CN105654561A - Multilane free flow vehicle matching method - Google Patents
Multilane free flow vehicle matching method Download PDFInfo
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- CN105654561A CN105654561A CN201510971379.5A CN201510971379A CN105654561A CN 105654561 A CN105654561 A CN 105654561A CN 201510971379 A CN201510971379 A CN 201510971379A CN 105654561 A CN105654561 A CN 105654561A
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/46—Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
- G06V20/625—License plates
Abstract
The invention provides a multilane free flow vehicle matching method comprising the steps that vehicle time position data (Ti, Xi, Yi) detected at Ti by a vehicle detection subsystem are acquired; the time position data are determined to act as chain head data to create a time position data chain or the created time position data chain is filled with the time position data according to Yi and the longitudinal coordinates Yin and Yout of entering and leaving a free flow transaction scene of a vehicle; time position data (Tj, Xj, Yj) of each OBU obtained by a transaction subsystem in transaction with an RSU at each OBU are acquired; and the OBU to which the (Tj, Xj, Yj) belong and the time position data chain to which the (Ti, Xi, Yi) belong are determined when the difference value of Tj and Ti, the difference value of Xj and Xi and the difference value of Yj and Yi are respectively less than preset first, second and third thresholds so that vehicle matching is completed. According to the method, vehicle information acquired by different subsystems of a multilane free flow system can be accurately matched so that accuracy of the passage vehicle information can be guaranteed.
Description
Technical field
The present invention relates to technical field of intelligent traffic, particularly relate to a kind of multilane free-flow vehicle matching process.
Background technology
The free Flow Technique of multilane is at existing electronic charging system without parking (ElectronicTollCollection, it is called for short ETC) technology develops, it is not a kind of electric non-stop toll technology by driving conditions restrictions such as the speed of a motor vehicle, track, obstructions. At present, in conjunction with China's practical situation, the free Flow Technique of multilane based on the special short-range communication technology of electronic charging of GB 5.8GHz is the most feasible.
In the free streaming system of multilane, road side unit (RoadSideUnit should be completed, it is called for short RSU) and board units (OnBoardUnit, it is called for short OBU) transaction of (i.e. vehicle carried electronic label), again for follow-up inspection provides evidence accurately, therefore the free streaming system of multilane is except comprising track master control system, usually vehicle detection subsystem is also comprised, multiple subsystems such as transaction subsystem and candid photograph subsystem, the information of vehicles such as the vehicle location that the acquisition of vehicle detection subsystem detected in detection time, transaction subsystem obtains the communication position of OBU when each OBU and RSU occurs ETC to conclude the business, the information of vehicles such as call duration time and license board information, capture subsystem to be captured by predeterminable area, the information of vehicles such as candid photograph time when capturing image and vehicle location can be obtained. vehicle coupling in the free streaming system of existing multilane is all by judging within the time period of setting, the vehicle location that vehicle detection and positioning subsystem detect, whether the difference of the central point transverse and longitudinal coordinate of the vehicle carried electronic label position detected with electronic tag positioning subsystem that communicates with bus or train route is less than set(ting)value to carry out legal vehicle, illegal vehicle and is not installed the judgement of OBU vehicle. there is two problems in this kind of matching process: one is that the position coordinate mating different sub-systems collection in this time period there will be the situation that many couplings do not go up, and the matching rate causing whole system is lower by setting regular time section, two be merely by time location coupling can because various positioning antenna (phased array antenna as based on DBF) in the actual environment situation that is open to traffic by reflect, blocks, the condition such as low electricity be easy to appearance under affecting and locate unsuccessfully or locate wrong phenomenon, namely there will be the more vehicle that it fails to match.
Given this, how the information of vehicles of the different sub-systems collection of free for multilane streaming system is precisely mated, become the current technical issues that need to address to ensure the accuracy of the information of vehicles of every current vehicle.
Summary of the invention
For solving above-mentioned technical problem, the present invention provides a kind of multilane free-flow vehicle matching process, it is possible to precisely mated by the information of vehicles of the different sub-systems collection of free for multilane streaming system, to ensure the accuracy of the information of vehicles of every current vehicle.
First aspect, the present invention provides a kind of multilane free-flow vehicle matching process, comprising:
Obtain vehicle detection subsystem at T detection timeiTime location data (the T of the vehicle detectedi, Xi, Yi), wherein, XiFor the X-coordinate of the position of this vehicle, YiFor the ordinate zou of the position of this vehicle;
According to Yi, vehicle freedom of entry stream transaction scene ordinate zou YinThe ordinate zou Y freely flowing transaction scene is left with vehicleout, it is determined that with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data, or by (Ti, Xi, Yi) it is filled to the time location chain data created;
Obtain the time location data (T of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the businessj, Xj, Yj), wherein, TjFor the call duration time of this transaction, XjFor the X-coordinate of this transaction communications position, YjFor the ordinate zou of this transaction communications position;
At TjWith TiDifference be less than preset first threshold value and XjWith XiDifference be less than default Second Threshold and YjWith YiDifference when being less than default 3rd threshold value, it is determined that (Tj, Xj, Yj) belonging to OBU and (Ti, Xi, Yi) belonging to time location chain data complete vehicle coupling.
Can selection of land, described YinAnd YoutIt is freely flow the projected boundary of transaction scope on road direction according to multilane to set in advance respectively.
Can selection of land, described according to Yi, vehicle freedom of entry stream transaction scene longitudinal coordinate YinThe longitudinal coordinate Y freely flowing transaction scene is left with vehicleout, it is determined that with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data, or by (Ti, Xi, Yi) it is filled to the time location chain data created, comprising:
If YiWith YinDifference be less than or equal to default 4th threshold value, then determine this vehicle just entered described freely flow transaction scene, with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data;
If YiWith YoutDifference be less than or equal to default 5th threshold value, then determine that this vehicle is about to leave and described freely flow transaction scene, judge XiWith whether the difference of the X-coordinate of mantissa's certificate in each time location chain data not finished up meets preset first range, judges YiWith whether the difference of the ordinate zou of mantissa's certificate in each time location chain data not finished up meets preset second range and judges TiWith whether the difference of the detection time of mantissa's certificate in each time location chain data not finished up meets the 3rd scope of presetting, in the time location chain data not finished up if a certain, above-mentioned three judgements meet simultaneously, then determine the time location data (T of this vehiclei, Xi, Yi) belong to this time location chain data not finished up, by (Ti, Xi, Yi) as chain mantissa according to being filled to the afterbody of time location chain data belonging to it;
If YiWith YinDifference be greater than default 4th threshold value and YiWith YoutDifference be greater than default 5th threshold value, then determine this vehicle be positioned at described freely flow transaction scene, judge XiWith whether the difference of the X-coordinate of mantissa's certificate in each time location chain data not finished up meets preset first range, judges YiWith whether the difference of the ordinate zou of mantissa's certificate in each time location chain data not finished up meets preset second range and judges TiWith whether the difference of the detection time of mantissa's certificate in each time location chain data not finished up meets the 3rd scope of presetting, in the time location chain data not finished up if a certain, above-mentioned three judgements meet simultaneously, then determine the time location data (T of this vehiclei, Xi, Yi) belong to this time location chain data not finished up, by (Ti, Xi, Yi) afterbody of time location chain data belonging to it it is filled to as intermediate data.
Can selection of land, when described OBU mates with time location chain data, adopt multiframe mate preferred method, often obtain once the time location data of a certain OBU, just this OBU once mated with time location chain data;
Select the time location chain data maximum with this OBU the match is successful number of times, as final and this OBU time location chain data that the match is successful.
Can selection of land, there is, at each OBU and RSU, the time location data (T of each OBU that obtains during ETC transaction in described acquisition transaction subsystemj, Xj, Yj), comprising:
Adopt the method that multiframe is preferably mated, obtain the time location data of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the business;
Select the time location data (T that the confidence level of each OBU is the highestj, Xj, Yj) as with (Ti, Xi, Yi) belonging to time location chain data carry out the time location data of vehicle coupling.
Can selection of land, described according to Yi, vehicle freedom of entry stream transaction scene ordinate zou YinThe ordinate zou Y freely flowing transaction scene is left with vehicleout, it is determined that with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data, or by (Ti, Xi, Yi) be filled to the time location chain data created after, described method also comprises:
Obtain the time location data (T capturing the vehicle obtained when predeterminable area is captured by subsystemk, Xk, Yk), wherein, TkFor capturing the time, XkFor the X-coordinate of the vehicle of candid photograph or the position of car plate, YkFor the ordinate zou of the vehicle of candid photograph or the position of car plate;
At TkWith TiDifference be less than default 6th threshold value and XkWith XiDifference be less than default 7th threshold value and YkWith YiDifference when being less than default 8th threshold value, it is determined that (Tk, Xk, Yk) belonging to capture picture and (Ti, Xi, Yi) belonging to time location chain data complete vehicle coupling.
Can selection of land, there is, at each OBU and RSU, the time location data (T of each OBU that obtains during ETC transaction at the described transaction subsystem that obtainsj, Xj, Yj) after, described method also comprises:
Obtain the time location data (T capturing the vehicle obtained when predeterminable area is captured by subsystemk, Xk, Yk), wherein, TkFor capturing the time, XkFor the X-coordinate of the vehicle of candid photograph or the position of car plate, YkFor the ordinate zou of the vehicle of candid photograph or the position of car plate;
At TkWith TjDifference be less than default 9th threshold value and XkWith XjDifference be less than default tenth threshold value and YkWith YjDifference when being less than default 11 threshold value, it is determined that (Tk, Xk, Yk) belonging to capture picture and (Tj, Xj, Yj) belonging to OBU complete vehicle coupling.
Can selection of land, described OBU with candid photograph picture mate time, adopt multiframe mate preferred method, often obtain an OBU time location data, just by this OBU with capture picture once mate;
Select the candid photograph picture maximum with this OBU the match is successful number of times, as final and this OBU candid photograph picture that the match is successful.
Can selection of land, there is, at each OBU and RSU, the time location data (T of each OBU that obtains during ETC transaction in described acquisition transaction subsystemj, Xj, Yj), comprising:
Adopt the method that multiframe is preferably mated, obtain the time location data of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the business;
Select the time location data (T that the confidence level of each OBU is the highestj, Xj, Yj) as with (Tk, Xk, Yk) belonging to capture picture and carry out the time location data of vehicle coupling.
Can selection of land, described method also comprises:
Obtain the candid photograph picture captured and obtain when predeterminable area is captured by subsystem;
Described candid photograph picture is carried out Car license recognition, obtains license plate recognition result;
Obtain the license board information of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the business;
Obtain the similarity of the license board information of described license plate recognition result and described each OBU;
When described similarity is less than or equal to default 12 threshold value, it is determined that described candid photograph picture and the time location chain data that the match is successful thereof complete vehicle with described OBU and mate.
As shown from the above technical solution, the multilane free-flow vehicle matching process of the present invention, the information of vehicles of the different sub-systems collection of free for multilane streaming system precisely can be mated, ensure the accuracy of the information of vehicles of every current vehicle, reduce the workload of follow-up evidence obtaining and inspection.
Accompanying drawing explanation
The schematic flow sheet of a kind of multilane free-flow vehicle matching process that Fig. 1 provides for one embodiment of the invention.
Embodiment
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is carried out clear, complete description, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments. Based on embodiments of the invention, those of ordinary skill in the art, not making other the embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 shows the schematic flow sheet of multilane free-flow vehicle matching process that one embodiment of the invention provides, as shown in Figure 1, the multilane free-flow vehicle matching process of the present embodiment as follows described in.
101, vehicle detection subsystem is obtained at T detection timeiTime location data (the T of the vehicle detectedi, Xi, Yi), wherein, XiFor the X-coordinate of the position of this vehicle, YiFor the ordinate zou of the position of this vehicle.
It should be noted that, the ordinate zou (representing with Y) in the present embodiment refers to along the coordinate on road direction, and X-coordinate (represents) coordinate referred to along being perpendicular on road direction with X.
It will be appreciated that the position coordinate of vehicle is (X in step 101i, Yi), certain any position coordinate on the position coordinate referring to the headstock central point that the detection of vehicle detection subsystem obtains or the vehicle body calculated according to detection data.
102, according to Yi, vehicle freedom of entry stream transaction scene ordinate zou YinThe ordinate zou Y freely flowing transaction scene is left with vehicleout, it is determined that with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data, or by (Ti, Xi, Yi) it is filled to the time location chain data created.
In a particular application, described step 102, can comprise:
If YiWith YinDifference be less than or equal to default 4th threshold value, then determine this vehicle just entered described freely flow transaction scene, with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data;
If YiWith YoutDifference be less than or equal to default 5th threshold value, then determine that this vehicle is about to leave and described freely flow transaction scene, judge XiWith whether the difference of the X-coordinate of mantissa's certificate in each time location chain data not finished up meets preset first range, judges YiWith whether the difference of the ordinate zou of mantissa's certificate in each time location chain data not finished up meets preset second range and judges TiWith whether the difference of the detection time of mantissa's certificate in each time location chain data not finished up meets the 3rd scope of presetting, in the time location chain data not finished up if a certain, above-mentioned three judgements meet simultaneously, then determine the time location data (T of this vehiclei, Xi, Yi) belong to this time location chain data not finished up, by (Ti, Xi, Yi) as chain mantissa according to being filled to the afterbody of time location chain data belonging to it;
If YiWith YinDifference be greater than default 4th threshold value and YiWith YoutDifference be greater than default 5th threshold value, then determine this vehicle be positioned at described freely flow transaction scene, judge XiWith whether the difference of the X-coordinate of mantissa's certificate in each time location chain data not finished up meets preset first range, judges YiWith whether the difference of the ordinate zou of mantissa's certificate in each time location chain data not finished up meets preset second range and judges TiWith whether the difference of the detection time of mantissa's certificate in each time location chain data not finished up meets the 3rd scope of presetting, in the time location chain data not finished up if a certain, above-mentioned three judgements meet simultaneously, then determine the time location data (T of this vehiclei, Xi, Yi) belong to this time location chain data not finished up, by (Ti, Xi, Yi) afterbody of time location chain data belonging to it it is filled to as intermediate data.
Wherein, Y described in step 102inAnd YoutIt is freely flow the projected boundary of transaction scope on road direction according to multilane to set in advance respectively.
It will be appreciated that after step 102, the time location chain data of acquisition can with [(T0, X0, Y0)��(Ti, Xi, Yi)��(TE, XE, YE)] represent.
103, the time location data (T of each OBU that transaction subsystem obtains is obtained when each OBU and RSU occurs ETC to conclude the businessj, Xj, Yj), wherein, TjFor the call duration time of this transaction, XjFor the X-coordinate of this transaction communications position, YjFor the ordinate zou of this transaction communications position.
In a particular application, in the process that the carrying out of a RSU and OBU is concluded the business, RSU and OBU can communicate repeatedly, the upward signal that RSU often receives once this OBU just obtains a time location data (comprising call duration time and positional information coordinate), so multiple time location data (comprising multiple call duration time and positional information coordinate) of same OBU can be obtained in described step 103, but due to environment and block, the impact of the condition such as reflection, it is possible to occur that RSU locate unsuccessfully or locate wrong situation. So, in described step 103, it is possible to adopt the method that multiframe is preferably mated, obtain the time location data of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the business; Select the time location data (T that the confidence level of each OBU is the highestj, Xj, Yj) (as select position coordinate be positioned at transaction scene scope, or give up location failed time and positional information etc.) as with (Ti, Xi, Yi) belonging to time location chain data carry out the time location data of vehicle coupling.
104, at TjWith TiDifference be less than preset first threshold value A1(namely | Tj-Ti|<A1) and XjWith XiDifference be less than default Second Threshold B1(namely | Xj-Xi|<B1) and YjWith YiDifference be less than default 3rd threshold value C1(namely | Yj-Yi|<C1) time, it is determined that (Tj, Xj, Yj) belonging to OBU and (Ti, Xi, Yi) belonging to time location chain data complete vehicle coupling.
In a particular application, for example, when described OBU mates with time location chain data, multiframe can be adopted to mate preferred method, often obtain once the time location data of a certain OBU, just this OBU is once mated with time location chain data;
Select the time location chain data maximum with this OBU the match is successful number of times, as final and this OBU time location chain data that the match is successful.
It will be appreciated that all OBU not mated can be mated by step 104 with all time location chain datas do not mated.
It will be appreciated that by presetting A1��B1And C1, it is possible to limit the error allowed band that OBU mates with the vehicle of time location chain data.
The multilane free-flow vehicle matching process of the present embodiment, the information of vehicles of the vehicle detection subsystem of free for multilane streaming system with transaction subsystem collection precisely can be mated, to ensure the accuracy of the information of vehicles of every current vehicle, the workload of follow-up evidence obtaining and inspection can be reduced.
In an embody rule, after above-mentioned steps 102, method described in the present embodiment can also comprise not shown step S1 and S2:
Time location data (the T of the vehicle that S1, acquisition candid photograph subsystem obtain when being captured by predeterminable areak, Xk, Yk), wherein, TkFor capturing the time, XkFor the X-coordinate of the vehicle of candid photograph or the position of car plate, YkFor the ordinate zou of the vehicle of candid photograph or the position of car plate.
S2, at TkWith TiDifference be less than default 6th threshold value A2(namely | Tk-Ti|<A2) and XkWith XiDifference be less than default 7th threshold value B2(namely | Xk-Xi|<B2) and YkWith YiDifference be less than default 8th threshold value C2(namely | Yk-Yi|<C2) time, it is determined that (Tk, Xk, Yk) belonging to capture picture and (Ti, Xi, Yi) belonging to time location chain data complete vehicle coupling.
It will be appreciated that all candid photograph pictures not mated can be mated by step S2 with all time location chain datas do not mated.
It will be appreciated that by presetting A2��B2And C2, it is possible to limit the error allowed band captured picture and mate with the vehicle of time location chain data.
Will be understood that, vehicle in above-mentioned candid photograph picture or the position coordinate of car plate, carry out identifying acquisition to candid photograph picture by capturing camera, also by carrying out mating acquisition (in most cases with vehicle detection subsystem, the triggering signal capturing the candid photograph camera in subsystem is sent by vehicle detection subsystem, the matching logic of the two is comparatively simple, directly provides by triggering time and triggering position).
By above-mentioned steps S1 and S2, the multilane free-flow vehicle matching process of the present embodiment, the information of vehicles of the candid photograph subsystem of free for multilane streaming system with vehicle detection subsystem collection precisely can also be mated, ensure the accuracy of the information of vehicles of every current vehicle, reduce the workload of follow-up evidence obtaining and inspection.
In an embody rule, after above-mentioned steps 103, method described in the present embodiment can also comprise not shown step T1 and T2:
Time location data (the T of the vehicle that T1, acquisition candid photograph subsystem obtain when being captured by predeterminable areak, Xk, Yk), wherein, TkFor capturing the time, XkFor the X-coordinate of the vehicle of candid photograph or the position of car plate, YkFor the ordinate zou of the vehicle of candid photograph or the position of car plate.
T2, at TkWith TjDifference be less than default 9th threshold value A3(namely | Tk-Tj|<A3) and XkWith XjDifference be less than default tenth threshold value B3(namely | Xk-Xj|<B3) and YkWith YjDifference be less than default 11 threshold value C3(namely | Yk-Yj|<C3) time, it is determined that (Tk, Xk, Yk) belonging to capture picture and (Tj, Xj, Yj) belonging to OBU complete vehicle coupling.
In a particular application, in the process that the carrying out of a RSU and OBU is concluded the business, RSU and OBU can communicate repeatedly, the upward signal that RSU often receives once this OBU just obtains a time location data (comprising call duration time and positional information coordinate), so multiple time location data (comprising multiple call duration time and positional information coordinate) of same OBU can be obtained in described step 103, but due to environment and block, the impact of the condition such as reflection, it is possible to occur that RSU locate unsuccessfully or locate wrong situation.So in described step 103, it is possible to adopt the method that multiframe is preferably mated, obtain the time location data of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the business; Select the time location data (T that the confidence level of each OBU is the highestj, Xj, Yj) (as select position coordinate be positioned at transaction scene scope, or give up location failed time and positional information etc.) as with (Tk, Xk, Yk) belonging to capture picture and carry out the time location data of vehicle coupling.
In a particular application, for example, when described OBU mates with candid photograph picture, multiframe can be adopted to mate preferred method, often obtain the time location data of an OBU, just this OBU once be mated with candid photograph picture;
Select the candid photograph picture maximum with this OBU the match is successful number of times, as final and this OBU candid photograph picture that the match is successful.
It will be appreciated that all OBU not mated can be mated by step T2 with all candid photograph pictures not mated.
It will be appreciated that by presetting A3��B3And C3, it is possible to limit the error allowed band that OBU mates with the vehicle capturing picture.
By above-mentioned steps T1 and T2, the multilane free-flow vehicle matching process of the present embodiment, the transaction subsystem of free for multilane streaming system precisely can also be mated with the information of vehicles capturing subsystem collection, ensure the accuracy of the information of vehicles of every current vehicle, reduce the workload of follow-up evidence obtaining and inspection.
In another embody rule, method described in the present embodiment can also comprise not shown step P1-P5:
The candid photograph picture obtained when predeterminable area is captured by subsystem is captured in P1, acquisition;
P2, described candid photograph picture is carried out Car license recognition, obtain license plate recognition result;
P3, the license board information obtaining each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the business;
P4, obtain described license plate recognition result and the similarity of the license board information of described each OBU;
P5, when described similarity is less than or equal to default 12 threshold value, it is determined that described candid photograph picture and the time location chain data that the match is successful thereof complete vehicle with described OBU and mate.
Will be understood that, because license plate recognition result is often easy gibberish symbol or the phenomenon occurring identification mistake because of the impact of environment light, so, predeterminable 12 threshold value in step P5, determines that described candid photograph picture and the time location chain data that the match is successful thereof complete vehicle with described OBU and mate.
By above-mentioned steps P1-P5, the multilane free-flow vehicle matching process of the present embodiment, the transaction subsystem of free for multilane streaming system precisely can also be mated with the information of vehicles capturing subsystem collection, the impact that OBU locates failure or mistake and mated by vehicle can be reduced, ensure the accuracy of the information of vehicles of every current vehicle, reduce the workload of follow-up evidence obtaining and inspection.
It should be noted that the coupling of the vehicle between each subsystem of the present embodiment free streaming system of above-mentioned multilane not sequencing, each subsystem obtains time location data that time location data have then obtained with other subsystems or chain data is once mated, if the match is successful, waits that other subsystems obtain new time location data and mate.
It should be noted that, the present embodiment enters according to the vehicle that vehicle detection subsystem detects and leaves the time freely flowing transaction scene, and the vehicle location coordinate detected within this time period is that time location chain data (a complete time location chain data comprises: vehicle is from entering into each the position coordinate leaving this vehicle that scene process vehicle detection subsystem obtains and corresponding time) set up by the vehicle of each freedom of entry stream transaction scene, then OBU (the comprising the time) positional information produced by subsystem of concluding the business in transaction process or candid photograph information are mated with above-mentioned time location chain data, the rule of coupling mainly contains:
1, the candid photograph time (moment) of the call duration time (moment) of the detection time (moment) of vehicle detection subsystem, transaction subsystem, candid photograph subsystem is all in the time range entering and leaving scene that vehicle detecting system detects, this time is not a fixed value set, but change with actual train-passing through conditions;
2, each subsystem carries out time principle when time location mates is that detection time, call duration time and the difference of candid photograph time are all in respective preset threshold range.
Compared with prior art, the present embodiment does not set regular time matching range, but the call duration time setup times coupling rule of the upward signal of transaction scene time and OBU is freely flowed according to vehicle turnover, it fails to match or the phenomenon of mistake to solve the vehicle that causes because OBU concludes the business that the time is uncertain, in addition, the present embodiment also adopts repeatedly the method for coupling and car plate coupling to solve and vehicle-mounted OBU locate unsuccessfully because of RSU or locate the wrong vehicle caused mates wrong problem, improve multilane and freely flow down transaction subsystem, vehicle detection subsystem and the information of vehicles matching degree captured between subsystem.
" first " and " the 2nd " etc. are not that sequencing is made regulation in embodiments of the present invention, just title are made difference, in embodiments of the present invention, do not make any restriction.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each embodiment of the method can be completed by the hardware that programmed instruction is relevant. Aforesaid program can be stored in a computer read/write memory medium. This program, when performing, performs the step comprising above-mentioned each embodiment of the method; And aforesaid storage media comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.
Last it is noted that above each embodiment is only in order to illustrate the technical scheme of the present invention, it is not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein some or all of technology feature is carried out equivalent replacement; And these amendments or replacement, do not make the scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. a multilane free-flow vehicle matching process, it is characterised in that, comprising:
Obtain vehicle detection subsystem at T detection timeiTime location data (the T of the vehicle detectedi, Xi, Yi), wherein, XiFor the X-coordinate of the position of this vehicle, YiFor the ordinate zou of the position of this vehicle;
According to Yi, vehicle freedom of entry stream transaction scene ordinate zou YinThe ordinate zou Y freely flowing transaction scene is left with vehicleout, it is determined that with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data, or by (Ti, Xi, Yi) it is filled to the time location chain data created;
Obtain the time location data (T of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the businessj, Xj, Yj), wherein, TjFor the call duration time of this transaction, XjFor the X-coordinate of this transaction communications position, YjFor the ordinate zou of this transaction communications position;
At TjWith TiDifference be less than preset first threshold value and XjWith XiDifference be less than default Second Threshold and YjWith YiDifference when being less than default 3rd threshold value, it is determined that (Tj, Xj, Yj) belonging to OBU and (Ti, Xi, Yi) belonging to time location chain data complete vehicle coupling.
2. method according to claim 1, it is characterised in that, described YinAnd YoutIt is freely flow the projected boundary of transaction scope on road direction according to multilane to set in advance respectively.
3. method according to claim 1, it is characterised in that, described according to Yi, vehicle freedom of entry stream transaction scene longitudinal coordinate YinThe longitudinal coordinate Y freely flowing transaction scene is left with vehicleout, it is determined that with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data, or by (Ti, Xi, Yi) it is filled to the time location chain data created, comprising:
If YiWith YinDifference be less than or equal to default 4th threshold value, then determine this vehicle just entered described freely flow transaction scene, with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data;
If YiWith YoutDifference be less than or equal to default 5th threshold value, then determine that this vehicle is about to leave and described freely flow transaction scene, judge XiWith whether the difference of the X-coordinate of mantissa's certificate in each time location chain data not finished up meets preset first range, judges YiWith whether the difference of the ordinate zou of mantissa's certificate in each time location chain data not finished up meets preset second range and judges TiWith whether the difference of the detection time of mantissa's certificate in each time location chain data not finished up meets the 3rd scope of presetting, in the time location chain data not finished up if a certain, above-mentioned three judgements meet simultaneously, then determine the time location data (T of this vehiclei, Xi, Yi) belong to this time location chain data not finished up, by (Ti, Xi, Yi) as chain mantissa according to being filled to the afterbody of time location chain data belonging to it;
If YiWith YinDifference be greater than default 4th threshold value and YiWith YoutDifference be greater than default 5th threshold value, then determine this vehicle be positioned at described freely flow transaction scene, judge XiWith whether the difference of the X-coordinate of mantissa's certificate in each time location chain data not finished up meets preset first range, judges YiWith whether the difference of the ordinate zou of mantissa's certificate in each time location chain data not finished up meets preset second range and judges TiWith whether the difference of the detection time of mantissa's certificate in each time location chain data not finished up meets the 3rd scope of presetting, in the time location chain data not finished up if a certain, above-mentioned three judgements meet simultaneously, then determine the time location data (T of this vehiclei, Xi, Yi) belong to this time location chain data not finished up, by (Ti, Xi, Yi) afterbody of time location chain data belonging to it it is filled to as intermediate data.
4. method according to claim 1, it is characterized in that, when described OBU mates with time location chain data, adopt multiframe to mate preferred method, often obtain once the time location data of a certain OBU, just this OBU is once mated with time location chain data;
Select the time location chain data maximum with this OBU the match is successful number of times, as final and this OBU time location chain data that the match is successful.
5. method according to claim 1, it is characterised in that, the described time location data (T obtaining each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the businessj, Xj, Yj), comprising:
Adopt the method that multiframe is preferably mated, obtain the time location data of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the business;
Select the time location data (T that the confidence level of each OBU is the highestj, Xj, Yj) as with (Ti, Xi, Yi) belonging to time location chain data carry out the time location data of vehicle coupling.
6. method according to claim 1, it is characterised in that, described according to Yi, vehicle freedom of entry stream transaction scene ordinate zou YinThe ordinate zou Y freely flowing transaction scene is left with vehicleout, it is determined that with the time location data (T of this vehiclei, Xi, Yi) as chain head data creation time location chain data, or by (Ti, Xi, Yi) be filled to the time location chain data created after, described method also comprises:
Obtain the time location data (T capturing the vehicle obtained when predeterminable area is captured by subsystemk, Xk, Yk), wherein, TkFor capturing the time, XkFor the X-coordinate of the vehicle of candid photograph or the position of car plate, YkFor the ordinate zou of the vehicle of candid photograph or the position of car plate;
At TkWith TiDifference be less than default 6th threshold value and XkWith XiDifference be less than default 7th threshold value and YkWith YiDifference when being less than default 8th threshold value, it is determined that (Tk, Xk, Yk) belonging to capture picture and (Ti, Xi, Yi) belonging to time location chain data complete vehicle coupling.
7. method according to claim 1, it is characterised in that, at the described time location data (T obtaining each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the businessj, Xj, Yj) after, described method also comprises:
Obtain the time location data (T capturing the vehicle obtained when predeterminable area is captured by subsystemk, Xk, Yk), wherein, TkFor capturing the time, XkFor the X-coordinate of the vehicle of candid photograph or the position of car plate, YkFor the ordinate zou of the vehicle of candid photograph or the position of car plate;
At TkWith TjDifference be less than default 9th threshold value and XkWith XjDifference be less than default tenth threshold value and YkWith YjDifference when being less than default 11 threshold value, it is determined that (Tk, Xk, Yk) belonging to capture picture and (Tj, Xj, Yj) belonging to OBU complete vehicle coupling.
8. method according to claim 7, it is characterised in that, when described OBU mates with candid photograph picture, adopt multiframe to mate preferred method, often obtain the time location data of an OBU, just this OBU is once mated with candid photograph picture;
Select the candid photograph picture maximum with this OBU the match is successful number of times, as final and this OBU candid photograph picture that the match is successful.
9. method according to claim 7, it is characterised in that, the described time location data (T obtaining each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the businessj, Xj, Yj), comprising:
Adopt the method that multiframe is preferably mated, obtain the time location data of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the business;
Select the time location data (T that the confidence level of each OBU is the highestj, Xj, Yj) as with (Tk, Xk, Yk) belonging to capture picture and carry out the time location data of vehicle coupling.
10. method according to claim 1, it is characterised in that, described method also comprises:
Obtain the candid photograph picture captured and obtain when predeterminable area is captured by subsystem;
Described candid photograph picture is carried out Car license recognition, obtains license plate recognition result;
Obtain the license board information of each OBU that transaction subsystem obtains when each OBU and RSU occurs ETC to conclude the business;
Obtain the similarity of the license board information of described license plate recognition result and described each OBU;
When described similarity is less than or equal to default 12 threshold value, it is determined that described candid photograph picture and the time location chain data that the match is successful thereof complete vehicle with described OBU and mate.
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