CN104574544A - Method for communicating with OBU and RSU - Google Patents
Method for communicating with OBU and RSU Download PDFInfo
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- CN104574544A CN104574544A CN201410856650.6A CN201410856650A CN104574544A CN 104574544 A CN104574544 A CN 104574544A CN 201410856650 A CN201410856650 A CN 201410856650A CN 104574544 A CN104574544 A CN 104574544A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
- G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
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Abstract
The embodiment of the invention provides a method for communicating with an OBU and an RSU. The method comprises the steps of obtaining multiple OBU signals sent by the OBU, determining the OBU coordinates and acquiring time corresponding to the multiple OBU signals, determining the OBU speed and OBU coordinates corresponding to the OBU according to the OBU coordinates and acquiring time corresponding to the multiple OBU signals, and carrying on transactions with the OBU if the OBU coordinates corresponding to the OBU are legal and the OBU speed and OBU coordinates corresponding to the OBU meet preset transaction communication conditions. According to the method for communicating with the OBU and the RSU, the speed and the current position of a motor vehicle serve as the basis for establishing a transaction communication link with the OBU, the problems of car flowing and byway interference can be effectively solved, and overall traffic efficiency of an ETC lane is improved.
Description
Technical field
The present invention relates to technical field of intelligent traffic, more particularly, relate to a kind of method of concluding the business with OBU and RSU.
Background technology
ETC (Electronic Toll Collection, no-stop charging system) be the one of intelligent transportation system, ETC mainly comprises RSU (Road Side Unit, roadside unit) and OBU (On board Unit, board units), RSU is arranged on ETC track, and OBU is arranged on motor vehicle; After motor line sails ETC track into, RSU will adopt DSRC (Dedicated Short Range Communication) technology and OBU to carry out communication, thus complete non-parking charge.
The mode that current OBU and RSU sets up transaction communications link is mainly: RSU is by sending the signals of communication such as BST to OBU, OBU is positioned, when reaching the precalculated position in ETC track to the position location of OBU, illustrate that motor vehicle has reached the precalculated position in ETC track, then send the request of setting up transaction communications link to OBU, thus set up the transaction communications link with OBU.
The present inventor studies discovery: on ETC track, the travel speed of each motor vehicle is different, merely according to the position that motor vehicle is current, the foundation of transaction communications link is set up as with OBU, easily there is the situation that the fast motor vehicle of travel speed cannot complete non-parking charge early, thus cause the overall traffic efficiency in ETC track lower, the unobstructed poor effect of entirety in track.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of method of concluding the business with OBU and RSU, existing merely according to the position that motor vehicle is current to solve, the foundation of transaction communications link is set up as with OBU, the overall traffic efficiency in existing ETC track is lower, the problem of the unobstructed poor effect of entirety in track.
For achieving the above object, the embodiment of the present invention provides following technical scheme:
A method of concluding the business with OBU, is characterized in that, comprising:
Obtain multiple OBU signals that OBU sends;
Determine the OBU coordinate that multiple described OBU signal is corresponding and acquisition time;
The OBU coordinate corresponding according to multiple described OBU signal and acquisition time, determine the OBU speed that described OBU is corresponding and OBU coordinate;
If the OBU coordinate that OBU is corresponding is legal, and the described OBU speed OBU coordinate corresponding with described OBU meets pre arranged trading communication condition, then start to conclude the business with described OBU.
Wherein, multiple OBU signals that described acquisition OBU sends comprise:
In setting-up time section, a communications command is sent to described OBU at interval of Preset Time, obtain the described OBU signal that described OBU feeds back, to send multiple communications command to described OBU in setting-up time section, obtain the multiple described OBU signal that described OBU feeds back;
Determine that the OBU coordinate that described OBU is corresponding comprises:
If the absolute value of the transverse axis coordinate difference that adjacent OBU signal is corresponding is less than the first preset value in multiple described OBU signal, in multiple described OBU signal, the absolute value of the ordinate of orthogonal axes difference that adjacent OBU signal is corresponding is less than the second preset value, then corresponding according to multiple described OBU signal OBU coordinate determines the OBU coordinate that OBU is corresponding.
Wherein, the described OBU coordinate corresponding according to multiple described OBU signal determines that the OBU coordinate that OBU is corresponding is specially:
Ave_x is the transverse axis coordinate mean value that described multiple OBU signal is corresponding, and ave_y is the ordinate of orthogonal axes mean value that described multiple OBU signal is corresponding;
If meet: Fabs (ave_x) > the 3rd preset value, absolute value≤the ave_x/10 of the transverse axis coordinate difference of adjacent OBU signal, if and Fabs (ave_y) > the 4th preset value, the condition of the absolute value≤ave_y*ave_y* ((dif_time+99)/100)/60 of the ordinate of orthogonal axes difference of adjacent OBU signal; Then determine that ave_x and ave_y is the OBU coordinate that described OBU is corresponding, otherwise, again multiple OBU signal is obtained, until the value of the absolute value of the absolute value of the transverse axis coordinate difference of the adjacent OBU signal of the multiple OBU signals obtained and the ordinate of orthogonal axes difference of adjacent OBU signal meets above-mentioned condition in next setting-up time section; Wherein, Fabs () represents acquisition absolute value, and dif_time represents the interval time of adjacent OBU signal in described multiple OBU signal.
Wherein, the described OBU speed determining that described OBU is corresponding comprises:
The OBU coordinate corresponding by adjacent described OBU signal and acquisition time calculate the spot speed of described OBU, and described spot speed is added maintained speed of a motor vehicle group, record the spot speed of predetermined quantity in described speed of a motor vehicle group;
Calculate the average velocity corresponding to speed of a motor vehicle group adding described spot speed, described average velocity is OBU speed corresponding to described OBU.
Wherein, the average velocity corresponding to speed of a motor vehicle group that described calculating adds described spot speed comprises:
A filtering process is carried out to the spot speed of the speed of a motor vehicle group adding described spot speed, rejects and be less than the spot speed of speed minimum threshold, reject the spot speed being greater than the most high threshold of speed, obtain the speed of a motor vehicle group after a filtering process;
Mend first spot speed to before the speed of a motor vehicle group after a filtering process, last spot speed of rear benefit, obtains the speed of a motor vehicle group of benefit value;
Medium filtering process is carried out to the speed of a motor vehicle group of benefit value, midrange speed value is obtained to adjacent three spot speeds, obtains the speed of a motor vehicle group after medium filtering process;
Average value processing is got to the spot speed that the speed of a motor vehicle group after medium filtering process has, obtains average velocity.
Wherein, the legal deterministic process of the OBU coordinate that described OBU signal is corresponding comprises:
If meet first condition, then determine that the OBU coordinate that described OBU signal is corresponding is illegal, first condition comprises: the difference of current OBU speed and a upper OBU speed is less than First Speed value, and the position of OBU coordinate corresponding to OBU is longitudinally less than the first distance value, or, current OBU speed is less than second speed value with the difference of a upper OBU speed and the position of OBU coordinate corresponding to OBU is longitudinally greater than the first distance value, then the OBU coordinate that described OBU is corresponding is illegal;
If meet second condition, then determine that the OBU coordinate that described OBU is corresponding is illegal, second condition comprises: the difference of the OBU coordinate that OBU is corresponding and a upper illegal OBU coordinate is less than predetermined value;
If do not meet first condition and second condition, then determine that the OBU coordinate that OBU signal is corresponding is legal.
Wherein, the OBU coordinate that described OBU speed is corresponding with described OBU meets pre arranged trading communication condition and comprises:
If the longitudinal direction value of the OBU coordinate that OBU is corresponding is less than second distance value, then determine that the state of OBU meets transaction communications condition;
Or, if OBU speed is greater than third speed value, then determine that the state of OBU meets transaction communications condition;
Or, if OBU speed is greater than the 4th velocity amplitude, be less than third speed value, and the longitudinal direction value of OBU coordinate corresponding to OBU is not more than the 3rd distance value, then determine that the state of OBU meets transaction communications condition;
Or OBU speed is greater than the 5th velocity amplitude, be less than the 4th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is not more than the 4th distance value, then determine that the state of OBU meets transaction communications condition, wherein, 3rd distance value is greater than the 4th distance value, and the 4th distance value is greater than second distance value.
Wherein, described method of concluding the business with OBU also comprises:
If OBU speed is greater than the 5th velocity amplitude, be less than the 4th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is greater than the 4th distance value, then adjusts the first multiple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication;
Or if OBU speed is less than the 5th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is greater than second distance value, then adjust the second multiple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication;
Or if the longitudinal direction value of OBU coordinate corresponding to OBU is greater than the 3rd distance value, then adjust the triple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication, wherein, triple and the second multiple are greater than the first multiple.
The embodiment of the present invention also provides a kind of RSU, comprises transaction system, and described transaction system comprises:
First acquisition module, for obtaining multiple OBU signals that OBU sends;
First determination module, for determining the OBU coordinate that multiple described OBU signal is corresponding and acquisition time;
Second determination module, for according to OBU coordinate corresponding to multiple described OBU signal and acquisition time, determines the OBU speed that described OBU is corresponding and OBU coordinate;
Transaction modules, if legal for the OBU coordinate that described OBU is corresponding, and the described OBU speed OBU coordinate corresponding with described OBU meets pre arranged trading communication condition, then start to conclude the business with described OBU.
Wherein, described first acquisition module comprises:
Multi signal acquiring unit, for in setting-up time section, a communications command is sent to described OBU at interval of Preset Time, obtain the described OBU signal that described OBU feeds back, to send multiple communications command to described OBU in setting-up time section, obtain the multiple described OBU signal that described OBU feeds back;
Described second determination module comprises:
Coordinate determining unit, if be less than the first preset value for the absolute value of transverse axis coordinate difference corresponding to adjacent OBU signal in multiple described OBU signal, in multiple described OBU signal, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signal is less than the second preset value, then corresponding according to multiple described OBU signal OBU coordinate determines the OBU coordinate that OBU is corresponding.
Based on technique scheme, the method of concluding the business with OBU that the embodiment of the present invention provides, multiple OBU signals that OBU sends can be obtained, thus determine the OBU coordinate that multiple described OBU signal is corresponding and acquisition time, and then according to OBU coordinate corresponding to multiple described OBU signal and acquisition time, determine the OBU speed that described OBU is corresponding and OBU coordinate; The OBU coordinate corresponding at described OBU is legal, and the described OBU speed OBU coordinate corresponding with described OBU meets pre arranged trading communication condition, then start to conclude the business with described OBU.The embodiment of the present invention is by concluding the business dynamically according to OBU speed, namely the speed of a motor vehicle is more fast more early concludes the business, the speed of a motor vehicle is slower, concludes the business near RSU again, not only ensure that track is overall and cross the unobstructed of car at a high speed, and improving the success ratio of a transaction communications, the embodiment of the present invention sets up the foundation of transaction communications link according to speed and the current position of motor vehicle as with OBU, can effectively solve with car and lie interference phenomenon, promote the overall traffic efficiency in ETC track, improve the unobstructed effect of entirety in track.
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 embodiments of the 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 the accompanying drawing provided.
The method flow diagram of concluding the business with OBU that Fig. 1 provides for the embodiment of the present invention;
The method flow diagram of the calculating first time average velocity that Fig. 2 provides for the embodiment of the present invention;
The schematic diagram of the transaction communications condition that Fig. 3 provides for the embodiment of the present invention;
The structured flowchart of the RSU that Fig. 4 provides for the embodiment of the present invention;
The structured flowchart of the first acquisition module that Fig. 5 provides for the embodiment of the present invention;
The structured flowchart of the second determination module that Fig. 6 provides for the embodiment of the present invention;
Another structured flowchart of the second determination module that Fig. 7 provides for the embodiment of the present invention;
The structured flowchart of the computing unit that Fig. 8 provides for the embodiment of the present invention;
The structured flowchart of the transaction modules that Fig. 9 provides for the embodiment of the present invention;
Another structured flowchart of the RSU that Figure 10 provides for the embodiment of the present invention;
Another structured flowchart of the transaction modules that Figure 11 provides for the embodiment of the present invention;
A structured flowchart again of the RSU that Figure 12 provides for the embodiment of the present 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.
The method flow diagram of concluding the business with OBU that Fig. 1 provides for the embodiment of the present invention, the method can be applicable to RSU, and with reference to Fig. 1, the method can comprise:
Multiple OBU signals that step S100, acquisition OBU send;
OBU herein can for being in the OBU in ETC track that RSU is subordinate to, and RSU by sending communications command (as BST) to OBU, thus gets the OBU signal (as VST) that OBU sends;
Optionally, the embodiment of the present invention can in setting-up time section, a communications command is sent to OBU at interval of Preset Time, obtain an OBU signal of OBU feedback, to send multiple communications command to OBU in setting-up time section, obtain multiple OBU signals of OBU feedback, wherein, setting-up time section can have multiple, and multiple setting-up time section can partially overlap; The plurality of OBU signal can think an OBU signal combination be made up of multiple OBU.
Optionally, multiple OBU signal can be at least two OBU signals.
Step S110, determine the OBU coordinate that multiple described OBU signal is corresponding and acquisition time;
Optionally, the embodiment of the present invention can RSU antenna to project to end points ETC track formed near RSU on elliptical region major axis be that initial point forms a two-dimensional coordinate system, RSU can according to the incident angle of the OBU signal got, the phase information of antenna height and OBU signal, calculates the two-dimensional coordinate value of OBU relative to this ETC track of transmission OBU signal.
With oval areal coverage field width for 3.2m, grow for 20m is example, the region two-dimensional coordinate scope then formed is: X:(-1.6,1.6), Y:(0,20), corresponding, the OBU coordinate that RSU calculates is in X:(-1.6,1.6), Y:(0,20) in scope;
The embodiment of the present invention can be determined in multiple OBU signal successively, the OBU coordinate that each OBU signal is corresponding and acquisition time.
Step S120, according to OBU coordinate corresponding to multiple described OBU signal and acquisition time, determine the OBU speed that OBU is corresponding and OBU coordinate;
Optionally, the OBU coordinate that OBU is corresponding, can according in multiple described OBU signal, and the OBU coordinate that each OBU signal is corresponding and acquisition time are determined; Optionally, the embodiment of the present invention, by calculating OBU coordinate and the acquisition time of each OBU signal in the plurality of OBU signal, determines the average OBU coordinate of the plurality of OBU signal and many group OBU instantaneous velocitys.
Optionally, the embodiment of the present invention also can, for the average OBU coordinate parameters condition of the plurality of OBU signal, only have the average OBU coordinate meeting Parameter Conditions just to think the OBU coordinate that OBU signal is corresponding; Optionally, if the absolute value of the transverse axis coordinate difference of adjacent OBU signal is less than the first preset value in multiple OBU signal, in multiple OBU signal, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signal is less than the second preset value, then corresponding according to multiple described OBU signal OBU coordinate determines the OBU coordinate that OBU is corresponding.
Optionally, if the absolute value of the transverse axis coordinate difference of adjacent OBU signal is not less than the first preset value in multiple OBU signal, in multiple OBU signal, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signal is not less than the second preset value, then the embodiment of the present invention can abandon the average coordinates of described multiple OBU signal, again obtains multiple OBU signal.
Concrete, the embodiment of the present invention can ave_x be the transverse axis coordinate mean value of multiple OBU signal, and ave_y is the ordinate of orthogonal axes mean value of described multiple OBU signal, and para_x is the first preset value, and para_y is the second preset value; If para_x and para_y meets following condition: if Fabs (ave_x) > the 3rd preset value, the absolute value of the transverse axis coordinate difference of adjacent OBU signal≤para_x, para_x=ave_x/10; And if Fabs (ave_y) > the 4th preset value, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signal≤para_y, para_y=ave_y*ave_y* ((dif_time+99)/100)/60; Then determine that ave_x and ave_y is the OBU coordinate that described OBU is corresponding; Otherwise the embodiment of the present invention can obtain multiple OBU signal again, until the absolute value value of the absolute value of the transverse axis coordinate difference of the adjacent OBU signal of the multiple OBU signals obtained and the ordinate of orthogonal axes difference of adjacent OBU signal meets above-mentioned condition; In above-mentioned parameter, Fabs () represents acquisition absolute value, and dif_time represents the interval time of adjacent OBU signal in described multiple OBU signal.
Optionally, if great majority (as exceeding half) data do not satisfy condition in the multiple OBU signals again obtained, then be judged as that equipment may damage, also can remove the OBU signal do not satisfied condition in multiple OBU signals of last acquisition, complete calculating with less OBU signal.
Optionally, above-mentioned third and fourth preset value can be identical, as being all 6.0; Obviously, the concrete numerical value of the third and fourth preset value can set according to actual conditions.
Optionally, the embodiment of the present invention chooses OBU signal by the mode of moving window, concrete, moving window can arrange 5 frame data, namely 5 frame OBU signals are once obtained, wherein, the queue that the data that moving window calculates are formed, each data and the frame that previous data use have 4 frames to be identical.
Optionally, what the spot speed of OBU represented is OBU, when sending OBU signal, loads the spot speed that the motor vehicle of OBU is current.
For ease of understanding, with (x, y) denotation coordination, (x
i, y
i) represent the coordinate of OBU signal, (x
i-1, y
i-1) representing the coordinate of last OBU signal, then the spot speed of the OBU that described OBU signal is corresponding can be expressed as v
i:
Optionally, the embodiment of the present invention can maintain the speed of a motor vehicle group of the spot speed of the OBU with predetermined quantity, after described spot speed is added maintained speed of a motor vehicle group, can calculate the average velocity corresponding to speed of a motor vehicle group adding described spot speed;
The multiple OBU signals sent according to obtained OBU are recorded, the spot speed of the OBU of the predetermined quantity calculated in described speed of a motor vehicle group; Optionally, the spot speed of the OBU in this speed of a motor vehicle group can according to multiple OBU signal acquisitions of obtained OBU transmission, and the concrete account form of spot speed can refer to corresponding part above and describes.
After the spot speed of OBU corresponding for OBU signal is added maintained speed of a motor vehicle group, for keeping the spot speed maintained in speed of a motor vehicle group to be predetermined quantity, then the embodiment of the present invention can adopt the mode of first in first out, the spot speed entering speed of a motor vehicle group is at first excluded speed of a motor vehicle group, and the spot speed of OBU corresponding for OBU signal is joined the end of speed of a motor vehicle group, thus the spot speed quantity of speed of a motor vehicle group is made to maintain predetermined quantity.
Optionally, the embodiment of the present invention, by the spot speed of slidingtype window treatments speed of a motor vehicle group, adopts the mode of first in first out to upgrade speed of a motor vehicle group.
The account form of average velocity can be all instantaneous velocitys are adopted the mode of a filtering and medium filtering process, filter invalid instantaneous velocity, then tries to achieve the average velocity corresponding to speed of a motor vehicle group adding described spot speed.
Optionally, the average velocity corresponding to speed of a motor vehicle group adding described spot speed can be expressed as the average velocity of the current correspondence of OBU, i.e. OBU speed.
If the OBU coordinate that the described OBU of step S130 is corresponding is legal, and the described OBU speed OBU coordinate corresponding with described OBU meets pre arranged trading communication condition, then start to conclude the business with described OBU.
The method of concluding the business with OBU that the embodiment of the present invention provides, multiple OBU signals that OBU sends can be obtained, thus determine the OBU coordinate that multiple described OBU signal is corresponding and acquisition time, and then according to OBU coordinate corresponding to multiple described OBU signal and acquisition time, determine the OBU speed that described OBU is corresponding and OBU coordinate; The OBU coordinate corresponding at described OBU is legal, and the described OBU speed OBU coordinate corresponding with described OBU meets pre arranged trading communication condition, then start to conclude the business with described OBU.The embodiment of the present invention is concluded the business dynamically according to the speed of OBU, namely the speed of a motor vehicle is more fast more early concludes the business, the speed of a motor vehicle is slower, concludes the business near RSU again, not only ensure that track is overall and cross the unobstructed of car at a high speed, and improve the success ratio of a transaction communications, the embodiment of the present invention sets up the foundation of transaction communications link according to speed and the current position of motor vehicle as with OBU, effectively can promote the overall traffic efficiency in ETC track, improve the unobstructed effect of entirety in track.
Optionally, whether legal the OBU coordinate that OBU is corresponding constraint condition is as follows:
(1) first condition: current OBU speed (namely adding the average velocity corresponding to speed of a motor vehicle group of described spot speed), (difference is less than First Speed value with a upper OBU speed, and the position of OBU coordinate corresponding to OBU is longitudinally less than the first distance value, or, current OBU speed is less than second speed value with the difference of a upper OBU speed and the position of OBU coordinate corresponding to OBU is longitudinally greater than the first distance value, then think that OBU coordinate corresponding to OBU is illegal;
Wide for 3.2m with the road in ETC track, road is grown for 20m is example, and First Speed value can be 10KM/H, and second speed value can be 20KM/h, and the first distance value can be 9m; Then the difference of current average velocity and a upper average velocity is less than 10KM/H, and the position of OBU coordinate corresponding to OBU is longitudinally less than 9m, or, current OBU speed is less than 20KM/h with the difference of a upper OBU speed and the position of OBU coordinate corresponding to OBU is longitudinally greater than 9m, then think that OBU coordinate corresponding to OBU signal is illegal.
(2) difference of the OBU coordinate that second condition: OBU is corresponding and a upper illegal OBU coordinate is less than predetermined value, then think that OBU coordinate corresponding to OBU signal is illegal;
Upper once coordinate points is illegal time, if changing coordinates point is basically identical with last coordinate points, then the difference of changing coordinates point and last coordinate points will be less than predetermined value, can determine that changing coordinates point is illegal.
Wide for 3.2m with the road in ETC track, road is grown for 20m is example, if difx<0.5m, dify<1.0m then thinks that OBU coordinate corresponding to OBU is illegal, difx represents the transversal discrepancy of the OBU coordinate that OBU is corresponding and a upper illegal OBU coordinate, and dify represents longitudinal difference of the OBU coordinate that OBU is corresponding and a upper illegal OBU coordinate.
Only when above-mentioned (1) (2) condition does not all meet, just think that OBU coordinate corresponding to OBU is legal.
Optionally, a upper OBU speed is first time OBU speed the earliest, and the embodiment of the present invention calculates first time OBU speed by the pretreated mode of multiframe; Corresponding, Fig. 2 shows the method flow diagram of the calculating first time OBU speed that the embodiment of the present invention provides, and with reference to Fig. 2, the method can comprise:
The multiframe OBU signal that step S200, acquisition OBU send, determines the OBU coordinate that each frame OBU signal is corresponding and acquisition time;
Optionally, RSU can send the search radio frequency frame of certain number of times, thus gets the OBU signal of some, and then obtains the incident angle phase information of some, and then calculates OBU coordinate corresponding to each frame OBU signal;
Step S210, according to OBU coordinate corresponding to each frame OBU signal and acquisition time, determine the OBU coordinate meeting preset parameter condition, and collect and meet the OBU coordinate of preset parameter condition and the acquisition time of correspondence;
Optionally, preset parameter condition can be para_x & & para_y, the i.e. absolute value >para_x of the transverse axis coordinate difference of consecutive frame OBU signal, the absolute value >para_y of the ordinate of orthogonal axes difference of consecutive frame OBU signal; Symbol wherein in & & program language, represents and relation, if namely back is judged as fales, a rear step does not judge;
Wherein, Fabs (ave_x) > the 3rd preset value, then para_x=ave_x/10, represent that the meaning is: if the absolute value of mean value is greater than the 3rd preset value, then conditional parameter para_x=ave_x/10, below for para_y formula expression therewith in like manner;
Fabs (ave_y) > the 4th preset value, then para_y=ave_y*ave_y* ((dif_time+99)/100)/60;
Ave_x, ave_y are the coordinate mean value of multiframe OBU signal;
Optionally, the mode of refinement can also be adopted before determining the coordinate mean value of multiframe OBU signal again to confirm coordinate mean value, OBU coordinate figure corresponding to multiframe OBU signal is first adopted to carry out asking for mean square deviation DIFF, then OBU coordinate mean value corresponding to multiframe OBU signal is calculated, after again OBU coordinate figure corresponding for every frame OBU signal and mean value being carried out getting difference, discard the OBU signal value that absolute value is greater than 1.5 times of DIFF, finally form the OBU coordinate figure queue that new multiframe OBU signal is corresponding, carry out the summation of multiframe OBU coordinate again and get average, the coordinate mean value of the OBU signal of such acquisition is more accurate.Third and fourth preset value can be all 6.0.
Optionally, the multiframe OBU signal obtained is determined by moving window mode, the implication of moving window is, once calculate hypothesis and need predetermined frame data, then window is up-to-date predetermined frame data, understandable, the queue that the data that these windows calculate are formed, it is identical that each data and the frame that previous data use have predetermined frame to subtract 1 frame; Be 5 frames for predetermined frame, then window is 5 up-to-date frame data, understandable, the queue that the data that these windows calculate are formed, and each data and the frame that previous data use have 4 frames to be identical.
The OBU coordinate corresponding for the OBU signal meeting preset parameter condition is collected, pre-conditioned as follows: Fabs (X
i-X
i+1)≤para_x, Fabs (Y
i-Y
i+1)≤para_y, wherein X
i, X
i+1the horizontal ordinate of the OBU coordinate that the OBU signal being respectively adjacent is corresponding, Y
i, Y
i+1the same.If do not meet above-mentioned condition, then above-mentioned two points are abandoned.
Step S220, acquisition time for OBU coordinate corresponding to the OBU signal meeting preset parameter condition and correspondence, go out distance corresponding to consecutive frame and time difference by the mathematic interpolation of the coordinate of consecutive frame, go out instantaneous velocity corresponding to OBU coordinate corresponding to each OBU signal meeting preset parameter condition by the distance corresponding to consecutive frame and time mathematic interpolation;
Optionally, instantaneous velocity account form can be:
Step S230, calculate first time OBU speed corresponding to all instantaneous velocitys.
Optionally, all instantaneous velocitys can be adopted a filtering and medium filtering process, filter invalid instantaneous velocity, try to achieve first time average velocity.
Specific as follows: the OBU coordinate corresponding by each OBU signal meeting preset parameter condition and the acquisition time of correspondence, the speed of a motor vehicle group of the spot speed composition of one dimension can be obtained: V=[v
1, v
2, v
3v
n];
Thresholding V is set
mIN, V
mAX, carry out a filtering process, if v
i<V
mINor v
i v
mAX, then v is abandoned
i, namely reject and be less than speed minimum threshold V
mINspot speed, reject the V being greater than the most high threshold of speed
mAXspot speed;
The speed of a motor vehicle group with spot speed remaining after a filtering process is:
V＝[v
1,v
2,v
3,...,v
M]
V is mended to before the speed of a motor vehicle group after a filtering process
1, rear benefit V
mthe speed of a motor vehicle group that can obtain benefit value is:
V＝[v
1,v
1,v
2,v
3,...,v
M,v
M]
Medium filtering process is carried out to the speed of a motor vehicle group that this benefit is worth, midrange speed value V is obtained to adjacent three spot speeds
1=[v
1, v
1, v
2], the speed of a motor vehicle group after utilizing medium filtering process can obtain medium filtering process:
V
z＝[V
1,V
2,V
3,V
4...V
m]
Based on the speed of a motor vehicle group after medium filtering process, carry out getting average value processing, try to achieve an OBU speed:
It should be noted that the mode of the calculating average velocity of foregoing description is applicable to the average velocity calculating of arbitrary speed of a motor vehicle group;
Namely to arbitrary speed of a motor vehicle group, speed of a motor vehicle group V=[v is obtained
1, v
2, v
3v
n], thresholding V is set
mIN, V
mAX, carry out a filtering process, if v
i<V
mINor v
i v
mAX, then v is abandoned
i, namely reject and be less than speed minimum threshold V
mINspot speed, reject the V being greater than the most high threshold of speed
mAXspot speed;
The speed of a motor vehicle group with spot speed remaining after a filtering process is:
V＝[v
1,v
2,v
3,...,v
M]
V is mended to before the speed of a motor vehicle group after a filtering process
1, rear benefit V
mthe speed of a motor vehicle group can mending value is:
V＝[v
1,v
1,v
2,v
3,...,v
M,v
M]
Medium filtering process is carried out to the new speed of a motor vehicle group of speed of a motor vehicle group that this benefit is worth, midrange speed value V is obtained to adjacent three spot speed speed of a motor vehicle
1=[v
1, v
1, v
2], the new speed of a motor vehicle group after utilizing median filtering method process can obtain medium filtering process:
V
z＝[V
1,V
2,V
3,V
4...V
m]
Based on the speed of a motor vehicle group after medium filtering process, carry out getting average value processing, finally try to achieve average speed value, namely OBU speed:
The mode of above-mentioned calculating average velocity, by a filtering and medium filtering process, unreliable coordinate points (as caused the weak elements of a fix catastrophe point caused of signal energy because of reflection) can be rejected based on instantaneous velocity, thus efficiently solve lie interference and with car interference, complete and have recorded the whole dynamic trajectory of the current process of RSU and OBU comparatively accurately.
Optionally, after determining the OBU speed OBU coordinate corresponding with OBU, the embodiment of the present invention can determine the state of the OBU that OBU is corresponding, thus when the state of OBU meets transaction communications condition, sets up the transaction communications link with OBU.
Concrete, transaction communications condition is as follows:
If the longitudinal direction value of the OBU coordinate that OBU is corresponding is less than second distance value, then directly set up the transaction communications link with OBU;
If OBU speed is greater than third speed value, then directly set up the transaction communications link with OBU;
If OBU speed is greater than the 4th velocity amplitude, be less than third speed value, and the longitudinal direction value of OBU coordinate corresponding to OBU is not more than the 3rd distance value, then directly sets up the transaction communications link with OBU; Optionally, the 4th velocity amplitude can be described second speed value above;
If OBU speed is greater than the 5th velocity amplitude, be less than the 4th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is not more than the 4th distance value, then directly set up the transaction communications link with OBU, wherein, the 3rd distance value is greater than the 4th distance value, and the 4th distance value is greater than second distance value; Optionally, the 5th velocity amplitude can be described First Speed value above, and the 4th distance value can be described first distance value above.
If OBU speed is greater than the 5th velocity amplitude, be less than the 4th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is greater than the 4th distance value, then adjusts the first multiple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication;
If OBU speed is less than the 5th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is greater than second distance value, then adjust the second multiple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication;
If the longitudinal direction value of the OBU coordinate that OBU is corresponding is greater than the 3rd distance value, then adjust and send to OBU the triple that time interval of signal of communication is the time interval of current transmission signal of communication, wherein, triple and the second multiple are greater than the first multiple, optional second multiple is identical with triple, is the twice of the first multiple.
It should be noted that the meaning in the time interval that above-mentioned adjustment sends signal of communication (as BST) is, under the condition of correspondence, vehicle distances trading range is comparatively far away, so the search signal that slows down still can ensure that vehicle is by front completing transaction.Simultaneously because OBU during RSU transmission BST needs to reply, so reduce the work times that BST signal can reduce OBU, and then reduce OBU loss, extend the serviceable life of OBU.
Optionally, above-mentioned concrete numerical value can set according to practical situations, and the embodiment of the present invention is not restricted.For ease of understanding, be wide 3.2m with oval overlay area, grow for 20m is example, then transaction communications condition is:
If Y<7.0m, directly set up the transaction communications link with OBU;
No V>30km/h, directly sets up the transaction communications link with OBU;
If V>20km/h & & V<30km/h & & is Y<=13m, directly set up the transaction communications link with OBU;
If V>10km/h & & V<20km/h & & is Y<=9m, directly set up the transaction communications link with OBU;
If V>10km/h & & V<20km/h & & is Y>9m, BST interval adjusts 5 times;
If V<10km/h & & is Y>7m, BST interval adjusts 10 times;
If Y>13m, BST interval adjusts 10 times.
If wherein V is OBU speed, and the longitudinal direction value of the Y OBU coordinate that to be OBU corresponding.
Corresponding, Fig. 3 shows the schematic diagram of transaction communications condition, can carry out reference.
Visible, in embodiments of the present invention as the speed of a motor vehicle is very fast, then once fall into the immediately transaction of permission transaction area, the speed of a motor vehicle is comparatively slow then could will be allowed to conclude the business near RSU;
Optionally, for obtained OBU signal, the embodiment of the present invention is preserved by setting up OBU queue, and OBU queue format is as follows:
OBU_ID+DEVICEID+(X
1,Y
1)+(T
1)+(avil
1)+(X
2,Y
2)+(T
2)+(avil
2)----(X
N,Y
N)
The information that OBU queue represents is respectively No. ID, OBU label, is subordinate to No. ID of ETC track, resolves OBU Received signal strength coordinate figure (X, Y), the time of changing coordinates point, changing coordinates point validity flag position.
By above-mentioned OBU queue, the embodiment of the present invention can realize the calculating of first time OBU speed, the calculating etc. of the spot speed of the OBU that OBU signal is corresponding.
The method of concluding the business with OBU that the embodiment of the present invention provides, by calculating the OBU speed of reflection motor vehicle average velocity, in conjunction with transaction communications condition judgment, realize the mode with the transaction of OBU, the transaction communications success ratio that track is overall can be promoted, improved the effect of car smooth degree.Find through experiment, the average speed that the embodiment of the present invention calculates and the true speed of a motor vehicle that vehicle travels (being obtained by large data statistics) error are at ± 3km/h, therefore the calculating of the speed of a motor vehicle is realized completely, and then to be open to traffic speed by the entirety that the speed of a motor vehicle embodies track, according to being open to traffic speed and real-time location status, in conjunction with transaction communications condition judgment reach the speed of a motor vehicle that is open to traffic fast time, then transaction area is far away, when the speed that is open to traffic is slow, then to conclude the business close together, and then promote the overall transaction communications success ratio in track, improved the effect of car smooth degree.
Below the RUS that the embodiment of the present invention provides is introduced, RSU described below can with above-described corresponding reference mutual to the method that OBU concludes the business.
The structured flowchart of the RSU that Fig. 4 provides for the embodiment of the present invention, this RSU can install transaction system, and with reference to Fig. 4, this transaction system can comprise:
First acquisition module 100, for obtaining multiple OBU signals that OBU sends;
First determination module 200, for determining the OBU coordinate that multiple described OBU signal is corresponding and acquisition time;
Second determination module 300, for according to OBU coordinate corresponding to multiple described OBU signal and acquisition time, determines the OBU speed that described OBU is corresponding and OBU coordinate;
Transaction modules 400, if legal for the OBU coordinate that described OBU is corresponding, and the described OBU speed OBU coordinate corresponding with described OBU meets pre arranged trading communication condition, then start to conclude the business with described OBU.
Optionally, Fig. 5 shows a kind of alternate configurations of the first acquisition module 100, and with reference to Fig. 5, the first acquisition module 100 can comprise:
Multi signal acquiring unit 110, for in setting-up time section, send a communications command at interval of Preset Time to described OBU, obtain the OBU signal that described OBU feeds back, to send multiple communications command to described OBU in setting-up time section, obtain multiple OBU signals that described OBU feeds back.
Optionally, Fig. 6 shows a kind of alternate configurations of the second determination module 300, and with reference to Fig. 6, the second determination module 300 can comprise:
Coordinate determining unit 310, if for absolute value first preset value that the transverse axis coordinate difference that adjacent OBU signal in multiple described OBU signal is corresponding is less than, in multiple described OBU signal, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signal is less than the second preset value, then determine according to the OBU coordinate of the correspondence of multiple described OBU signal the OBU coordinate that OBU is corresponding.
Optionally, Fig. 7 shows the another kind of alternate configurations of the second determination module 300, and with reference to Fig. 7, the second determination module 300 can comprise:
Add unit 320, for being calculated the spot speed of described OBU by OBU coordinate corresponding to adjacent described OBU signal and acquisition time, and described spot speed is added maintained speed of a motor vehicle group, in described speed of a motor vehicle group, record the spot speed of predetermined quantity;
Computing unit 321, for calculate add described spot speed speed of a motor vehicle group corresponding to average velocity, described average velocity is OBU speed corresponding to described OBU.
Optionally, Fig. 8 shows a kind of alternate configurations of computing unit 321, and with reference to Fig. 8, computing unit 321 can comprise:
A filter processing unit 3211, spot speed for having the speed of a motor vehicle group adding described spot speed carries out a filtering process, reject and be less than the spot speed of speed minimum threshold, reject the spot speed being greater than the most high threshold of speed, obtain the speed of a motor vehicle group after a filtering process;
Mend value cell 3212, for mending first spot speed to before the speed of a motor vehicle group after a filtering process, last spot speed of rear benefit, obtains the speed of a motor vehicle group of benefit value;
Medium filtering processing unit 3213, for carrying out medium filtering process to the speed of a motor vehicle group of benefit value, obtaining midrange speed value to adjacent three spot speeds, obtaining the speed of a motor vehicle group after medium filtering process;
Average value processing unit 3214, gets average value processing for the spot speed had the speed of a motor vehicle group after medium filtering process, obtains average velocity.
Optionally, Fig. 9 shows a kind of alternate configurations of transaction modules 400, and with reference to Fig. 9, transaction modules 400 can comprise:
Legal determining unit 410, if for meeting first condition, then determine that the OBU coordinate that described OBU signal is corresponding is illegal, first condition comprises: the difference of current OBU speed and a upper OBU speed is less than First Speed value, and the position of OBU coordinate corresponding to OBU is longitudinally less than the first distance value, or, current OBU speed is less than second speed value with the difference of a upper OBU speed and the position of OBU coordinate corresponding to OBU signal is longitudinally greater than the first distance value, then the OBU coordinate that described OBU signal is corresponding is illegal; If meet second condition, then determine that the OBU coordinate that described OBU is corresponding is illegal, second condition comprises: the difference of the OBU coordinate that OBU is corresponding and a upper illegal OBU coordinate is less than predetermined value; If do not meet first condition and second condition, then determine that the OBU coordinate that OBU signal is corresponding is legal.
Optionally, a upper OBU speed can be first time OBU speed.Corresponding, Figure 10 shows another structured flowchart of the RSU that the embodiment of the present invention provides, and this RSU can realize the determination of first time OBU speed, and shown in composition graphs 4 and Figure 10, this device can also comprise:
Multiple frame capture module 500, for obtaining the multiframe OBU signal that OBU sends, determines the OBU coordinate that each frame OBU signal is corresponding and acquisition time;
Parameter coordinate determination module 600, for according to OBU coordinate corresponding to each frame OBU signal and acquisition time, determines the OBU coordinate meeting preset parameter condition, and collects and meet the OBU coordinate of preset parameter condition and the acquisition time of correspondence;
Optionally, preset parameter condition can be para_x & & para_y, the i.e. absolute value >para_x of the transverse axis coordinate difference of consecutive frame OBU signal, the absolute value >para_y of the ordinate of orthogonal axes difference of consecutive frame OBU signal;
Wherein preset parameter condition is: if Fabs (ave_x) > the 3rd preset value, para_x=ave_x/10, if and Fabs (ave_y) > the 4th preset value, para_y=ave_y*ave_y* ((dif_time+99)/100)/60; Wherein, trading range is wide is 3.2 meters, length is 20 meters, ave_x is the transverse axis coordinate mean value that described multiframe OBU signal is corresponding, ave_y is the ordinate of orthogonal axes mean value that described multiframe OBU signal is corresponding, para_x, para_y are Rule of judgment, and Fabs () represents acquisition absolute value, and dif_time represents the interval time of adjacent OBU signal in described multiframe OBU signal;
Third and fourth preset value can be all 6.0.
Instantaneous velocity determination module 700, for the acquisition time for OBU coordinate corresponding to the OBU signal meeting preset parameter condition and correspondence, go out distance corresponding to consecutive frame and time difference by the mathematic interpolation of the coordinate of consecutive frame, go out instantaneous velocity corresponding to OBU coordinate corresponding to each OBU signal meeting preset parameter condition by the distance corresponding to consecutive frame and time mathematic interpolation;
Average velocity determination module 800 for the first time, for calculating first time average velocity corresponding to all instantaneous velocitys.
Optionally, Figure 11 shows the another kind of alternate configurations of transaction modules 400, and with reference to Figure 11, transaction modules 400 can comprise:
Meet determining unit 420, whether meet pre-conditioned for the longitudinal direction value or OBU speed confirming the OBU coordinate that OBU is corresponding.
Corresponding, Figure 12 shows a structured flowchart again of the RSU that the embodiment of the present invention provides, and shown in composition graphs 4 and Figure 12, this device can also comprise:
Adjusting module 900, if be greater than the 5th velocity amplitude for OBU speed, be less than the 4th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is greater than the 4th distance value, then adjusts the first multiple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication; Or if OBU speed is less than the 5th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is greater than second distance value, then adjust the second multiple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication; Or if the longitudinal direction value of OBU coordinate corresponding to OBU is greater than the 3rd distance value, then adjust the triple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication, triple and the second multiple are greater than the first multiple.
The embodiment of the present invention can calculate the average velocity of OBU by instantaneous velocity, thus concluded the business dynamically according to the average velocity of OBU in track, namely the speed of a motor vehicle is more fast more early concludes the business, the speed of a motor vehicle is slower, concludes the business near RSU again, not only ensure that track is overall and cross the unobstructed of car at a high speed, and improve the success ratio of a transaction communications, the embodiment of the present invention sets up the foundation of transaction communications link according to speed and the current position of motor vehicle as with OBU, can effectively solve with car and lie interference phenomenon, promote the overall traffic efficiency in ETC track, improve the unobstructed effect of entirety in track
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in the storage medium of other form any known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a method of concluding the business with OBU, is characterized in that, comprising:
Obtain multiple OBU signals that OBU sends;
Determine the OBU coordinate that multiple described OBU signal is corresponding and acquisition time;
The OBU coordinate corresponding according to multiple described OBU signal and acquisition time, determine the OBU speed that described OBU is corresponding and OBU coordinate;
If the OBU coordinate that OBU is corresponding is legal, and the described OBU speed OBU coordinate corresponding with described OBU meets pre arranged trading communication condition, then start to conclude the business with described OBU.
2. method of concluding the business with OBU according to claim 1, is characterized in that, multiple OBU signals that described acquisition OBU sends comprise:
In setting-up time section, a communications command is sent to described OBU at interval of Preset Time, obtain the described OBU signal that described OBU feeds back, to send multiple communications command to described OBU in setting-up time section, obtain the multiple described OBU signal that described OBU feeds back;
Determine that the OBU coordinate that described OBU is corresponding comprises:
If the absolute value of the transverse axis coordinate difference that adjacent OBU signal is corresponding is less than the first preset value in multiple described OBU signal, in multiple described OBU signal, the absolute value of the ordinate of orthogonal axes difference that adjacent OBU signal is corresponding is less than the second preset value, then corresponding according to multiple described OBU signal OBU coordinate determines the OBU coordinate that OBU is corresponding.
3. method of concluding the business with OBU according to claim 2, is characterized in that, the described OBU coordinate corresponding according to multiple described OBU signal determines that the OBU coordinate that OBU is corresponding is specially:
Ave_x is the transverse axis coordinate mean value that described multiple OBU signal is corresponding, and ave_y is the ordinate of orthogonal axes mean value that described multiple OBU signal is corresponding;
If meet: Fabs (ave_x) > the 3rd preset value, absolute value≤the ave_x/10 of the transverse axis coordinate difference of adjacent OBU signal, if and Fabs (ave_y) > the 4th preset value, the condition of the absolute value≤ave_y*ave_y* ((dif_time+99)/100)/60 of the ordinate of orthogonal axes difference of adjacent OBU signal; Then determine that ave_x and ave_y is the OBU coordinate that described OBU is corresponding, otherwise, again multiple OBU signal is obtained, until the value of the absolute value of the absolute value of the transverse axis coordinate difference of the adjacent OBU signal of the multiple OBU signals obtained and the ordinate of orthogonal axes difference of adjacent OBU signal meets above-mentioned condition in next setting-up time section; Wherein, Fabs () represents acquisition absolute value, and dif_time represents the interval time of adjacent OBU signal in described multiple OBU signal.
4. the method for concluding the business with OBU according to any one of claim 1-3, it is characterized in that, the described OBU speed determining that described OBU is corresponding comprises:
The OBU coordinate corresponding by adjacent described OBU signal and acquisition time calculate the spot speed of described OBU, and described spot speed is added maintained speed of a motor vehicle group, record the spot speed of predetermined quantity in described speed of a motor vehicle group;
Calculate the average velocity corresponding to speed of a motor vehicle group adding described spot speed, described average velocity is OBU speed corresponding to described OBU.
5. method of concluding the business with OBU according to claim 4, is characterized in that, the average velocity corresponding to speed of a motor vehicle group that described calculating adds described spot speed comprises:
A filtering process is carried out to the spot speed of the speed of a motor vehicle group adding described spot speed, rejects and be less than the spot speed of speed minimum threshold, reject the spot speed being greater than the most high threshold of speed, obtain the speed of a motor vehicle group after a filtering process;
Mend first spot speed to before the speed of a motor vehicle group after a filtering process, last spot speed of rear benefit, obtains the speed of a motor vehicle group of benefit value;
Medium filtering process is carried out to the speed of a motor vehicle group of benefit value, midrange speed value is obtained to adjacent three spot speeds, obtains the speed of a motor vehicle group after medium filtering process;
Average value processing is got to the spot speed that the speed of a motor vehicle group after medium filtering process has, obtains average velocity.
6. the method for concluding the business with OBU according to claim 1-3, is characterized in that, the legal deterministic process of the OBU coordinate that described OBU signal is corresponding comprises:
If meet first condition, then determine that the OBU coordinate that described OBU signal is corresponding is illegal, first condition comprises: the difference of current OBU speed and a upper OBU speed is less than First Speed value, and the position of OBU coordinate corresponding to OBU is longitudinally less than the first distance value, or, current OBU speed is less than second speed value with the difference of a upper OBU speed and the position of OBU coordinate corresponding to OBU is longitudinally greater than the first distance value, then the OBU coordinate that described OBU is corresponding is illegal;
If meet second condition, then determine that the OBU coordinate that described OBU is corresponding is illegal, second condition comprises: the difference of the OBU coordinate that OBU is corresponding and a upper illegal OBU coordinate is less than predetermined value;
If do not meet first condition and second condition, then determine that the OBU coordinate that OBU signal is corresponding is legal.
7. the method for concluding the business with OBU according to any one of claim 1-3, is characterized in that, the described OBU speed OBU coordinate corresponding with described OBU meets pre arranged trading communication condition and comprise:
If the longitudinal direction value of the OBU coordinate that OBU is corresponding is less than second distance value, then determine that the state of OBU meets transaction communications condition;
Or, if OBU speed is greater than third speed value, then determine that the state of OBU meets transaction communications condition;
Or, if OBU speed is greater than the 4th velocity amplitude, be less than third speed value, and the longitudinal direction value of OBU coordinate corresponding to OBU is not more than the 3rd distance value, then determine that the state of OBU meets transaction communications condition;
Or OBU speed is greater than the 5th velocity amplitude, be less than the 4th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is not more than the 4th distance value, then determine that the state of OBU meets transaction communications condition, wherein, 3rd distance value is greater than the 4th distance value, and the 4th distance value is greater than second distance value.
8. method of concluding the business with OBU according to claim 7, is characterized in that, also comprise:
If OBU speed is greater than the 5th velocity amplitude, be less than the 4th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is greater than the 4th distance value, then adjusts the first multiple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication;
Or if OBU speed is less than the 5th velocity amplitude, and the longitudinal direction value of OBU coordinate corresponding to OBU is greater than second distance value, then adjust the second multiple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication;
Or if the longitudinal direction value of OBU coordinate corresponding to OBU is greater than the 3rd distance value, then adjust the triple that the time interval sending signal of communication to OBU is the time interval of current transmission signal of communication, wherein, triple and the second multiple are greater than the first multiple.
9. a RSU, is characterized in that, comprises transaction system, and described transaction system comprises:
First acquisition module, for obtaining multiple OBU signals that OBU sends;
First determination module, for determining the OBU coordinate that multiple described OBU signal is corresponding and acquisition time;
Second determination module, for according to OBU coordinate corresponding to multiple described OBU signal and acquisition time, determines the OBU speed that described OBU is corresponding and OBU coordinate;
Transaction modules, if legal for the OBU coordinate that described OBU is corresponding, and the described OBU speed OBU coordinate corresponding with described OBU meets pre arranged trading communication condition, then start to conclude the business with described OBU.
10. RSU according to claim 9, is characterized in that, described first acquisition module comprises:
Multi signal acquiring unit, for in setting-up time section, a communications command is sent to described OBU at interval of Preset Time, obtain the described OBU signal that described OBU feeds back, to send multiple communications command to described OBU in setting-up time section, obtain the multiple described OBU signal that described OBU feeds back;
Described second determination module comprises:
Coordinate determining unit, if be less than the first preset value for the absolute value of transverse axis coordinate difference corresponding to adjacent OBU signal in multiple described OBU signal, in multiple described OBU signal, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signal is less than the second preset value, then corresponding according to multiple described OBU signal OBU coordinate determines the OBU coordinate that OBU is corresponding.
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| CN105719356A (en) * | 2016-01-19 | 2016-06-29 | 深圳市金溢科技股份有限公司 | RSU, ETC transaction method of improving vehicle passing speed, and system |
| CN105551101A (en) * | 2016-02-01 | 2016-05-04 | 天津中兴智联科技有限公司 | ETC reader convenient for application expansion and working method thereof |
| CN105551101B (en) * | 2016-02-01 | 2017-08-29 | 天津中兴智联科技有限公司 | A kind of ETC readers and its method of work for being easy to application extension |
| CN107274500A (en) * | 2017-06-09 | 2017-10-20 | 江苏本能科技有限公司 | Radio frequency identification method of payment and system |
| CN107274500B (en) * | 2017-06-09 | 2021-02-05 | 江苏本能科技有限公司 | Radio frequency identification payment method and system |
| CN107579801A (en) * | 2017-08-24 | 2018-01-12 | 深圳市金溢科技股份有限公司 | ETC system, memory, roadside unit and its transaction processing method |
| CN107886584A (en) * | 2017-10-27 | 2018-04-06 | 深圳市金溢科技股份有限公司 | Sending control method, controller, roadside unit and the toll tags of wake-up signal |
| CN111489548A (en) * | 2020-02-28 | 2020-08-04 | 广东中科臻恒信息技术有限公司 | Dynamic road traffic information acquisition method and system, and storage medium |
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