial baseline value of earth magnetism field intensity at this axle,
Wherein: B
x, y, zrepresent the earth magnetism field intensity initial baseline value of x-axis or y-axis or z-axis, split and be expressed as B
x, or B
y, or B
z.
3. the adaptive environment vehicle checking method based on earth magnetism according to claim 2, it is characterized in that, the adaptation of described step (2) adjusts in the method for the three-axis reference value of described earth magnetism field intensity, and the method adapting to the three-axis reference value of the described earth magnetism field intensity of adjustment is:
B
x,y,z(k+1)＝B
x,y,z(k)+γ；
γ＝δc；
Wherein, B
x, y, zk () is the three-axis reference value before adjustment, B
x, y, z(k+1) be the three-axis reference value after adjustment, γ is temperature compensation item, and δ is magnetic field variation with temperature rate, and c is temperature variation between double sampling point.
4. the adaptive environment vehicle checking method based on earth magnetism according to claim 2, it is characterized in that, the adaptation of described step (2) adjusts in the method for the three-axis reference value of described earth magnetism field intensity, and also comprise and consider the gradual factor of earth magnetism field intensity with temperature, computing method are:
B
x,y,z(k+1)＝(1-α)B
x,y,z(k)+αM
x,y,z(k)+γ；
γ＝δc；
Wherein, wherein, B
x, y, zk () is the three-axis reference value before adjustment, B
x, y, z(k+1) be the three-axis reference value after adjustment, γ is temperature compensation item, and δ is magnetic field variation with temperature rate, and c is temperature variation between double sampling point, and α is that magnetic field, current position is by force to the weights of new reference value.
5. the adaptive environment vehicle checking method based on earth magnetism according to claim 3 or 4, it is characterized in that, also comprise the step eliminating interference of sending a car, described step (3) send a car in detecting step, three axle currencys of continuous acquisition m1 earth magnetism field intensity, meet if wherein there be m2 to put | M
x, y, z-B
x, y, z| > TH
x, y, zthen be judged as sending a car, perform step (4), otherwise execution elimination is sent a car and is disturbed step (3.1):
In three axle currencys of m1 described earth magnetism field intensity, meet if there be continuous m3 to put | M
x, y, z-B
x, y, z| < TH
x, y, z, then confirm as without car, return step (2), otherwise, return step (3), continue judgement and send a car.
6. the adaptive environment vehicle checking method based on earth magnetism according to claim 5, it is characterized in that, also comprise the step eliminated from car interference, described step (4) from car detecting step, three axle currencys of continuous acquisition m4 earth magnetism field intensity, meet if wherein there be m5 to put | M
x, y, z-B
x, y, z| < TH
x, y, zthen be judged as from car, otherwise, perform and eliminate from car interference step (4.1):
In three axle currencys of m4 described earth magnetism field intensity, meet if there be continuous m6 to put | M
x, y, z-B
x, y, z| > TH
x, y, z, then return step (4), rejudge from car, otherwise confirm from car.
7. the adaptive environment vehicle checking method based on earth magnetism according to claim 6, is characterized in that, is judged as, from after car, also comprising step (5) in described step (4):
Upgrade in the method for the three-axis reference value of earth magnetism field intensity after car, also comprise and consider the gradual factor of earth magnetism field intensity with temperature, computing method are:
B
x,y,z(k+1)＝(1-β)B
x,y,z(k)+βM
x,y,z(k)+γ，
Wherein, β is by force to the weights of new reference value from the magnetic field, current position after car.
8. the adaptive environment vehicle checking method based on earth magnetism according to claim 7, is characterized in that, after described step (5), also comprises step (6), according to current magnetic field fluctuating range, self-adaptative adjustment three axle threshold value TH
x, y, z.
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