CN105261215B - Intelligent transportation behavior cognitive method and system based on microwave - Google Patents
Intelligent transportation behavior cognitive method and system based on microwave Download PDFInfo
- Publication number
- CN105261215B CN105261215B CN201510650462.2A CN201510650462A CN105261215B CN 105261215 B CN105261215 B CN 105261215B CN 201510650462 A CN201510650462 A CN 201510650462A CN 105261215 B CN105261215 B CN 105261215B
- Authority
- CN
- China
- Prior art keywords
- target
- vehicle
- module
- traffic
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000001149 cognitive effect Effects 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 115
- 230000006399 behavior Effects 0.000 claims abstract description 23
- 238000004458 analytical method Methods 0.000 claims abstract description 10
- 238000004364 calculation method Methods 0.000 claims abstract description 10
- 230000001629 suppression Effects 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 25
- 230000007613 environmental effect Effects 0.000 claims description 11
- 230000001953 sensory effect Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 5
- 230000000977 initiatory effect Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000151 deposition Methods 0.000 claims 2
- 238000009434 installation Methods 0.000 abstract description 11
- 230000008901 benefit Effects 0.000 abstract description 10
- 239000002184 metal Substances 0.000 abstract description 5
- 238000002955 isolation Methods 0.000 abstract description 4
- 230000003542 behavioural effect Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 11
- 238000007667 floating Methods 0.000 description 9
- 239000000523 sample Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 235000015256 Chionanthus virginicus Nutrition 0.000 description 1
- 241000234283 Galanthus nivalis Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000008264 cloud Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- RZILCCPWPBTYDO-UHFFFAOYSA-N fluometuron Chemical compound CN(C)C(=O)NC1=CC=CC(C(F)(F)F)=C1 RZILCCPWPBTYDO-UHFFFAOYSA-N 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Abstract
The invention provides a kind of intelligent transportation behavior cognitive method based on microwave and system, the intelligent transportation behavior cognitive method includes：Traffic parameter setting steps, road traffic Background learning step, road ambient noise suppress step, calculation procedure, set up coordinate system step, vehicle classification step, tracking process step, triggering alarming step.The beneficial effects of the invention are as follows：The present invention proposes a kind of based on microwave（Millimeter wave）Mode can be in round-the-clock running, possess high accuracy, high reliability, big region detection, high economic benefit cost ratio, simple installation, can various dimensions in detection zone various types of vehicles carry out comprehensive traffic behavioural analysis method and system, some influence whether radar performance such as isolation strip or metal hand rail present on road simultaneously, and ambient noise suppression is carried out by a kind of two-dimensional radar image method.
Description
Technical field
The present invention relates to technical field of intelligent traffic, more particularly to intelligent transportation behavior cognitive method based on microwave and it is
System.
Background technology
As shown in figure 1, intelligent transportation system can be divided into three modules from functional module.
Traffic information collection unit occupies an important position in intelligent transportation system, is to realize that intelligent transportation behavior is perceived
With the infrastructure of management.The magnitude of traffic flow on road, speed, traffic density and space-time are obtained by different detection techniques in real time
The traffic parameters such as occupation rate, analyze for Surveillance center, judge, sending information and optimization control scheme provides foundation.Transport information
Detector and its detection technique level directly influence the overall operation regulatory level of road traffic monitoring system.
Make a general survey of in domestic and international existing traffic detection system, there are two major classes to be divided into portable and fixed two major class：
Movable type detection is using Floating Car detection technique as representative, and floating car technology refers to that certain amount vehicle-mounted is set equipped with specific
Standby vehicle (note：Referred to as Floating Car, installs equipment and is generally GPS location equipment or electronic tag radio frequency identification equipment),
Itself various traffic data on the way are gathered during traveling (such as：It is speed, acceleration, trip distance, the travel time, parking, super
Speed, emergency etc.), the data source gathered in this, as whole city traffic road condition.These data are passed by communication apparatus
Information processing centre is sent to, after being handled through information centre, it is established that huge database, and provides various to different objects
Real-time Traffic Information.The essence of whole process is sampled for the overall vehicle of whole road network, reflects road with sample data
Overall situation is netted, the floating car technology of current practice is the floating car technology and floating based on bus hired a car based on car
Motor-car technology：
Floating car technology shortcoming based on taxi is to travel randomness by force, and sample number fluctuation is big in fixed time period.
Meanwhile, transport information of the vehicle supervision department typically most concerned about main trunk road, some backland transport information values are little,
In this way, the widely distributed efficiency that on the contrary have impact on detection of the taxi in road network.And it is currently based on the sampling reason of taxi
By car speed is required to be just distributed very much, the hypothesis has open defect, in actual applications by larger limitation.
Floating car technology shortcoming based on bus is：
(1) buses as float detect car precondition be bus can with common wagon flow mixed running, such as
This, the traffic parameter of bus ability effective detection wagon flow.If bus has been carried out public transportation lane, bus with it is general
Be open to traffic a substantially shunting, then bus can not turn into qualified floating probe vehicles, and current China large- and-medium size cities have begun to reality
Row public transportation lane.
(2) buses quantity wants much less compared to taxi, because sample proportion is too low, existing sample process side
Method is it is difficult to ensure that the reliability and accuracy of detection.
Fixed transport information detection technique refers to use the traffic detector installed in fixed location to mobile vehicle
It is monitored, so as to realize the general name of the method for collection transport information.The fixed traffic detector overwhelming majority is arranged at a high speed
At the important intersection of highway, through street and major urban arterial highway and subsidiary road.
Fixed transport information detecting system can be divided into magnetic frequency, wave frequency and video car according to the difference of operation principle
Three kinds of vehicle detection modes of detector.
Vehicle testing techniques based on magnetic frequency are to carry out vehicle detection based on electromagnetic principle, by detecting magnetic field intensity
Change to determine whether vehicle presence or pass through, mainly comprising ring coil detector, earth magnetism wagon detector.
Loop Vehicle Detector：A kind of detector based on electromagnetic induction principle, when vehicle is by being connected with certain electricity
The loop coil of stream or when stopping at thereon, irony vehicle body cutting magnetic line causes the change of wire loop inductance value, detector
By detecting that the inductance variable quantity can just detect the presence of vehicle, this is the widest vehicle detection of current domestic and international application
Equipment.
There is shortcoming in such a mode：In-site installation construction is very cumbersome, and road closure is needed during installation, and road pavement destruction is serious,
Easily rolled and caused damage repeatedly by heavy or general-utility car during use, product service life is short, later maintenance cost
Height, detection parameter is single, and detection zone is a section detection, and detection zone is very narrow and small, and economic benefit cost ratio is very low.
Earth magnetism wagon detector：It is that, when vehicle is located at or by detection zone, earth magnetism will be caused using the principle of detection
The change of field, is achieved in the presence of vehicle or by detector.
There is shortcoming in such a mode：In-site installation construction is cumbersome, and road closure is needed during installation, and meeting road pavement is damaged,
Because inside is using rechargeable battery powered, so service life is short, detect that parameter is single, detection zone is a section detection,
Detection zone is very narrow and small, and economic benefit cost ratio is very low.
Vehicle testing techniques based on wave frequency mainly use the wave beam of certain wavelength, when there is vehicle to pass through detection zone,
The wave beam is received after being reflected through vehicle by detector, can be divided into three classes according to the difference of launch wavelength：Ultrasound examination, microwave
Detection, infrared light detection.
It is that need not destroy road surface to belong to using the advantage of the detector of ultrasonic wave wave band (being higher than 20kHz, less than 500MHz)
Non-intrusion type is installed, small volume, has the disadvantage that Detection results are highly susceptible to ambient influnence, instrument response time length, error be big,
Angle of beam divergence is big, resolution ratio is low, beam attenuation is fast, effective measurement distance is small, and its performance is by environmental factors such as air temperature and currents
Influence is larger, also, detection zone is narrow and small, and a ultrasonic detecting equipment can only cover a track, and installation site must
Must be directly over track, available existing traffic infrastructure is less, and economic benefit cost ratio is very low.
Infrared detector itself is equipped with the infrared light supply for pointing to measurement track, and its core component laser diode is in infrared ray
Wave-length coverage annex works.When the vehicle of approaching is close to infrared beams, infrared reflection will be returned pyroscan, led to
Cross detector and be known that vehicle whether there is in detection zone, such a vehicle detection mode advantage is that non-intrusion type is installed,
Road pavement is not destroyed, small volume.Have the disadvantage that Detection results are highly susceptible to ambient influnence, to dust, cloud and mist, raindrop and snow
Flower penetration capacity is weak, it is difficult to be run under adverse circumstances outside the venue, detection zone is point region, is needed during installation in each track
Surface right angle setting, each detection device can only monitor a track, and available existing traffic infrastructure is less, economical
Benefit-cost ratio is very low.
Vehicle detection is mainly carried out using doppler principle using the microwave detector of microwave band (0.3G~300GHz),
By launching microwave in certain area, in the presence of vehicle, because vehicle enclosure is metal material, launch electromagnetic wave meeting
It is scattered on metal, has part energy and reflex on the reception antenna of microwave vehicle checker, system is according to the letter of reception
Breath analysis judged the presence or absence of vehicle later, and such a mode is that a little environmental suitability is relatively good, but existing microwave car test
Device has the drawback that：Target is carried out using doppler principle to test the speed, it is impossible to detect static target, in detection zone such as
Fruit can not be differentiated with detecting when there are multiple targets to multiple targets, and detection beam is narrow, and (horizontal emission angle is only less than 10
Degree), it is impossible to detection detection is carried out to target in big region, particularly when under the conditions of applied to crossing.
Whether the vehicle testing techniques based on video can be detected by non-physical means has by vehicle, is a kind of profit
The Vehicle Detection technology of vehicle detection is carried out with video image.Video encoder server, is, as detection means, to lead to using video camera
The change of video image some features when detection vehicle enters detection zone is crossed, so as to learn the presence of vehicle, and is detected with this
Traffic flow parameter obtains the characteristic information of vehicle.It is related to Computer Image Processing, pattern-recognition, signal transacting and signal fused
Etc. technology.Video detection technology is very high for image recognition requirement of real-time, vehicle detection and the standard of video under complex background
True rate is very low, for example, the video under night and relatively dim, haze serious conditions, under the bad weather such as rain heavily, snow heavily
Detection technique can not be detected, so this equipment can not carry out round-the-clock detected.The economic benefit of such detection device
Expense is than also very low.
The content of the invention
In order to solve the problems of the prior art, the invention provides a kind of intelligent transportation behavior perception side based on microwave
Method.
The invention provides a kind of intelligent transportation behavior cognitive method based on microwave, comprise the following steps：
Traffic parameter setting steps, setting detections of radar overlay area；
Road traffic Background learning step, radar learns to detection environmental background；
Road ambient noise suppresses step and comprised the following steps：
(1) beam scannings a cycle generates a two-dimentional power bitmap；
(2) is subtracted each other the two-dimentional power bitmap in step (1) with background power bitmap；
(3) judges whether target, if, then step (4) is performed, step (1) is otherwise performed；
(4) carries out radial distance and speed calculating according to the center difference frequency value of scattering center power points；
Calculation procedure, calculates the RCS values of each target；
Coordinate system step is set up, point sets up coordinate system centered on radar；
Vehicle classification step, target classification is carried out according to the Radar Cross Section RCS of detected target；
Process step is tracked, processing is tracked to various discrete target point in detection zone to complete to mesh in region
Mark the reconstruction of track；
Traffic parameter is counted with triggering alarming step, and statistical traffic data calculating and friendship are carried out according to each tracking target
The triggering alarm of interpreter's part, and by statistical traffic data information and traffic alarming information transfer to traffic analysis system.
The beneficial effects of the invention are as follows：The present invention propose it is a kind of based on microwave (millimeter wave) mode can be in round-the-clock fortune
OK, possess high accuracy, high reliability, big region detection, high economic benefit cost ratio, simple installation, can various dimensions to detection
Various types of vehicles in region carries out the method and system of comprehensive traffic behavioural analysis, while some are for example present on road
Isolation strip or metal hand rail etc. influence whether radar performance, and ambient noise suppression is carried out by a kind of two-dimensional radar image method.
Brief description of the drawings
Fig. 1 is the schematic diagram of background technology.Fig. 2 is continuously linear frequency-modulated wave schematic diagram.Fig. 3 is that fmcw radar is having speed
In the presence of echo-signal schematic diagram.Fig. 4 is that radar obtains power by some wave beam under the detection environment without vehicle
Spectrogram.Fig. 5 is that radar obtains power spectrum chart by some wave beam under the detection environment for having vehicle.Fig. 6 is the background two of generation
Tie up power diagram.Fig. 7 is radar application in the schematic diagram under the pattern of crossing.Fig. 8 is that ambient noise suppresses flow chart.Fig. 9 be to from
Scattered target is tracked process chart.Figure 10 is set objectives next cycle discreet area schematic diagram for current goal.Figure
11 be to be tracked matching schematic diagram to second round dispersive target.Figure 12 is that the target Continuous in detection zone is tracked to be formed
Track schematic diagram.Figure 13 is fixed cycle magnitude of traffic flow statistical flowsheet figure.Figure 14 is fixed cycle average speed statistical flowsheet figure.Figure 15
It is fixed cycle time occupancy statistical flowsheet figure.Figure 16 is fixed cycle queue length statistical flowsheet figure.Figure 17 is fixed cycle region
Vehicle number statistical flowsheet figure.Figure 18 is parking offense overhaul flow chart.Figure 19 is traffic reverse driving event calculation flow chart.Figure
20 be scan-type antenna waveform transmitting figure, one of embodiment.Figure 21 is scan-type antenna waveform transmitting figure, therein another
One embodiment.Figure 22 is antenna and radio-frequency module theory diagram.Figure 23 is flow chart of the method for the present invention.
Embodiment
The invention discloses a kind of intelligent transportation behavior cognitive method based on microwave.
Detect medium：The present invention uses millimeter wave as detection medium, because millimeter wave frequency band is between electric wave and light wave
Between particular frequency bands, possess all weather operations characteristic of optical detection accuracy and electric wave, its environmental suitability and equipment
Later maintenance will be far superior to the detection device of other frequency ranges, meanwhile, sensor is in itself due to using millimere-wave band, so day
Linear dimension very little, sensor also very little in itself, to later device, construction and installation are also easily and simple at the scene.
As shown in figure 23, the intelligent transportation behavior cognitive method of the invention based on microwave comprises the following steps：
Traffic parameter setting steps, setting detections of radar overlay area, this work is passed through by radar equipment installation personnel
Radar configuration software is completed.
After detections of radar overlay area to be set, wave beam in detection zone to being scanned.And radar passes through one
Narrow beam is scanned in detection zone.
Road traffic Background learning step, radar learns to detection environmental background, i.e., by engineering staff to detection zone
Do not have to carry out environmental background study during any vehicle in domain.
Microwave beam modulation system:The radar of the present invention uses CW with frequency modulation system, is modulated using symmetric triangular ripple, its
Operation principle is as shown in Fig. 2 the frequency of transmission signal is modulated for symmetric triangular ripple, and transmission signal amplitude is constant, in a cycle T
Interior, the frequency of signal is：
Therefore, in a cycle, the section of frequency sweep up and down of transmission signal is represented by：
Wherein, A is signal amplitude (remarks：Represent the energy value of echo)；f0For signal active centre frequency；Δ F is letter
Number effective bandwidth；U=2 Δs F/T is coefficient of frequency modulation；T is triangle wave period；ψ0For initial phase.Within the effective signal period,
Signal echo is：
Wherein, Δ T=2R/C；R is target range；C is the light velocity.
Within the useful signal cycle-(T/2- Δ T)≤t<0&ΔT≤t<In T/2, by the instantaneous phase of formula 2 and formula 3
Subtract each other, can obtain transmission signal and the instantaneous phase of the difference frequency signal obtained by echo-signal mixing is：
It is that can obtain difference frequency signal frequency to be to the derivation of formula 4：
By formula 5 it is recognised that the distance and difference frequency signal frequency of target are directly proportional, as long as therefore measure output intermediate frequency letter
Number frequency, it is possible to calculate the distance of target, the above is the static situation of target, if target is by v of speed along radar
Wave beam radial motion, it will make radar return increase Doppler frequency shift fd, the Doppler frequency shift causes frequency-time of echo
Curve is raised and lowered, so that cause to add on a part of difference frequency reduces on a Doppler frequency shift, another part difference frequency
One Doppler frequency shift, as shown in Figure 3.
If target closes on radar, the difference frequency within the frequency modulation cycle is：
The distance and velocity information of target can then be calculated with formula 8 by formula 7 and obtained：
From formula 7, as long as measuring the average frequency of output difference frequency signal, you can obtain target range.If surveyed
Target velocity, then must measure respectively above and below frequency sweep section output difference frequency signal, as shown in Equation 8.
Derived according to ambiguity function, the range resolution ratio and velocity resolution of triangle arm continuous wave are：
Radar receives the power spectrum for obtaining each angular range by each angle in turn.Because vehicle enclosure is metal
Material, and the material that common road is used is pitch and cement etc., the reflection power value of vehicle will be far above highway.
After having been swept by several complete sector scanning cycles (36 wave beams), according to the angle of wave beam, each wave beam exists
Each Frequency point (this Frequency point represents a distance value) obtains energy value, draws out a two-dimentional bitmap.
When there is vehicle to be located in detection zone, system will carry out ambient noise suppression first.
Comprise the following steps as shown in figure 8, road ambient noise suppresses step：
(1) beam scannings a cycle generates a two-dimentional power bitmap；
(2) is subtracted each other the two-dimentional power bitmap in step (1) with background power bitmap；
(3) judges whether target, if, then step (4) is performed, step (1) is otherwise performed；
(4) carries out radial distance and speed calculating according to the center difference frequency value of scattering center power points.
Do not carry out before ambient noise suppression namely, it is difficult to effectively find target.
After ambient noise suppresses, target can be clearly found.
Calculation procedure, enters according to the center difference frequency value according to scattering center power points that ambient noise suppresses to mention in step
Row radial distance is calculated with speed, so as to calculate the RCS values of each target.
Coordinate system step is set up, point sets up coordinate system centered on radar；
Setting：
It is X-direction parallel to track horizontal direction (positive direction is the sensor beam direction of the launch)；
It is Y direction perpendicular to track horizontal direction (positive direction is the sensor beam direction of the launch)；
The mounted stud point of sensor is coordinate origin Ο；
Known quantity：
1. the data that can be measured when being installed by microwave remote sensor：
Microwave remote sensor setting height(from bottom)：HInstall；
The vertical luffing angle of microwave remote sensor：θ；
Microwave remote sensor horizontal deflection angle：α；
2. the data exported during microwave sensor operational：
It is detected the radial distance of target range sensor：Dradial；
It is detected radial velocity of the target relative to sensor：Vradial；
It is detected the relative orientation angles (remarks with sensor of target：Which wave beam hits home in 36 wave beams)：
Arelative；
Sensor is in random number of each output data cycle for each detection object definition：IDrandom；
It is detected the Radar Cross Section value of target:IDrandom_RCS；
Ask：Following parameter is calculated by above known parameters：
Coordinate (the ID of detected target in a coordinate systemx_X_Coordinate,IDx_Y_Coordinate):
Target is located at X-direction coordinate value in coordinate system：
IDx_ X_Coordinate=(Dradial* sin θ) * cos α formula 11
Target is located at Y-direction coordinate value in coordinate system：
IDx_ Y_Coordinate=(Dradial* sin θ) * sin α formula 12
Track is divided according to actual traffic field data：
Track 0：0<Lane0<Y0；
Track 1：0<Lane1<Y1；
Track X：0<LaneX<YX；
The track according to where the Y-direction coordinate value of some target can be determined that some target.
Movement velocity (the ID of detected target in a coordinate systemx_X_Velocity,IDx_Y_Velocity):
Target is located at X-direction velocity amplitude in coordinate system：
IDx_ X_Velocity=(VradialXsin θ) X cos α formula 13
Target is located at Y-direction velocity amplitude in coordinate system：
IDx_ Y_Velocity=(VradialXsin θ) X sin α formula 14
Vehicle classification step, target classification is carried out according to the Radar Cross Section RCS of detected target, defeated by radar
The target reflection cross section gone out judges the length (Obj_Length) and width (Obj_Width) of target.
Process step is tracked, processing is tracked to various discrete target point in detection zone to complete to mesh in region
Mark the reconstruction of track.
As shown in figure 9, being to be tracked process chart to dispersive target.
Step one, tracking initiation, the discrete coordinates for exporting sensor in a cycle carry out typing, each discrete mesh
Where possessed X-direction coordinate of the packet containing dispersive target of mark, Y-direction coordinate, X-direction speed, Y-direction speed, target
Track, the vehicle commander of target and target designation ID；
Step 2, in a cycle, carries out next target cycle point for microwave remote sensor output discrete coordinate and deposits
In discreet area setting △ i；
Figure 10 is set objectives next cycle discreet area schematic diagram for current goal.
Step 3, in second period, goal seeking is carried out to various discrete point, will according to judgement by discrete coordinate points
Ask and matched with existing No. ID, the match is successful, the information that existing ID is included will be updated, the information that ID is included includes discrete
The vehicle commander of track and target where the X-direction coordinate of target, Y-direction coordinate, X-direction speed, Y-direction speed, target；
Figure 11 is to be tracked matching schematic diagram to second round dispersive target.
It is closest apart from this discreet area starting point when two or more targets are present in a discreet area
Point is target point this moment, and this No. ID is given by the information updating of this coordinate points, typically in urban transportation, if the shifting of a target
Dynamic speed is 120km/h, and track door size is about 1.6 meters of circle, and 40km/h tracks door size is about 0.5 meter of circle, this sample car
Driving trace is by radar real-time capture.If target leaves detection zone, by the ID information initializings of this target, this No. ID
It will free out, the dispersive target that newly enters will be given.
Figure 12 is that the target Continuous in detection zone is tracked to form track schematic diagram.
The tracking carried out by the discrete coordinates exported to microwave remote sensor is handled, and can be obtained in each cycle (60ms)
The coordinate information P (Xi, Yi) of each target (IDx) in detection zone, velocity information (Vi, Vi), vehicle type information (cart,
Dolly, pedestrian, motorcycle, bicycle) information.
Traffic parameter is counted with triggering alarming step, and statistical traffic data calculating and friendship are carried out according to each tracking target
The triggering alarm of interpreter's part, and by statistical traffic data information and traffic alarming information transfer to traffic analysis system.Touched at this
Send out in alarming step, i.e. statistical traffic data information periodic traffic statistical parameter, i.e. traffic alarming information traffic
Event detection warning message.
Specifically, traffic parameter statistics includes with triggering alarming step：
Traffic parameter statistic procedure：
Fixed cycle magnitude of traffic flow statistic procedure, for counting in the specified period, by designated area, (designated area includes
A certain road or a certain track, pavement, crossing cross section) all types of flows and vehicle number；Figure 13 is that fixed cycle is handed over
Through-current capacity statistical flowsheet figure.
Fixed cycle average speed statistic procedure, for counting in the specified period, by designated area, (designated area includes
A certain road or a certain track, pavement, crossing cross section) all types of car speed average values；Figure 14 is fixed cycle
Average speed statistical flowsheet figure.
Fixed cycle time occupancy statistic procedure, for count in the specified period by designated area (a certain road or
A certain track, pavement, crossing cross section) each virtual coil presence vehicle time sum account for measurement period when
Between compare；Figure 15 is fixed cycle time occupancy statistical flowsheet figure.
Fixed cycle queue length statistic procedure, the queue length for counting each track vehicle in the specified period (rises
Parking line position is started from, the vehicle that last stops in track is terminated at)；Figure 16 is fixed cycle queue length statistical flowsheet
Figure.
Fixed cycle region vehicle number statistic procedure, for counting specified period and the quantity of vehicle presence in region；Figure
17 be fixed cycle region vehicle number statistical flowsheet figure.
Triggering alarming step includes：
Parking offense detecting step, in detection zone, vehicle to be parked in the no-parking zone of user's setting；Figure
18 be parking offense overhaul flow chart.
Reverse driving detecting step：The travel direction and regulation that there is vehicle in detection zone on road for detecting
In the opposite direction, and operating range be not less than a certain setting value traffic events；Figure 19 is traffic reverse driving event calculation process
Figure.
The invention discloses a kind of intelligent transportation behavior sensory perceptual system based on microwave, including：
Traffic parameter setup module, for setting detections of radar overlay area；
Road traffic Background learning module, learns for radar to detection environmental background；
Road ambient noise suppression module includes：
Generation unit, a two-dimentional power bitmap is generated for beam scanning a cycle；
Subtract each other unit, for the two-dimentional power bitmap in generation unit to be subtracted each other with background power bitmap；
Judging unit, for judging whether target, if, then calculation processing unit is performed, generation is otherwise performed
Unit；
Calculation processing unit, radial distance and speedometer are carried out for the center difference frequency value according to scattering center power points
Calculate；
Computing module, the RCS values for calculating each target；
Coordinate system module is set up, coordinate system is set up for being put centered on radar；
Vehicle classification module, for carrying out target classification according to the Radar Cross Section RCS for being detected target；
Processing module is tracked, for being tracked processing to various discrete target point in detection zone so as to complete to region
The reconstruction of interior target trajectory；
Traffic parameter count with triggering alarm module, for according to each tracking target carry out statistical traffic data calculate with
And traffic events triggering alarm, and by statistical traffic data information and traffic alarming information transfer to traffic analysis system.
Include in the tracking processing module：
First processing module, tracking initiation, the discrete coordinates for exporting sensor in a cycle carry out typing, each
X-direction coordinate of the packet that dispersive target possesses containing dispersive target, Y-direction coordinate, X-direction speed, Y-direction speed, mesh
Track, the vehicle commander of target and target designation ID where mark；
Second processing module, in a cycle, next cycle mesh is carried out for microwave remote sensor output discrete coordinate
There is discreet area setting △ i in punctuate；
3rd processing module, in second period, goal seeking is carried out to various discrete point, by discrete coordinate points according to
Judge to require to be matched with existing No. ID, the match is successful, the information that existing ID is included, the packet that ID is included will be updated
Include the vehicle commander of X-direction coordinate, Y-direction coordinate, X-direction speed, Y-direction speed, target place track and the target of dispersive target.
It is pre- apart from this when two or more targets are present in a discreet area in the tracking processing module
It is target point this moment to estimate the closest point of area starting point, and this No. ID is given by the information updating of this coordinate points；If target from
Detection zone is opened, by the ID information initializings of this target, this No. ID will free out, the dispersive target that newly enters will be given.
Counted in the traffic parameter includes traffic parameter statistical module and triggering alarm module with triggering alarm module,
The traffic parameter statistical module includes：
Fixed cycle magnitude of traffic flow statistical module, for count in the specified period by all types of flows of designated area with
Vehicle number；
Fixed cycle average speed statistical module, for counting all types of vehicles speed in the specified period by designated area
Spend average value；
Fixed cycle time occupancy statistical module, for counting in the specified period by each virtual coil of designated area
The time sum of presence vehicle account for the time ratio of measurement period；
Fixed cycle queue length statistical module, the queue length for counting each track vehicle in the specified period；
Fixed cycle region vehicle number statistical module, for counting specified period and the quantity of vehicle presence in region；
The triggering alarm module includes：
Parking offense detection module, in detection zone, vehicle to be parked in the no-parking zone of user's setting；
Reverse driving detection module, the travel direction and regulation that there is vehicle in detection zone on road for detecting
In the opposite direction, and operating range be not less than a certain setting value traffic events.
The invention also discloses a kind of vehicle detection apparatus based on microwave, being somebody's turn to do the vehicle detection apparatus based on microwave includes
Array antenna module and radio-frequency module, the array antenna module include transmitting antenna 1 and multipath reception antenna, the transmitting day
Line 1 and the multipath reception antenna are connected with the radio-frequency module.
Antenna in the array antenna module uses scan-type antenna.The reception antenna is 36 tunnels.
The radio-frequency module includes local oscillator module 2, the first low-noise amplifier 3, described one end of first low-noise amplifier 3
It is connected with the local oscillator module 2, the other end of the first low-noise amplifier 3 is connected with the transmitting antenna 1.
The radio-frequency module includes the monolithic integrated microwave circuit 4, the second low-noise amplifier 5, low pass filtered being sequentially connected
Ripple device 6, analog-digital converter 7, digital signal processing unit 8, the reception antenna are connected with the monolithic integrated microwave circuit 4.
Described one end of first low-noise amplifier 3 is connected to second low-noise amplifier 5 and the low pass filter 6
Between.
The vehicle detection apparatus also includes radar data processing module, and the radio-frequency module handles mould with the radar data
Block is connected.
As shown in figure 20, the present invention uses scan-type antenna, by a very narrow wave beam to quick in detection zone
Scanning, by can so improve the resolution ratio to multi-target detection.
Figure 21 is scan-type antenna waveform transmitting figure, another embodiment therein.
The present invention is directed to the defect of existing detection device, and requirement of the intelligent transportation to front-end detection system, proposes one
Kind based on microwave mode can be in round-the-clock, high accuracy, high reliability, big region detection, high economic benefit cost ratio, installation
It is easy, being capable of various dimensions (remarks：Conventional detection devices are only to determine whether vehicle is deposited or not in some fixed point region, and multidimensional
Spend propose system necessary not only for know vehicle whether certain several fixed point detection device, with greater need in whole region
Vehicle carries out coordinate setting, carries out running orbit reconstruction to vehicle after positioning, and accurately judge the type and and speed per hour of vehicle
Degree, transport information in each track etc.) various types of vehicles in detection zone is carried out the method for comprehensive traffic behavioural analysis with
Equipment, while some influence whether radar performance such as isolation strip or metal hand rail present on road, passes through one kind
Two-dimensional radar image method carries out ambient noise suppression.
The beneficial effects of the invention are as follows：Only possess determination vehicle compared to conventional detection devices to whether there is in or do not lie in
The function of some fixed point, meanwhile, existing detection device environmental suitability is not high, reliability is poor, and later maintenance cost is excessively high
Problem (is due to be detected using a narrow beam, so nothing although microwave detector has good environmental suitability
Method carries out target following, and function is relatively simple, can only carry out traditional fixed point detection), the present invention is for existing detection device
Defect, and the demand that following intelligent transportation system is perceived to front end traffic behavior, are proposed a kind of based on microwave (millimeter wave) side
Formula can in round-the-clock running, possess high accuracy, high reliability, big region detection, high economic benefit cost ratio, install letter
Just, being capable of various dimensions (note：Various dimensions refer to necessary not only for know vehicle whether there is in some fixed point detection device, more
Need to carry out coordinate setting to the vehicle in whole region, carry out the reconstruction of running orbit after positioning to vehicle, and accurately judge
Transport information in the type and instantaneous velocity of vehicle, each track etc.) various types of vehicles in detection zone is integrated
The method and apparatus of traffic behavior analysis, while some can influence such as isolation strip or metal hand rail present on road
To radar performance, ambient noise restrainable algorithms are carried out by a kind of two-dimensional radar image method.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. a kind of intelligent transportation behavior cognitive method based on microwave, it is characterised in that comprise the following steps：Traffic parameter is set
Step, setting detections of radar overlay area；
Road traffic Background learning step, radar learns to detection environmental background；
Road ambient noise suppresses step and comprised the following steps：
(1) beam scannings a cycle generates a two-dimentional power bitmap；
(2) is subtracted each other the two-dimentional power bitmap in step (1) with background power bitmap；
(3) judges whether target, if, then step (4) is performed, step (1) is otherwise performed；
(4) carries out radial distance and speed calculating according to the center difference frequency value of scattering center power points；
Calculation procedure, calculates the RCS values of each target；
Coordinate system step is set up, point sets up coordinate system centered on radar；
Vehicle classification step, target classification is carried out according to the Radar Cross Section RCS of detected target；
Process step is tracked, processing is tracked to various discrete target point in detection zone to complete to target track in region
The reconstruction of mark；
Traffic parameter is counted with triggering alarming step, and statistical traffic data calculating and traffic thing are carried out according to each tracking target
Part triggering alarm, and by statistical traffic data information and traffic alarming information transfer to traffic analysis system.
2. intelligent transportation behavior cognitive method according to claim 1, it is characterised in that in the tracking process step
Comprise the following steps：
Step one, tracking initiation, the discrete coordinates for exporting sensor in a cycle carry out typing, each dispersive target institute
X-direction coordinate of the packet possessed containing dispersive target, Y-direction coordinate, X-direction speed, Y-direction speed, track where target,
The vehicle commander and target designation ID of target；
Step 2, in a cycle, carries out next target cycle point for microwave remote sensor output discrete coordinate and exists in advance
Estimate the discreet area that region setting △ i, △ i is i-th of target；
Step 3, in second period, goal seeking is carried out to various discrete point, by discrete coordinate points according to judge to require with
Existing No. ID is matched, and the match is successful, will update the information that existing ID is included, and the information that ID is included includes dispersive target
X-direction coordinate, Y-direction coordinate, X-direction speed, Y-direction speed, the vehicle commander of track where target and target.
3. intelligent transportation behavior cognitive method according to claim 2, it is characterised in that in the tracking process step
In, when two or more targets are present in a discreet area, it is apart from the closest point of this discreet area starting point
Target point, this No. ID is given by the information updating of this coordinate points this moment；If target leaves detection zone, by No. ID letter of this target
Breath initialization, this No. ID will free out, and will give the dispersive target that newly enters.
4. intelligent transportation behavior cognitive method according to claim 1, it is characterised in that traffic parameter statistics with
Triggering alarming step includes：
Traffic parameter statistic procedure：
Fixed cycle magnitude of traffic flow statistic procedure, for counting all types of flows and vehicle in the specified period by designated area
Number；
Fixed cycle average speed statistic procedure, it is flat by all types of car speeds of designated area in the specified period for counting
Average；
Fixed cycle time occupancy statistic procedure, for counting depositing by each virtual coil of designated area in the specified period
The time ratio of measurement period is accounted in the time sum of vehicle；
Fixed cycle queue length statistic procedure, the queue length for counting each track vehicle in the specified period；
Fixed cycle region vehicle number statistic procedure, for counting specified period and the quantity of vehicle presence in region；
Triggering alarming step includes：
Parking offense detecting step, in detection zone, vehicle to be parked in the no-parking zone of user's setting；
Reverse driving detecting step, the travel direction and prescribed direction that there is vehicle in detection zone on road for detecting
On the contrary, and operating range is not less than the traffic events of a certain setting value.
5. a kind of intelligent transportation behavior sensory perceptual system based on microwave, it is characterised in that including：
Traffic parameter setup module, for setting detections of radar overlay area；
Road traffic Background learning module, learns for radar to detection environmental background；
Road ambient noise suppression module includes：
Generation unit, a two-dimentional power bitmap is generated for beam scanning a cycle；
Subtract each other unit, for the two-dimentional power bitmap in generation unit to be subtracted each other with background power bitmap；Judging unit, is used
In judging whether target, if, then enter calculation processing unit, otherwise into generation unit；
Calculation processing unit, is calculated for carrying out radial distance according to the center difference frequency value of scattering center power points with speed；
Computing module, the RCS values for calculating each target；
Coordinate system module is set up, coordinate system is set up for being put centered on radar；
Vehicle classification module, for carrying out target classification according to the Radar Cross Section RCS for being detected target；Tracking processing mould
Block, for being tracked processing to various discrete target point in detection zone so as to complete the reconstruction to target trajectory in region；
Traffic parameter is counted with triggering alarm module, for carrying out statistical traffic data calculating and friendship according to each tracking target
The triggering alarm of interpreter's part, and by statistical traffic data information and traffic alarming information transfer to traffic analysis system.
6. intelligent transportation behavior sensory perceptual system according to claim 5, it is characterised in that in the tracking processing module
Including：
First processing module, tracking initiation, the discrete coordinates for exporting sensor in a cycle carry out typing, each discrete
X-direction coordinate of the packet that target possesses containing dispersive target, Y-direction coordinate, X-direction speed, Y-direction speed, target institute
In track, the vehicle commander of target and target designation ID；
Second processing module, in a cycle, next target cycle point is carried out for microwave remote sensor output discrete coordinate
There is the discreet area that discreet area setting △ i, △ i is i-th of target；
3rd processing module, in second period, carries out goal seeking, by discrete coordinate points according to judgement to various discrete point
It is required that being matched with existing No. ID, the match is successful, will update the information that existing ID is included, the information that ID is included include from
Dissipate the vehicle commander of X-direction coordinate, Y-direction coordinate, X-direction speed, Y-direction speed, target place track and the target of target.
7. intelligent transportation behavior sensory perceptual system according to claim 6, it is characterised in that in the tracking processing module
In, when two or more targets are present in a discreet area, it is apart from the closest point of this discreet area starting point
Target point, this No. ID is given by the information updating of this coordinate points this moment；If target leaves detection zone, by No. ID letter of this target
Breath initialization, this No. ID will free out, and will give the dispersive target that newly enters.
8. intelligent transportation behavior sensory perceptual system according to claim 5, it is characterised in that traffic parameter statistics with
Triggering alarm module includes traffic parameter statistical module and triggering alarm module,
The traffic parameter statistical module includes：
Fixed cycle magnitude of traffic flow statistical module, for counting all types of flows and vehicle in the specified period by designated area
Number；
Fixed cycle average speed statistical module is flat by all types of car speeds of designated area in the specified period for counting
Average；
Fixed cycle time occupancy statistical module, for counting depositing by each virtual coil of designated area in the specified period
The time ratio of measurement period is accounted in the time sum of vehicle；
Fixed cycle queue length statistical module, the queue length for counting each track vehicle in the specified period；
Fixed cycle region vehicle number statistical module, for counting specified period and the quantity of vehicle presence in region；
The triggering alarm module includes：
Parking offense detection module, in detection zone, vehicle to be parked in the no-parking zone of user's setting；
Reverse driving detection module, the travel direction and prescribed direction that there is vehicle in detection zone on road for detecting
On the contrary, and operating range is not less than the traffic events of a certain setting value.
9. intelligent transportation behavior sensory perceptual system according to claim 5, it is characterised in that the intelligent transportation behavior perceives system
System includes the vehicle detection apparatus based on microwave, and the vehicle detection apparatus includes array antenna module and radio-frequency module, described
Array antenna module includes transmitting antenna and multipath reception antenna, the transmitting antenna and the multipath reception antenna with it is described
Radio-frequency module is connected.
10. intelligent transportation behavior sensory perceptual system according to claim 9, it is characterised in that the radio-frequency module includes this
Shake module, the first low-noise amplifier, and described first low-noise amplifier one end is connected with the local oscillator module, and described first is low
The noise amplifier other end is connected with the transmitting antenna；The radio-frequency module also includes the integrated electricity of monolithic microwave being sequentially connected
Road, the second low-noise amplifier, low pass filter, analog-digital converter, digital signal processing unit, the reception antenna with it is described
Monolithic integrated microwave circuit is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650462.2A CN105261215B (en) | 2015-10-09 | 2015-10-09 | Intelligent transportation behavior cognitive method and system based on microwave |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650462.2A CN105261215B (en) | 2015-10-09 | 2015-10-09 | Intelligent transportation behavior cognitive method and system based on microwave |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105261215A CN105261215A (en) | 2016-01-20 |
| CN105261215B true CN105261215B (en) | 2017-10-10 |
Family
ID=55100881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510650462.2A Active CN105261215B (en) | 2015-10-09 | 2015-10-09 | Intelligent transportation behavior cognitive method and system based on microwave |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105261215B (en) |
Families Citing this family (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125076A (en) * | 2016-07-13 | 2016-11-16 | 南京慧尔视智能科技有限公司 | A kind of Anticollision Radar method for early warning being applied to urban transportation and device |
| CN106448189A (en) * | 2016-11-02 | 2017-02-22 | 南京慧尔视智能科技有限公司 | Multilane speed measuring and block port triggering method and device based on microwaves |
| CN106646457B (en) * | 2016-11-02 | 2023-06-23 | 南京慧尔视智能科技有限公司 | Personnel behavior detection method and device based on microwaves |
| CN106408944A (en) * | 2016-11-17 | 2017-02-15 | 国网山东省电力公司东营供电公司 | Congestion level analysis platform based on double communication data |
| CN107219502B (en) * | 2017-04-18 | 2020-07-07 | 芜湖森思泰克智能科技有限公司 | Method for automatically identifying background by millimeter wave traffic flow radar |
| CN107293127B (en) * | 2017-06-26 | 2020-03-10 | 武汉大学 | Charging square congestion monitoring system based on multi-beam wide-area microwave detection |
| CN107564285A (en) * | 2017-08-29 | 2018-01-09 | 南京慧尔视智能科技有限公司 | Vehicle queue length detection method and system based on microwave |
| CN108010334A (en) * | 2017-11-29 | 2018-05-08 | 江苏速度信息科技股份有限公司 | The traffic data collection method and system of matrix radar based on Doppler technology |
| CN107993443B (en) * | 2017-12-25 | 2021-09-21 | 深圳市金溢科技股份有限公司 | ETC lane transaction method and system based on vehicle type classification |
| CN108169747A (en) * | 2017-12-28 | 2018-06-15 | 南京慧尔视智能科技有限公司 | A kind of intersection induction control system and its method based on microwave |
| CN108182819A (en) * | 2017-12-30 | 2018-06-19 | 周姣 | A kind of roading method and vehicle based on technology of Internet of things |
| CN108415011B (en) * | 2018-02-08 | 2021-09-28 | 长安大学 | Method for realizing vehicle queuing detection based on multi-target tracking radar |
| CN108510756B (en) * | 2018-05-30 | 2019-09-06 | 速度时空信息科技股份有限公司 | A kind of detection system and detection method of the road incidents based on laser measuring technology |
| CN108550262B (en) * | 2018-06-01 | 2021-06-11 | 中物汽车电子扬州有限公司 | Urban traffic sensing system based on millimeter wave radar |
| CN108550269B (en) * | 2018-06-01 | 2021-06-11 | 中物汽车电子扬州有限公司 | Traffic flow detection system based on millimeter wave radar and detection method thereof |
| CN108806260A (en) * | 2018-07-18 | 2018-11-13 | 厦门镭通智能科技有限公司 | A kind of multiple target flow statistical method based on radar |
| CN109444872B (en) * | 2018-11-01 | 2020-07-14 | 深圳市戴升智能科技有限公司 | Pedestrian and vehicle distinguishing method and device, computer equipment and storage medium |
| CN111768613B (en) * | 2019-03-12 | 2021-11-09 | 北京嘀嘀无限科技发展有限公司 | Road function change determining method and device |
| CN110924333B (en) * | 2019-12-11 | 2021-12-07 | 商河园通市政工程有限公司 | Buffering is road isolated column for warning |
| CN110956824A (en) * | 2019-12-12 | 2020-04-03 | 天地伟业技术有限公司 | Event monitoring method based on video |
| CN110942636B (en) * | 2019-12-17 | 2021-11-26 | 南京浦和数据有限公司 | Method for realizing traffic flow statistics by multiple radar cascades |
| CN111402629B (en) * | 2020-03-06 | 2021-11-12 | 杭州海康威视系统技术有限公司 | Vehicle turning control method and device and electronic equipment |
| CN111354191B (en) * | 2020-03-09 | 2022-05-20 | 深圳大学 | Lane driving condition determining method, device and equipment and storage medium |
| CN111709355B (en) * | 2020-06-12 | 2023-08-29 | 阿波罗智联(北京)科技有限公司 | Method and device for identifying target area, electronic equipment and road side equipment |
| CN111968370B (en) * | 2020-08-18 | 2022-02-22 | 南京慧尔视智能科技有限公司 | Intelligent variable lane sensing system and method for microwave radar |
| CN114283575B (en) * | 2020-09-27 | 2023-02-07 | 上海交通大学 | Signal lamp intersection queuing length estimation method based on video monitoring data |
| CN112419736A (en) * | 2020-10-30 | 2021-02-26 | 航天信息股份有限公司 | Real-time positioning method and system of moving vehicle based on electronic identification equipment |
| CN113281735B (en) * | 2021-05-19 | 2024-03-22 | 南京慧尔视智能科技有限公司 | Method, device and system for improving millimeter wave radar tracking target performance and storage medium |
| CN113253256B (en) * | 2021-06-04 | 2021-11-19 | 智道网联科技(北京)有限公司 | Monitoring method and device based on sensor fusion equipment and sensor fusion equipment |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201222300Y (en) * | 2008-05-19 | 2009-04-15 | 刘少龙 | Intelligent microwave long-distance automobile interception system |
| CN101938042A (en) * | 2010-08-09 | 2011-01-05 | 上海慧昌智能交通系统有限公司 | Planar array microwave antenna for traffic signal detection radar |
| CN102157787A (en) * | 2010-12-22 | 2011-08-17 | 中国科学院上海微系统与信息技术研究所 | Planar array microwave antenna for dual-beam traffic information detection radar |
| CN102169180A (en) * | 2010-12-22 | 2011-08-31 | 中国科学院上海微系统与信息技术研究所 | Dual-beam three-antenna radar and method for detecting traffic information of microwave |
| DE102010064346A1 (en) * | 2010-12-29 | 2012-07-05 | Robert Bosch Gmbh | Radar sensor for motor vehicles |
| CN103489315A (en) * | 2013-09-16 | 2014-01-01 | 常州工学院 | System and method for recognizing motor vehicles in intelligent transportation system |
| CN103901431A (en) * | 2014-04-18 | 2014-07-02 | 西安飞达电子科技有限公司 | Three-dimensional traffic information collection radar and achieving method |
| CN103914983A (en) * | 2014-04-17 | 2014-07-09 | 西安飞达电子科技有限公司 | Traffic intersection management laser device and realizing method thereof |
| CN104614726A (en) * | 2015-03-05 | 2015-05-13 | 北京航空航天大学 | Telescopic array type portable MIMO-SAR (multiple-input multiple-output synthetic aperture radar) measurement radar system and imaging method thereof |
-
2015
- 2015-10-09 CN CN201510650462.2A patent/CN105261215B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201222300Y (en) * | 2008-05-19 | 2009-04-15 | 刘少龙 | Intelligent microwave long-distance automobile interception system |
| CN101938042A (en) * | 2010-08-09 | 2011-01-05 | 上海慧昌智能交通系统有限公司 | Planar array microwave antenna for traffic signal detection radar |
| CN102157787A (en) * | 2010-12-22 | 2011-08-17 | 中国科学院上海微系统与信息技术研究所 | Planar array microwave antenna for dual-beam traffic information detection radar |
| CN102169180A (en) * | 2010-12-22 | 2011-08-31 | 中国科学院上海微系统与信息技术研究所 | Dual-beam three-antenna radar and method for detecting traffic information of microwave |
| DE102010064346A1 (en) * | 2010-12-29 | 2012-07-05 | Robert Bosch Gmbh | Radar sensor for motor vehicles |
| CN103489315A (en) * | 2013-09-16 | 2014-01-01 | 常州工学院 | System and method for recognizing motor vehicles in intelligent transportation system |
| CN103914983A (en) * | 2014-04-17 | 2014-07-09 | 西安飞达电子科技有限公司 | Traffic intersection management laser device and realizing method thereof |
| CN103901431A (en) * | 2014-04-18 | 2014-07-02 | 西安飞达电子科技有限公司 | Three-dimensional traffic information collection radar and achieving method |
| CN104614726A (en) * | 2015-03-05 | 2015-05-13 | 北京航空航天大学 | Telescopic array type portable MIMO-SAR (multiple-input multiple-output synthetic aperture radar) measurement radar system and imaging method thereof |
Non-Patent Citations (2)
| Title |
|---|
| "一种FMCW雷达中的VCO非线性矫正方法";夏伟杰 等;《重庆科技学院学报（自然科学版）》;20130227;正文全文 * |
| "基于LFMCW毫米波雷达的车辆检测技术研究";杨小敏;《中国优秀硕士学位论文全文数据库 信息科技辑》;20070115;正文全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105261215A (en) | 2016-01-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105261215B (en) | Intelligent transportation behavior cognitive method and system based on microwave | |
| CN105575132B (en) | Detection method and system be present in the crossing based on microwave | |
| CN106125076A (en) | A kind of Anticollision Radar method for early warning being applied to urban transportation and device | |
| CN108510797B (en) | Forewarning System of Freeway and method based on radar detecting | |
| Urazghildiiev et al. | Vehicle classification based on the radar measurement of height profiles | |
| Martin et al. | Detector technology evaluation | |
| CN110542898A (en) | Radar group-based vehicle behavior continuous tracking detection system and method | |
| CN103235310B (en) | Vehicular millimeter-wave train collision avoidance radar system | |
| CN101561970B (en) | Method for controlling microwave vehicle detecting radar | |
| CN111830508B (en) | Road gate anti-smashing system and method adopting millimeter wave radar | |
| CN108415011B (en) | Method for realizing vehicle queuing detection based on multi-target tracking radar | |
| CN201051310Y (en) | Millimeter wave and ultrasonic wave dual frequency traffic parameter detector with car type recognition function | |
| CN103680138A (en) | A method for monitoring vehicle road conditions | |
| CN104105981A (en) | Directional speed and distance sensor | |
| Bu et al. | Pedestrian detection in transit bus application: sensing technologies and safety solutions | |
| CN103914983A (en) | Traffic intersection management laser device and realizing method thereof | |
| CN110058239A (en) | A kind of vehicle-mounted millimeter wave radar installations and object detection method | |
| CN108914815A (en) | Bridge floor vehicular load identification device, bridge and bridge load are distributed recognition methods | |
| CN107564285A (en) | Vehicle queue length detection method and system based on microwave | |
| CN104881995A (en) | Roadside dual beam microwave radar traffic flow detection device and method | |
| KR20160110457A (en) | Vehicle identification | |
| CN205176271U (en) | There is detection device in crossing based on microwave | |
| CN109598946A (en) | A kind of multilane speed-measuring method based on radar system | |
| CN103901431A (en) | Three-dimensional traffic information collection radar and achieving method | |
| CN105389978A (en) | Closed express way monitoring system and monitoring data processing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Intelligent traffic behavior perception method and intelligent traffic behavior perception system based on microwaves Effective date of registration: 20200107 Granted publication date: 20171010 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: NANJING HURYS INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2020320000010 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20201022 Granted publication date: 20171010 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: NANJING HURYS INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2020320000010 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Intelligent transportation behavior perception method and system based on Microwave Effective date of registration: 20201026 Granted publication date: 20171010 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: NANJING HURYS INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2020980007178 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20211115 Granted publication date: 20171010 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: NANJING HURYS INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2020980007178 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Intelligent transportation behavior perception method and system based on Microwave Effective date of registration: 20211116 Granted publication date: 20171010 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: NANJING HURYS INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2021980012555 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220419 Granted publication date: 20171010 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: NANJING HURYS INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2021980012555 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Jun Inventor after: Tao Zheng Inventor before: Xia Weijie Inventor before: Zhang Jun Inventor before: Tao Zheng |
|
| CB03 | Change of inventor or designer information |