CN104574544B - Method for communicating with OBU and RSU - Google Patents
Method for communicating with OBU and RSU Download PDFInfo
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- CN104574544B CN104574544B CN201410856650.6A CN201410856650A CN104574544B CN 104574544 B CN104574544 B CN 104574544B CN 201410856650 A CN201410856650 A CN 201410856650A CN 104574544 B CN104574544 B CN 104574544B
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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, it relates to a kind of method and RSU with OBU transaction.
Background technology
ETC (Electronic Toll Collection, no-stop charging system) is one kind of intelligent transportation system,
ETC mainly includes that RSU (Road Side Unit, roadside unit) and OBU (On board Unit, board units), RSU are arranged
On ETC tracks, OBU is arranged on motor vehicles；After motor line sails ETC tracks into, RSU will be using DSRC (Dedicated
Short Range Communication) technology communicated with OBU, so as to complete non-parking charge.
The mode that current OBU and RSU sets up transaction communications link is mainly：RSU is by sending the communication letter such as BST to OBU
Number, OBU is positioned, when the position location to OBU reaches the precalculated position in ETC tracks, illustrates that motor vehicles have reached ETC
The precalculated position in track, then send the request for setting up transaction communications link, so as to set up the transaction communications link with OBU to OBU.
The present inventor's research finds：On ETC tracks, the travel speed of each motor vehicles is different, merely according to motor-driven
The current position of car, as the foundation that transaction communications link is set up with OBU, easily exist the fast motor vehicles of travel speed cannot and
The situation of non-parking charge is completed early, so as to cause the overall traffic efficiency in ETC tracks relatively low, the unobstructed effect of entirety in track is not
It is good.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of method and RSU of the transaction with OBU, to solve existing merely to press
According to the current position of motor vehicles, used as the foundation that transaction communications link is set up with OBU, the entirety in existing ETC tracks is passed through
It is less efficient, the problem of the unobstructed effect on driving birds is not good of entirety in track.
For achieving the above object, the embodiment of the present invention provides following technical scheme：
A kind of method with OBU transaction, it is characterised in that include：
Obtain multiple OBU signals that OBU sends；
Determine the corresponding OBU coordinates of multiple OBU signals and acquisition time；
According to the corresponding OBU coordinates of multiple OBU signals and the time of acquisition, determine the corresponding OBU speed of the OBU and
OBU coordinates；
If the corresponding OBU coordinates of OBU are legal, and OBU speed OBU coordinates corresponding with the OBU meet predetermined friendship
Easily communication condition, then start to be traded with the OBU.
Wherein, multiple OBU signals that the acquisition OBU sends include：
In setting time section, a communications command is sent to the OBU at interval of Preset Time, obtain the OBU anti-
One OBU signal of feedback, to send multiple communications commands to the OBU in setting time section, obtains the OBU feedbacks
Multiple described OBU signals；
Determine that the corresponding OBU coordinates of the OBU include：
If the absolute value of the corresponding transverse axis coordinate difference of adjacent OBU signals is default less than first in multiple OBU signals
Value, in multiple OBU signals, the absolute value of the corresponding ordinate of orthogonal axes difference of adjacent OBU signals is less than the second preset value, then root
The corresponding OBU coordinates of OBU are determined according to the corresponding OBU coordinates of multiple OBU signals.
Wherein, it is described to determine that the corresponding OBU coordinates of OBU are specially according to the corresponding OBU coordinates of multiple OBU signals：
Ave_x is the corresponding transverse axis coordinate meansigma methodss of the plurality of OBU signals, and ave_y is that the plurality of OBU signals are corresponding
Ordinate of orthogonal axes meansigma methodss；
If meeting：Fabs(ave_x)>3rd preset value, the absolute value≤ave_ of the transverse axis coordinate difference of adjacent OBU signals
X/10, and if Fabs (ave_y)>4th preset value, the absolute value≤ave_y*ave_ of the ordinate of orthogonal axes difference of adjacent OBU signals
The condition of y* ((dif_time+99)/100)/60；Then determine that ave_x and ave_y is the corresponding OBU coordinates of the OBU, otherwise,
Multiple OBU signals are reacquired in next setting time section, until the adjacent OBU signals of acquired multiple OBU signals
The value of the absolute value of the ordinate of orthogonal axes difference of the absolute value of transverse axis coordinate difference and adjacent OBU signals meets above-mentioned condition；Its
In, Fabs () is represented and is obtained absolute value, and dif_time represents the interval time of adjacent OBU signals in the plurality of OBU signals.
Wherein, it is described to determine that the corresponding OBU speed of the OBU includes:
By the corresponding OBU coordinates of the adjacent OBU signals and the spot speed of OBU described in Time Calculation is obtained, and will
The spot speed adds maintained speed group, and in the speed group, record has the spot speed of predetermined quantity；
The average speed corresponding to the speed group for adding the spot speed is calculated, the average speed is the OBU
Corresponding OBU speed.
Wherein, the average speed calculated corresponding to the speed group for adding the spot speed includes：
Spot speed to adding the speed group of the spot speed carries out a Filtering Processing, rejects minimum less than speed
The spot speed of thresholding, rejects the spot speed more than speed highest thresholding, obtains the speed group after a Filtering Processing；
To first spot speed is mended before the speed group after a Filtering Processing, last spot speed is mended afterwards, is obtained
The speed group of benefit value；
Median filter process is carried out to the speed group of benefit value, midrange speed value is obtained to three adjacent spot speeds, is obtained
Speed group to after median filter process；
Average value processing is taken to the spot speed that the speed group after median filter process has, average speed is obtained.
Wherein, the legal determination process of the corresponding OBU coordinates of the OBU signals includes：
If meeting first condition, it is determined that the corresponding OBU coordinates of the OBU signals are illegal, and first condition includes：Currently
OBU speed is less than First Speed value with the difference of upper OBU speed, and the position of the corresponding OBU coordinates of OBU is longitudinally less than first
Distance value, or, current OBU speed and the difference of upper OBU speed are less than second speed value and the corresponding OBU coordinates of OBU
Position is longitudinally more than the first distance value, then the corresponding OBU coordinates of the OBU are illegal；
If meeting second condition, it is determined that the corresponding OBU coordinates of the OBU are illegal, and second condition includes：OBU correspondences
OBU coordinates OBU coordinates illegal with upper difference be less than predetermined value；
If being unsatisfactory for first condition and second condition, it is determined that the corresponding OBU coordinates of OBU signals are legal.
Wherein, OBU speed OBU coordinates corresponding with the OBU meet pre arranged trading communication condition includes：
If the longitudinal direction value of the corresponding OBU coordinates of OBU is less than second distance value, it is determined that the state of OBU meets transaction communications
Condition；
If or, OBU speed is more than third speed value, it is determined that the state of OBU meets transaction communications condition；
If or, OBU speed is more than fourth speed value, being worth less than third speed value, and the longitudinal direction of the corresponding OBU coordinates of OBU
No more than the 3rd distance value, it is determined that the state of OBU meets transaction communications condition；
Or, OBU speed is more than the 5th velocity amplitude, less than fourth speed value, and the longitudinal direction value of the corresponding OBU coordinates of OBU is not
More than the 4th distance value, it is determined that the state of OBU meets transaction communications condition, wherein, the 3rd distance value is more than the 4th distance value,
4th distance value is more than second distance value.
Wherein, the method with OBU transaction also includes：
If OBU speed is more than the 5th velocity amplitude, it is more than less than fourth speed value, and longitudinal value of the corresponding OBU coordinates of OBU
4th distance value, then adjust the of the time interval that the time interval for sending signal of communication to OBU is currently transmitted signal of communication
One multiple；
If or, OBU speed is less than the 5th velocity amplitude, and the longitudinal direction value of the corresponding OBU coordinates of OBU is more than second distance value,
Second multiple of the time interval that the time interval for sending signal of communication to OBU is currently transmitted signal of communication is adjusted then；
If or, the longitudinal direction value of the corresponding OBU coordinates of OBU is adjusted to OBU and sends signal of communication more than the 3rd distance value
Time interval is the triple of the time interval of currently transmitted signal of communication, wherein, triple and the second multiple are more than the
One multiple.
The embodiment of the present invention also provides a kind of RSU, including transaction system, and the transaction system includes：
First acquisition module, for obtaining multiple OBU signals of OBU transmissions；
First determining module, for determining the corresponding OBU coordinates of multiple OBU signals and acquisition time；
Second determining module, for according to the corresponding OBU coordinates of multiple OBU signals and the time of acquisition, it is determined that described
The corresponding OBU speed of OBU and OBU coordinates；
Transaction modules, if it is legal for the corresponding OBU coordinates of the OBU, and the OBU speed is corresponding with the OBU
OBU coordinates meet pre arranged trading communication condition, then start to be traded with the OBU.
Wherein, first acquisition module includes：
Multi signal acquiring unit, for, in setting time section, sending a communication to the OBU at interval of Preset Time
Order, obtains an OBU signal of the OBU feedbacks, to send multiple communication lives to the OBU in setting time section
Order, obtains the multiple described OBU signals of the OBU feedbacks；
Second determining module includes：
Coordinate determining unit, if in multiple OBU signals the corresponding transverse axis coordinate difference of adjacent OBU signals it is exhausted
To value less than the first preset value, in multiple OBU signals, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signals is less than second
Preset value, then determine the corresponding OBU coordinates of OBU according to the corresponding OBU coordinates of multiple OBU signals.
Based on above-mentioned technical proposal, the method with OBU transaction provided in an embodiment of the present invention, many of OBU transmissions can be obtained
Individual OBU signals, so that it is determined that the corresponding OBU coordinates of multiple OBU signals and acquisition time, and then according to multiple OBU
The corresponding OBU coordinates of signal and the time of acquisition, determine the corresponding OBU speed of the OBU and OBU coordinates；It is corresponding in the OBU
OBU coordinates are legal, and OBU speed OBU coordinates corresponding with the OBU meet pre arranged trading communication condition, then start with
The OBU is traded.The embodiment of the present invention by dynamically being concluded the business according to OBU speed, i.e. the more fast more early transaction of speed,
Speed is more slow, is concluded the business near RSU again, not only ensures that track is overall and crosses at a high speed the unobstructed of car, and improves a transaction communications
Success rate, the embodiment of the present invention according to speed and the current position of motor vehicles as with OBU set up transaction communications link according to
According to, effectively can solve the overall traffic efficiency in ETC tracks is lifted with car and lie interference phenomenon, the entirety for improving track is led to
Smooth effect.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the method flow diagram with OBU transaction provided in an embodiment of the present invention；
Fig. 2 is the method flow diagram for calculating first time average speed provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of transaction communications condition provided in an embodiment of the present invention；
Fig. 4 is the structured flowchart of RSU provided in an embodiment of the present invention；
Fig. 5 is the structured flowchart of the first acquisition module provided in an embodiment of the present invention；
Fig. 6 is the structured flowchart of the second determining module provided in an embodiment of the present invention；
Fig. 7 is another structured flowchart of the second determining module provided in an embodiment of the present invention；
Fig. 8 is the structured flowchart of computing unit provided in an embodiment of the present invention；
Fig. 9 is the structured flowchart of transaction modules provided in an embodiment of the present invention；
Figure 10 is another structured flowchart of RSU provided in an embodiment of the present invention；
Figure 11 is another structured flowchart of transaction modules provided in an embodiment of the present invention；
Figure 12 is another structured flowchart of RSU provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is provided in an embodiment of the present invention and the method flow diagram of OBU transaction, and the method can be applicable to RSU, reference picture
1, the method can include：
Step S100, the multiple OBU signals for obtaining OBU transmissions；
OBU herein can be by sending communication life to OBU by the OBU in the ETC tracks that are subordinate in RSU, RSU
(such as BST) is made, so as to get the OBU signals (such as VST) of OBU transmissions；
Optionally, the embodiment of the present invention can send a communication life to OBU at interval of Preset Time in setting time section
Order, obtains an OBU signal of OBU feedbacks, to send multiple communications commands to OBU in setting time section, obtains OBU feedbacks
Multiple OBU signals, wherein, setting time section can have multiple, and multiple setting time sections can partially overlap；It is the plurality of
OBU signals may be considered one and be combined by the OBU signals that multiple OBU are constituted.
Optionally, multiple OBU signals can be at least two OBU signals.
Step S110, determine the corresponding OBU coordinates of multiple OBU signals and acquisition time；
Optionally, the embodiment of the present invention can be projected to close on formation elliptical region major axis on ETC tracks with RSU antennas
The end point of RSU is that origin forms a two-dimensional coordinate system, and RSU can be according to the angle of incidence of the OBU signals for getting, antenna height
And the phase information of OBU signals, calculate the two-dimensional coordinate value for the OBU of OBU signals being sent relative to this ETC tracks.
With a width of 3.2m in oval overlay area, as a example by a length of 20m, then the region two-dimensional coordinate scope for being formed is：X:(-
1.6,1.6), Y:(0,20), corresponding, the OBU coordinates that RSU is calculated are in X:(- 1.6,1.6), Y:(0,20) in the range of；
During the embodiment of the present invention can determine multiple OBU signals successively, the corresponding OBU coordinates of each OBU signals and the time is obtained.
Step S120, according to the corresponding OBU coordinates of multiple OBU signals and the time of acquisition, determine the corresponding OBU of OBU
Speed and OBU coordinates；
Optionally, the corresponding OBU coordinates of OBU, can be according in multiple OBU signals, and the corresponding OBU of each OBU signals sits
Mark was determined with the time of acquisition；Optionally, the embodiment of the present invention can pass through the OBU seats for calculating each OBU signals in the plurality of OBU signals
Mark and acquisition time, determine the average OBU coordinates and multigroup OBU instantaneous velocitys of the plurality of OBU signals.
Optionally, the embodiment of the present invention can also be for the average OBU coordinates arrange parameter condition of the plurality of OBU signals, only
There are the average OBU coordinates for meeting Parameter Conditions to be just considered the corresponding OBU coordinates of OBU signals；Optionally, if multiple OBU signals
In adjacent OBU signals transverse axis coordinate difference absolute value be less than the first preset value, adjacent OBU signals in multiple OBU signals
The absolute value of ordinate of orthogonal axes difference is less than the second preset value, then determine OBU according to the corresponding OBU coordinates of multiple OBU signals
Corresponding OBU coordinates.
Optionally, if the absolute value of the transverse axis coordinate difference of adjacent OBU signals is default not less than first in multiple OBU signals
Value, in multiple OBU signals, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signals is not less than the second preset value, then the present invention is real
The average coordinates that example can abandon the plurality of OBU signals are applied, multiple OBU signals are reacquired.
Specifically, the embodiment of the present invention can be with the transverse axis coordinate meansigma methodss that ave_x is multiple OBU signals, and ave_y is described
The ordinate of orthogonal axes meansigma methodss of multiple OBU signals, para_x are 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)>3rd preset value, the absolute value of the transverse axis coordinate difference of adjacent OBU signals
≤ para_x, para_x=ave_x/10；And if Fabs (ave_y)>4th preset value, the ordinate of orthogonal axes of adjacent OBU signals are poor
Absolute value≤the para_y of value, para_y=ave_y*ave_y* ((dif_time+99)/100)/60；Then determine ave_x and
Ave_y is the corresponding OBU coordinates of the OBU；Otherwise, the embodiment of the present invention can reacquire multiple OBU signals, until acquired
Multiple OBU signals adjacent OBU signals transverse axis coordinate difference absolute value and the ordinate of orthogonal axes difference of adjacent OBU signals
Absolute value value meets above-mentioned condition；In above-mentioned parameter, Fabs () is represented and is obtained absolute value, and dif_time represents described many
The interval time of adjacent OBU signals in individual OBU signals.
Optionally, if great majority (as exceeded half) data are all unsatisfactory for condition in the multiple OBU signals for reacquiring,
Then it is judged as that equipment may be damaged, it is also possible to the OBU signals of the condition that is unsatisfactory for are removed in multiple OBU signals of previous acquisition,
Complete to calculate with less OBU signals.
Optionally, above-mentioned third and fourth preset value can such as be all 6.0 with identical；Obviously, third and fourth preset value
Concrete numerical value can be set according to practical situation.
Optionally, the embodiment of the present invention can choose OBU signals by way of sliding window, and specifically, sliding window can
5 frame data are set, i.e., once obtain 5 frame OBU signals, wherein, the queue formed by the data calculated by sliding window, per number
It is identical to have 4 frames according to the frame used with previous data.
Optionally, what the spot speed of OBU was represented is OBU when OBU signals are sent, and the motor vehicles for loading OBU are current
Spot speed.
For ease of understanding, with (x, y) denotation coordination, (xi, yi) represent OBU signals coordinate, (xi-1, yi-1) represent previous
The coordinate of OBU signals, then the spot speed of the corresponding OBU of the OBU signals can be expressed as vi：
Optionally, the embodiment of the present invention can maintain the speed group of the spot speed of the OBU with predetermined quantity, by the wink
Between after speed adds maintained speed group, the average speed corresponding to the speed group for adding the spot speed can be calculated；
Multiple OBU signals that with good grounds acquired OBU sends are recorded in the speed group, the predetermined quantity for being calculated
The spot speed of OBU；Optionally, multiple OBU that the spot speed of the OBU in the speed group can be sent according to acquired OBU
Signal is obtained, and the concrete calculation of spot speed can refer to corresponding part description above.
The spot speed of OBU signals corresponding OBU is added after maintained speed group, by keeping maintaining in speed group
Spot speed be predetermined quantity, then the embodiment of the present invention can using first in first out by the way of, by first be entered speed group wink
Between speed exclude speed group, and the spot speed of OBU signals corresponding OBU is added to the end of speed group so that
The spot speed quantity of speed group maintains predetermined quantity.
Optionally, the embodiment of the present invention can pass through the spot speed of slidingtype window treatments speed group, using first in first out
Mode updating speed group.
The calculation of average speed can be that all instantaneous velocitys are adopted the side of once filtering and median filter process
Formula, filters invalid instantaneous velocity, then tries to achieve the average speed corresponding to the speed group for adding the spot speed.
Optionally, add the average speed corresponding to the speed group of the spot speed be expressed as OBU currently to correspond to
Average speed, i.e. OBU speed.
If the corresponding OBU coordinates of step S130, the OBU are legal, and OBU speed OBU corresponding with the OBU sits
Reference symbol closes pre arranged trading communication condition, then start to be traded with the OBU.
Method with OBU transaction provided in an embodiment of the present invention, can obtain multiple OBU signals of OBU transmissions, so that it is determined that
The corresponding OBU coordinates of multiple OBU signals and obtain the time, so according to the corresponding OBU coordinates of multiple OBU signals with
The acquisition time, determine the corresponding OBU speed of the OBU and OBU coordinates；It is legal and described in the corresponding OBU coordinates of the OBU
OBU speed OBU coordinates corresponding with the OBU meet pre arranged trading communication condition, then start to be traded with the OBU.This
Inventive embodiments are dynamically concluded the business according to the speed of OBU, i.e. the more fast more early transaction of speed, speed more it is slow then near RSU again
Transaction, not only ensures that track is overall and crosses at a high speed the unobstructed of car, and improve the success rate of a transaction communications, the present invention is implemented
Example can effectively lift ETC tracks according to speed and the current position of motor vehicles as the foundation that transaction communications link is set up with OBU
Overall traffic efficiency, improve track the unobstructed effect of entirety.
Optionally, whether legal the corresponding OBU coordinates of OBU constraints is as follows：
(1) first condition：Current OBU speed (adding the average speed corresponding to the speed group of the spot speed),
(difference is less than First Speed value, and the position of the corresponding OBU coordinates of OBU is longitudinally less than the first distance with upper OBU speed
Value, or, current OBU speed and the difference of upper OBU speed are less than the position of second speed value and the corresponding OBU coordinates of OBU
Longitudinal direction is more than the first distance value, then it is assumed that the corresponding OBU coordinates of OBU are illegal；
With a width of 3.2m in the road in ETC tracks, as a example by a length of 20m in road, First Speed value can be 10KM/H, second speed value
Can be 20KM/h, the first distance value can be 9m；Then current average speed is less than 10KM/H with the difference of a upper average speed,
And the position of the corresponding OBU coordinates of OBU is longitudinally less than 9m, or, current OBU speed is less than with the difference of upper OBU speed
The position of 20KM/h and the corresponding OBU coordinates of OBU is longitudinally more than 9m, then it is assumed that the corresponding OBU coordinates of OBU signals are illegal.
(2) second condition：The difference of the corresponding OBU coordinates of OBU OBU coordinates illegal with upper is less than predetermined value, then recognize
It is illegal for the corresponding OBU coordinates of OBU signals；
It is upper once coordinate points are illegal when, it is if changing coordinates point is basically identical with last coordinate points, current to sit
The difference of punctuate and last coordinate points will be less than predetermined value, it may be determined that changing coordinates point is illegal.
With a width of 3.2m in the road in ETC tracks, as a example by a length of 20m in road, if difx<0.5m, dify<1.0m then thinks OBU pair
The OBU coordinates answered are illegal, and difx represents the transversal discrepancy of the corresponding OBU coordinates of OBU OBU coordinates illegal with upper, dify
Represent longitudinal difference of the corresponding OBU coordinates of OBU OBU coordinates illegal with upper.
Only when above-mentioned (1) (2) condition is unsatisfactory for, just think that the corresponding OBU coordinates of OBU are legal.
Optionally, upper OBU speed is first time OBU speed earliest, and the embodiment of the present invention can be by multiframe pretreatment
Mode calculates first time OBU speed；Corresponding, Fig. 2 shows the side for calculating first time OBU speed provided in an embodiment of the present invention
Method flow chart, with reference to Fig. 2, the method can include：
Step S200, the multiframe OBU signal for obtaining OBU transmissions, determine the corresponding OBU coordinates of each frame OBU signals and acquisition
Time；
Optionally, RSU can send the search radio frequency frame of certain number of times, so as to get a number of OBU signals, and then
A number of angle of incidence phase information is obtained, and then calculates the corresponding OBU coordinates of each frame OBU signals；
Step S210, according to the corresponding OBU coordinates of each frame OBU signals and obtain the time, it is determined that meeting predefined parameter condition
OBU coordinates, and collect meet the OBU coordinates of predefined parameter condition and corresponding acquisition time；
Optionally, predefined parameter condition can be the transverse axis coordinate difference of para_x＆＆para_y, i.e. consecutive frame OBU signals
Absolute value>Para_x, the absolute value of the ordinate of orthogonal axes difference of consecutive frame OBU signals>para_y；In Qi Zhong ＆＆ program languages
Symbol, represents and relations, i.e., if back is judged as fales, latter step is not judged；
Wherein, Fabs (ave_x)>3rd preset value, then para_x=ave_x/10, represents that the meaning is：If meansigma methodss
Absolute value is more than the 3rd preset value, then conditional parameter para_x=ave_x/10, expression below for para_y formula and this
In the same manner；
Fabs(ave_y)>4th preset value, then para_y=ave_y*ave_y* ((dif_time+99)/100)/60；
The coordinate meansigma methodss of ave_x, ave_y for multiframe OBU signal；
Optionally, it is determined that can also be again by the way of refinement confirming before the coordinate meansigma methodss of multiframe OBU signal
Coordinate meansigma methodss, first carry out asking for mean square deviation DIFF using the corresponding OBU coordinate figures of multiframe OBU signal, then calculate multiframe
The corresponding OBU coordinates meansigma methodss of OBU signals, then will carry out taking difference with meansigma methodss per the corresponding OBU coordinate figures of frame OBU signals
Afterwards, OBU signal value of the absolute value more than 1.5 times of DIFF is discarded, the corresponding OBU coordinates of new multiframe OBU signal are eventually formed
It is worth queue, then carries out the summation of multiframe OBU coordinate and take average, the coordinate meansigma methodss of the OBU signals being achieved in that is more accurate.3rd
6.0 can be all with the 4th preset value.
Optionally, acquired multiframe OBU signal can determine by sliding window mode that sliding window is meant that, one
Secondary calculating hypothesis needs predetermined frame data, then window is newest predetermined frame data, it is possible to understand that, what these windows were calculated
The queue formed by data, the frame used with previous data by each data have predetermined frame to subtract 1 frame is identical；With predetermined frame
As a example by for 5 frames, then window is 5 newest frame data, it is possible to understand that, the queue formed by the data calculated by these windows,
It is identical that the frame used with previous data by each data has 4 frames.
It is for the corresponding OBU coordinates of the OBU signals for meeting predefined parameter condition are collected, pre-conditioned as follows：Fabs
(Xi-Xi+1)≤para_x, Fabs (Yi-Yi+1)≤para_y, wherein Xi, Xi+1The corresponding OBU of respectively adjacent OBU signals sits
Target abscissa, Yi, Yi+1Ibid.If being unsatisfactory for above-mentioned condition, above-mentioned two point is abandoned.
Step S220, for the corresponding OBU coordinates of the OBU signals for meeting predefined parameter condition and corresponding acquisition time,
Distance and time difference corresponding to consecutive frame is gone out by the mathematic interpolation of the coordinate of consecutive frame, by corresponding to consecutive frame away from
From and time mathematic interpolation go out the corresponding instantaneous velocity of the corresponding OBU coordinates of each OBU signals for meeting predefined parameter condition；
Optionally, instantaneous velocity calculation can be：
Step S230, the corresponding first time OBU speed of all instantaneous velocitys of calculating.
Optionally, invalid instantaneous velocity can be filtered, asked by all instantaneous velocitys using once filtering and median filter process
Obtain first time average speed.
It is specific as follows：By when each corresponding OBU coordinates of OBU signals for meeting predefined parameter condition and corresponding acquisition
Between, the speed group of one-dimensional spot speed composition is obtained：V=[v1,v2,v3…vn]；
Thresholding V is setMIN,VMAX, a Filtering Processing is carried out, if vi＜ VMINOr νi＞ VMAX, then abandon vi, that is, reject little
In speed minimum threshold VMINSpot speed, reject more than speed highest thresholding VMAXSpot speed；
After Filtering Processing, the remaining speed group with spot speed is:
V=[v1,v2,v3,...,vM]
To mending v before the speed group after a Filtering Processing1, V is mended afterwardsMThe speed group that benefit value can be obtained is:
V=[v1,v1,v2,v3,...,vM,vM]
Median filter process is carried out to the speed group of the benefit value, midrange speed value V is obtained to three adjacent spot speeds1
=[v1,v1,v2], the speed group after median filter process can be obtained using median filter process:
Vz=[V1,V2,V3,V4...Vm]
Based on the speed group after median filter process, carry out taking average value processing, try to achieve an OBU speed：
It should be noted that the mode of the calculating average speed of foregoing description is applicable to the average speed of arbitrary speed group
Calculate；
I.e. to arbitrary speed group, speed group V=[v is obtained1,v2,v3…vn], thresholding V is setMIN,VMAX, once filtered
Ripple process, if vi＜ VMINOr νi＞ VMAX, then abandon νi, that is, reject less than speed minimum threshold VMINSpot speed, reject big
In the V of speed highest thresholdingMAXSpot speed；
After Filtering Processing, the remaining speed group with spot speed is:
V=[v1,v2,v3,...,vM]
To mending v before the speed group after a Filtering Processing1, V is mended afterwardsMThe speed group that value can be mended is:
V=[v1,v1,v2,v3,...,vM,vM]
Median filter process is carried out to the new speed group of speed group of the benefit value, three adjacent spot speed speeds are obtained
Midrange speed value V1=[v1,v1,v2], the new speed group after median filter process can be obtained using median filtering method process:
Vz=[V1,V2,V3,V4...Vm]
Based on the speed group after median filter process, carry out taking average value processing, finally try to achieve average speed value, that is,
OBU speed：
The mode of above-mentioned calculating average speed, by once filtering and median filter process, can be rejected based on instantaneous velocity
Unreliable coordinate points (such as because reflection causes the weak elements of a fix catastrophe point for causing of signal energy), do so as to efficiently solve lie
Disturb and disturb with car, complete and accurately have recorded the whole dynamic trajectory of the current process of RSU and OBU.
Optionally, after OBU speed OBU coordinates corresponding with OBU are determined, the embodiment of the present invention can determine that OBU correspondences
OBU state, so as to when the state of OBU meets transaction communications condition, set up the transaction communications link with OBU.
Specifically, transaction communications condition is as follows：
If the longitudinal direction value of the corresponding OBU coordinates of OBU directly sets up the transaction communications chain with OBU less than second distance value
Road；
If OBU speed is more than third speed value, the transaction communications link with OBU is directly set up；
If OBU speed is more than fourth speed value, less than third speed value, and the longitudinal direction value of the corresponding OBU coordinates of OBU is little
In the 3rd distance value, then the transaction communications link with OBU is directly set up；Optionally, fourth speed value can be described previously the
Two velocity amplitudes；
If OBU speed is more than the 5th velocity amplitude, less than fourth speed value, and the longitudinal direction value of the corresponding OBU coordinates of OBU is little
In the 4th distance value, then the transaction communications link with OBU is directly set up, wherein, the 3rd distance value is more than the 4th distance value, and the 4th
Distance value is more than second distance value；Optionally, the 5th velocity amplitude can be First Speed value described previously, and the 4th distance value can be with
For the first distance value described previously.
If OBU speed is more than the 5th velocity amplitude, it is more than less than fourth speed value, and longitudinal value of the corresponding OBU coordinates of OBU
4th distance value, then adjust the of the time interval that the time interval for sending signal of communication to OBU is currently transmitted signal of communication
One multiple；
If OBU speed is less than the 5th velocity amplitude, and the longitudinal direction value of the corresponding OBU coordinates of OBU is then adjusted more than second distance value
The whole time interval to OBU transmission signals of communication is the second multiple of the time interval of currently transmitted signal of communication；
If the longitudinal direction value of the corresponding OBU coordinates of OBU is more than the 3rd distance value, adjust to OBU send signal of communication when
Between at intervals of currently transmitted signal of communication time interval triple, wherein, triple and the second multiple are more than first
Multiple, optional second multiple and triple it is identical, be the twice of the first multiple.
It should be noted that the meaning that above-mentioned adjustment sends the time interval of signal of communication (such as BST) is, corresponding
Under the conditions of, vehicle distances trading range farther out, still can ensure that vehicle by front completing transaction so slowing down search signal.
Simultaneously because OBU needs to reply when RSU sends BST, so reducing the work times that BST signals can reduce OBU, and then reduce
OBU is lost, and extends the service life of OBU.
Optionally, above-mentioned concrete numerical value can be set according to practical situations, and the embodiment of the present invention is not restricted.For ease of
Understand, with oval overlay area as wide 3.2m, as a example by a length of 20m, then transaction communications condition is：
If Y<7.0m, directly sets 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&&Y<=13m, directly sets up the transaction communications link with OBU；
If V>10km/h&&V<20km/h&&Y<=9m, directly sets up the transaction communications link with OBU；
If V>10km/h&&V<20km/h&&Y>5 times of 9m, BST interval adjustment；
If V<10km/h&&Y>10 times of 7m, BST interval adjustment；
If Y>10 times of 13m, BST interval adjustment.
If wherein V is OBU speed, and Y is the longitudinal direction value of the corresponding OBU coordinates of OBU.
Corresponding, Fig. 3 shows the schematic diagram of transaction communications condition, can carry out reference.
It can be seen that, in embodiments of the present invention as speed is very fast, then immediately conclude the business once falling into permission transaction area, speed compared with
It is slow then will near RSU could allow transaction；
Optionally, for acquired OBU signals, the embodiment of the present invention can be by setting up OBU queues preservation, OBU queues
Form is as follows：
OBU_ID+DEVICEID+(X1,Y1)+(T1)+(avil1)+(X2,Y2)+(T2)+(avil2)----(XN,YN)
The information that OBU queues are represented is respectively OBU tag ID numbers, is subordinate to No. ID of ETC tracks, and parsing OBU receives signal
Coordinate figure (X, Y), the time of changing coordinates point, changing coordinates point validity flag position.
By above-mentioned OBU queues, the embodiment of the present invention is capable of achieving the calculating of first time OBU speed, and OBU signals are corresponding
Calculating of the spot speed of OBU etc..
Method with OBU transaction provided in an embodiment of the present invention, it is fast by the OBU for calculating reflection motor vehicles average speed
Degree, with reference to transaction communications conditional judgment, realizes the mode with the transaction of OBU, can lift the overall transaction communications success in track
Rate, improved the effect of car smooth degree.Jing experiments find that the average speed calculated by the embodiment of the present invention is true with what vehicle was travelled
Error is in ± 3km/h for real vehicle speed (being obtained by big data statistics), therefore fully achieves the calculating of speed, and then passes through speed body
The entirety for revealing track is open to traffic speed, according to be open to traffic speed and real-time location status, reaches with reference to transaction communications conditional judgment
When the speed that is open to traffic is fast, then transaction area is remote, when the speed that is open to traffic is slow, then concludes the business closer to the distance, and then lifts the overall friendship in track
Easily communication success rate, improved the effect of car smooth degree.
Below RUS provided in an embodiment of the present invention is introduced, RSU described below can be with above-described and OBU
The method of transaction is mutually to should refer to.
Fig. 4 is the structured flowchart of RSU provided in an embodiment of the present invention, and the RSU can install transaction system, with reference to Fig. 4, should
Transaction system can include：
First acquisition module 100, for obtaining multiple OBU signals of OBU transmissions；
First determining module 200, for determining the corresponding OBU coordinates of multiple OBU signals and acquisition time；
Second determining module 300, for according to the corresponding OBU coordinates of multiple OBU signals and the time of acquisition, determining institute
State the corresponding OBU speed of OBU and OBU coordinates；
Transaction modules 400, if it is legal for the corresponding OBU coordinates of the OBU, and the OBU speed is corresponding with the OBU
OBU coordinates meet pre arranged trading communication condition, then start to be traded with the OBU.
Optionally, Fig. 5 shows a kind of alternative construction of the first acquisition module 100, with reference to Fig. 5, the first acquisition module 100
Can include：
Multi signal acquiring unit 110, for, in setting time section, sending one to the OBU at interval of Preset Time
Communications command, obtains an OBU signal of the OBU feedbacks, to send multiple communication lives to the OBU in setting time section
Order, obtains multiple OBU signals of the OBU feedbacks.
Optionally, Fig. 6 shows a kind of alternative construction of the second determining module 300, with reference to Fig. 6, the second determining module 300
Can include：
Coordinate determining unit 310, if for the corresponding transverse axis coordinate difference of adjacent OBU signals in multiple OBU signals
The first preset value of absolute value being less than, in multiple OBU signals, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signals is less than
Second preset value, then determine the corresponding OBU coordinates of OBU according to the corresponding OBU coordinates of multiple OBU signals.
Optionally, Fig. 7 shows another kind of alternative construction of the second determining module 300, with reference to Fig. 7, the second determining module
300 can include：
Unit 320 is added, for by the corresponding OBU coordinates of the adjacent OBU signals and OBU described in acquisition Time Calculation
Spot speed, and the spot speed is added into maintained speed group, in the speed group, record has the wink of predetermined quantity
Between speed；
Computing unit 321, it is for calculating the average speed corresponding to the speed group for adding the spot speed, described average
Speed is the corresponding OBU speed of the OBU.
Optionally, Fig. 8 shows a kind of alternative construction of computing unit 321, and with reference to Fig. 8, computing unit 321 can be wrapped
Include：
Filter processing unit 3211, the spot speed having for the speed group to adding the spot speed are entered
Filtering Processing of row, rejects the spot speed less than speed minimum threshold, rejects the spot speed more than speed highest thresholding,
Obtain the speed group after a Filtering Processing；
Value cell 3212 is mended, for first spot speed is mended before the speed group after a Filtering Processing, mending afterwards last
One spot speed, obtains the speed group of benefit value；
Median filter process unit 3213, the speed group for being worth to benefit carry out median filter process, to adjacent three
Spot speed obtains midrange speed value, obtains the speed group after median filter process；
Average value processing unit 3214, for taking at average to the spot speed that the speed group after median filter process has
Reason, obtains average speed.
Optionally, Fig. 9 shows a kind of alternative construction of transaction modules 400, and with reference to Fig. 9, transaction modules 400 can be wrapped
Include：
Legal determining unit 410, if for meeting first condition, it is determined that the corresponding OBU coordinates of the OBU signals do not conform to
Method, first condition include：Current OBU speed is less than First Speed value with the difference of upper OBU speed, and the corresponding OBU of OBU sit
Target position is longitudinally less than the first distance value, or, current OBU speed is less than second speed value with the difference of upper OBU speed
And the position of the corresponding OBU coordinates of OBU signals is longitudinally more than the first distance value, then the corresponding OBU coordinates of the OBU signals do not conform to
Method；If meeting second condition, it is determined that the corresponding OBU coordinates of the OBU are illegal, and second condition includes：The corresponding OBU of OBU
The difference of coordinate OBU coordinates illegal with upper is less than predetermined value；If being unsatisfactory for first condition and second condition, it is determined that OBU
The corresponding OBU coordinates of signal are legal.
Optionally, upper OBU speed can be first time OBU speed.Corresponding, Figure 10 shows that the embodiment of the present invention is carried
For RSU another structured flowchart, the RSU be capable of achieving first time OBU speed determination, with reference to shown in Fig. 4 and Figure 10, the device
Can also include：
Multiple frame capture module 500, for obtaining the multiframe OBU signal of OBU transmissions, determines the corresponding OBU of each frame OBU signals
Coordinate, and obtain the time；
Parameter coordinate determining module 600, for according to the corresponding OBU coordinates of each frame OBU signals and acquisition time, it is determined that full
The OBU coordinates of sufficient predefined parameter condition, and collection meets the OBU coordinates of predefined parameter condition and corresponding acquisition time；
Optionally, predefined parameter condition can be the transverse axis coordinate difference of para_x＆＆para_y, i.e. consecutive frame OBU signals
Absolute value>Para_x, the absolute value of the ordinate of orthogonal axes difference of consecutive frame OBU signals>para_y；
Wherein predefined parameter condition is：If Fabs (ave_x)>3rd preset value, para_x=ave_x/10, and if Fabs
(ave_y)>4th preset value, para_y=ave_y*ave_y* ((dif_time+99)/100)/60；Wherein, trading range width
For 3.2 meters, a length of 20 meters, ave_x is the corresponding transverse axis coordinate meansigma methodss of the multiframe OBU signal, and ave_y is the multiframe
The corresponding ordinate of orthogonal axes meansigma methodss of OBU signals, para_x, para_y be Rule of judgment, Fabs () represent obtain absolute value,
Dif_time represents the interval time of adjacent OBU signals in the multiframe OBU signal；
Third and fourth preset value can be all 6.0.
Instantaneous velocity determining module 700, for for the corresponding OBU coordinates of the OBU signals for meeting predefined parameter condition and
The corresponding acquisition time, the distance and time difference corresponding to consecutive frame is gone out by the mathematic interpolation of the coordinate of consecutive frame, is passed through
Distance and time mathematic interpolation corresponding to consecutive frame goes out the corresponding OBU coordinate pairs of each OBU signals for meeting predefined parameter condition
The instantaneous velocity answered；
First time average speed determining module 800, for calculating the corresponding first time average speed of all instantaneous velocitys.
Optionally, Figure 11 shows another kind of alternative construction of transaction modules 400, and with reference to Figure 11, transaction modules 400 can be with
Including：
Meet determining unit 420, for confirming whether longitudinal value or OBU speed of the corresponding OBU coordinates of OBU meet default
Condition.
Corresponding, Figure 12 shows another structured flowchart of RSU provided in an embodiment of the present invention, with reference to Fig. 4 and Figure 12 institutes
Show, the device can also include：
Adjusting module 900, if being more than the 5th velocity amplitude for OBU speed, less than fourth speed value, and the corresponding OBU of OBU
More than the 4th distance value, then it is currently transmitted communication letter to adjust the time interval for sending signal of communication to OBU to the longitudinal direction value of coordinate
Number time interval the first multiple；If or, OBU speed is less than the 5th velocity amplitude, and the longitudinal direction value of the corresponding OBU coordinates of OBU
More than second distance value, then adjust the time interval that the time interval for signal of communication being sent to OBU is currently transmitted signal of communication
The second multiple；If or, the longitudinal direction value of the corresponding OBU coordinates of OBU is adjusted to OBU and sends communication letter more than the 3rd distance value
Number time interval be currently transmitted signal of communication time interval triple, triple and the second multiple are more than first
Multiple.
The embodiment of the present invention can calculate the average speed of OBU by instantaneous velocity, so that track is according to the flat of OBU
Speed is dynamically concluded the business, i.e. the more fast more early transaction of speed, speed are more slow, are concluded the business near RSU again, not only ensures track entirety
Mistake car is unobstructed at a high speed, and improves the success rate of a transaction communications, and the embodiment of the present invention is worked as with motor vehicles according to speed
Front position effectively can solve, with car and lie interference phenomenon, to be lifted as the foundation that transaction communications link is set up with OBU
The overall traffic efficiency in ETC tracks, improves the unobstructed effect of entirety in track
In this specification, each embodiment is described by the way of progressive, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
For, as which corresponds to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can with electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example in the above description according to function.These
Function actually with hardware or software mode performing, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can use different methods to realize described function to each specific application, but this realization should not
Think beyond the scope of this invention.
The step of method described with reference to the embodiments described herein or algorithm, directly can be held with hardware, processor
Capable software module, or the combination of the two is implementing.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, depositor, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (8)
1. the method for a kind of and OBU transaction, it is characterised in that include：
Obtain multiple OBU signals that OBU sends；
Determine the corresponding OBU coordinates of multiple OBU signals and acquisition time；
According to the corresponding OBU coordinates of multiple OBU signals and the time of acquisition, the corresponding OBU speed of the OBU and described is determined
The corresponding OBU coordinates of OBU；
If the corresponding OBU coordinates of OBU are legal, and OBU speed OBU coordinates corresponding with the OBU meet pre arranged trading and lead to
Creed part, then start to be traded with the OBU；
Wherein it is determined that the corresponding OBU coordinates of the OBU include：
If in multiple OBU signals, the absolute value of the corresponding transverse axis coordinate difference of adjacent OBU signals is less than the first preset value, many
In the individual OBU signals, the absolute value of the corresponding ordinate of orthogonal axes difference of adjacent OBU signals is less than the second preset value, then according to multiple
The corresponding OBU coordinates of the OBU signals determine the corresponding OBU coordinates of OBU；
It is described to determine that the corresponding OBU speed of the OBU includes:
By the corresponding OBU coordinates of the adjacent OBU signals and the spot speed of OBU described in Time Calculation is obtained, and will be described
Spot speed adds maintained speed group, and in the speed group, record has the spot speed of predetermined quantity；
The average speed corresponding to the speed group for adding the spot speed is calculated, the average speed is the OBU correspondences
OBU speed；
OBU speed OBU coordinates corresponding with the OBU meet pre arranged trading communication condition to be included：
If the longitudinal direction value of the corresponding OBU coordinates of OBU is less than second distance value, it is determined that the state of OBU meets transaction communications condition；
If or, OBU speed is more than third speed value, it is determined that the state of OBU meets transaction communications condition；
Or, if OBU speed is more than fourth speed value, less than third speed value, and the longitudinal direction value of the corresponding OBU coordinates of OBU is little
In the 3rd distance value, it is determined that the state of OBU meets transaction communications condition；
Or, OBU speed is more than the 5th velocity amplitude, it is not more than less than fourth speed value, and longitudinal value of the corresponding OBU coordinates of OBU
4th distance value, it is determined that the state of OBU meets transaction communications condition, wherein, the 3rd distance value be more than the 4th distance value, the 4th
Distance value is more than second distance value.
2. the method for according to claim 1 and OBU transaction, it is characterised in that multiple OBU that the acquisition OBU sends
Signal includes：
In setting time section, a communications command is sent to the OBU at interval of Preset Time, obtain the OBU feedbacks
One OBU signal, to send multiple communications commands to the OBU in setting time section, obtains many of the OBU feedbacks
The individual OBU signals.
3. the method for according to claim 1 and OBU transaction, it is characterised in that described according to multiple OBU signals pair
The OBU coordinates answered determine that the corresponding OBU coordinates of OBU are specially：
Ave_x is the corresponding transverse axis coordinate meansigma methodss of the plurality of OBU signals, and ave_y is that the plurality of OBU signals are corresponding vertical
Axial coordinate meansigma methodss；
If meeting：Fabs(ave_x)>3rd preset value, the absolute value≤ave_x/ of the transverse axis coordinate difference of adjacent OBU signals
10, and if Fabs (ave_y)>4th preset value, the absolute value≤ave_y*ave_y* of the ordinate of orthogonal axes difference of adjacent OBU signals
The condition of ((dif_time+99)/100)/60；Then determine that ave_x and ave_y is the corresponding OBU coordinates of the OBU, otherwise,
Multiple OBU signals are reacquired in next setting time section, until the horizontal stroke of the adjacent OBU signals of acquired multiple OBU signals
The value of the absolute value of the ordinate of orthogonal axes difference of the absolute value of axial coordinate difference and adjacent OBU signals meets above-mentioned condition；Wherein,
Fabs () is represented and is obtained absolute value, and dif_time represents the interval time of adjacent OBU signals in the plurality of OBU signals.
4. the method for according to claim 1 and OBU transaction, it is characterised in that the calculating adds the spot speed
Speed group corresponding to average speed include：
Spot speed to adding the speed group of the spot speed carries out a Filtering Processing, rejects less than speed minimum threshold
Spot speed, reject more than speed highest thresholding spot speed, obtain the speed group after a Filtering Processing；
To first spot speed is mended before the speed group after a Filtering Processing, last spot speed is mended afterwards, benefit value is obtained
Speed group；
Median filter process is carried out to the speed group of benefit value, midrange speed value is obtained to three adjacent spot speeds, in obtaining
Speed group after value filtering process；
Average value processing is taken to the spot speed that the speed group after median filter process has, average speed is obtained.
5. the method with OBU transaction according to claim 1-3 any one, it is characterised in that OBU signals correspondence
The legal determination process of OBU coordinates include：
If meeting first condition, it is determined that the corresponding OBU coordinates of the OBU signals are illegal, and first condition includes：Current OBU
The difference of speed and upper OBU speed is less than First Speed value, and the position of the corresponding OBU coordinates of OBU longitudinally less than first away from
From value, or, current OBU speed and the difference of upper OBU speed are less than the position of second speed value and the corresponding OBU coordinates of OBU
Longitudinal direction is put more than the first distance value, then the corresponding OBU coordinates of the OBU are illegal；
If meeting second condition, it is determined that the corresponding OBU coordinates of the OBU are illegal, and second condition includes：The corresponding OBU of OBU
The difference of the corresponding OBU coordinates of coordinate OBU illegal with upper is less than predetermined value；
If being unsatisfactory for first condition and second condition, it is determined that the corresponding OBU coordinates of OBU signals are legal.
6. the method for according to claim 1 and OBU transaction, it is characterised in that the OBU speed is corresponding with the OBU
OBU coordinates meet pre arranged trading communication condition and also include：
If OBU speed is more than the 5th velocity amplitude, less than fourth speed value, and the longitudinal direction value of the corresponding OBU coordinates of OBU is more than the 4th
Distance value, then adjust first times of the time interval that the time interval for sending signal of communication to OBU is currently transmitted signal of communication
Number；
If or, OBU speed is less than the 5th velocity amplitude, and the longitudinal direction value of the corresponding OBU coordinates of OBU is then adjusted more than second distance value
The whole time interval to OBU transmission signals of communication is the second multiple of the time interval of currently transmitted signal of communication；
If or, the longitudinal direction value of the corresponding OBU coordinates of OBU is adjusted to OBU and sends the time of signal of communication more than the 3rd distance value
At intervals of the triple of the time interval of currently transmitted signal of communication, wherein, triple and the second multiple are more than first times
Number.
7. a kind of RSU, it is characterised in that including transaction system, the transaction system includes：
First acquisition module, for obtaining multiple OBU signals of OBU transmissions；
First determining module, for determining the corresponding OBU coordinates of multiple OBU signals and acquisition time；
Second determining module, for according to the corresponding OBU coordinates of multiple OBU signals and the time of acquisition, determining described OBU pair
The corresponding OBU coordinates of OBU speed and the OBU answered；
Transaction modules, if it is legal for the corresponding OBU coordinates of the OBU, and OBU speed OBU seats corresponding with the OBU
Reference symbol closes pre arranged trading communication condition, then start to be traded with the OBU；
Wherein, second determining module includes：
Coordinate determining unit, if for the absolute value of the corresponding transverse axis coordinate difference of adjacent OBU signals in multiple OBU signals
Less than the first preset value, in multiple OBU signals, the absolute value of the ordinate of orthogonal axes difference of adjacent OBU signals is default less than second
Value, then determine the corresponding OBU coordinates of OBU according to the corresponding OBU coordinates of multiple OBU signals；
Add unit, for by the corresponding OBU coordinates of the adjacent OBU signals and OBU described in acquisition Time Calculation moment
Speed, and the spot speed is added into maintained speed group, in the speed group, record has the spot speed of predetermined quantity；
Computing unit, for calculating the average speed corresponding to the speed group for adding the spot speed, the average speed is
For the corresponding OBU speed of the OBU；
OBU speed OBU coordinates corresponding with the OBU meet pre arranged trading communication condition to be included：
If the longitudinal direction value of the corresponding OBU coordinates of OBU is less than second distance value, it is determined that the state of OBU meets transaction communications condition；
If or, OBU speed is more than third speed value, it is determined that the state of OBU meets transaction communications condition；
Or, if OBU speed is more than fourth speed value, less than third speed value, and the longitudinal direction value of the corresponding OBU coordinates of OBU is little
In the 3rd distance value, it is determined that the state of OBU meets transaction communications condition；
Or, OBU speed is more than the 5th velocity amplitude, it is not more than less than fourth speed value, and longitudinal value of the corresponding OBU coordinates of OBU
4th distance value, it is determined that the state of OBU meets transaction communications condition, wherein, the 3rd distance value be more than the 4th distance value, the 4th
Distance value is more than second distance value.
8. RSU according to claim 7, it is characterised in that first acquisition module includes：
Multi signal acquiring unit, for, in setting time section, sending a communication life to the OBU at interval of Preset Time
Order, obtains an OBU signal of the OBU feedbacks, to send multiple communication lives to the OBU in setting time section
Order, obtains the multiple described OBU signals of the OBU feedbacks.
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| CN105741366B (en) * | 2015-12-17 | 2019-01-15 | 深圳市金溢科技股份有限公司 | A kind of anti-interference with vehicle method of commerce, roadside unit and transaction system |
| 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 |
| 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 |
| 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 |
| CN107579801B (en) * | 2017-08-24 | 2019-12-10 | 深圳市金溢科技股份有限公司 | ETC system, memory, road side unit and transaction processing method thereof |
| CN107886584B (en) * | 2017-10-27 | 2020-08-18 | 深圳市金溢科技股份有限公司 | Wake-up signal sending control method, controller, road side unit and toll collection tag |
| 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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