CN105809752A - ETC system integrated with infrared camera function, and vehicle identification and location method - Google Patents
ETC system integrated with infrared camera function, and vehicle identification and location method Download PDFInfo
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- CN105809752A CN105809752A CN201410843897.4A CN201410843897A CN105809752A CN 105809752 A CN105809752 A CN 105809752A CN 201410843897 A CN201410843897 A CN 201410843897A CN 105809752 A CN105809752 A CN 105809752A
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Abstract
The invention discloses an ETC system integrated with the infrared camera function, and a vehicle identification and location method. The ETC system comprises a vehicle-mounted OBU and a road-side unit. The vehicle-mounted OBU and the road-side unit are in communication through wireless signals, so that the data transfer and the payment are realized. An infrared camera is installed above the lane of the ETC and is used for capturing an infrared image of an interested region and transmitting the corresponding information to the road-side unit. The infrared image is used for acquiring the engine position of a vehicle and the profile of the vehicle. An infrared reference point is located within the interested region and is adopted as a reference during the acquiring process of the engine position and the profile of the vehicle. Based on the ETC system, by utilizing the infrared image, the type information of the vehicle can be obtained and the vehicle-mounted OBU is facilitated to be positioned. Therefore, the transaction success rate and the reliability of the ETC system are improved.
Description
Technical field
The present invention relates to ETC (i.e. ElectronicTollCollection) field, in particular it relates to the ETC system of a kind of integrated infrared photography recognition function and a kind of vehicle identification for ETC system and localization method.
Background technology
ETC system is the autoelectrinic Fare Collection System of main research and extension in the world at present, it is adaptable to the vehicle toll solution under the bridge tunnel environment of highway and heavy traffic.The standard fitting of ETC system includes vehicle-mounted OBU (On-BoardUnit, also referred to as vehicle carried electronic label or vehicle electronics unit) and roadside unit (RoadSideUnit).Vehicle-mounted OBU is arranged on vehicle, when vehicle is by being located at the charge station on ETC track, vehicle-mounted OBU and roadside unit (RSU, RoadSideUnit) communicated by rf wireless signal, payment can be completed when stopping, thus automobile passage rate can be improved, effectively solve traffic blocking problem.
In actual applications, when there being multiple vehicle-mounted OBU in the coverage of certain RSU, RSU is likely to cannot be distinguished by these vehicle-mounted OBU, thus causing with situations such as car interference, vehicle location mistakes, by mistake payment, and in existing ETC system, RSU and the OBU being positioned at adjacent lane is likely to generation monkey chatter, and these situations all can cause transaction confusion.How location vehicle to improve transaction reliability be the research emphasis currently for ETC system more exactly.
Summary of the invention
It is an object of the invention to provide a kind of ETC system, this system can utilize the vehicle-mounted OBU of infrared camera technology auxiliary positioning and can recognise that vehicle, thus improving transaction success rate and reliability.The invention also discloses a kind of vehicle identification for ETC system and localization method.
To achieve these goals, the present invention provides the ETC system of a kind of integrated infrared photography function, described ETC system includes: vehicle-mounted OBU and roadside unit, is communicated by wireless signal between described vehicle-mounted OBU and described roadside unit, to complete data transmission and payment；Thermal camera, is arranged on above ETC track, and for shooting the infrared image of area-of-interest and by corresponding information transmission to described roadside unit, described infrared image is used to obtain engine location and the vehicle ' s contour of vehicle；And infrared reference point, be positioned at described area-of-interest, for when obtaining described engine location and described vehicle ' s contour as reference.
Preferably, described infrared reference point includes the infrared dot matrix of at least two along ETC track radial direction layout.
Preferably, obtain vehicle according to described engine location and described vehicle ' s contour and position described vehicle-mounted OBU.
Preferably, the range of receiving of described roadside unit can be adjusted, with the described vehicle-mounted OBU that tracking will be traded.
Present invention also offers a kind of vehicle identification for ETC system and localization method, including: the infrared image of shooting area-of-interest；Engine location and the vehicle ' s contour of vehicle is obtained according to described infrared image；Vehicle and positioning vehicle-carried OBU is obtained according to described engine location and described vehicle ' s contour.
Preferably, this vehicle identification and localization method are additionally included in described area-of-interest and arrange infrared reference point, are used for when obtaining described engine location and described vehicle ' s contour as reference.
Preferably, described infrared reference point includes the infrared dot matrix of at least two along ETC track radial direction layout.
Preferably, the filming frequency of described infrared image is shoot 20～40 each second.
Preferably, the scope of described area-of-interest is close to the transmitting coverage of roadside unit in described ETC system.
Preferably, this vehicle identification and localization method also include: adjust the range of receiving of roadside unit in described ETC system, with the described vehicle-mounted OBU that tracking will be traded.
Pass through technique scheme, ETC system according to the present invention can using the infrared reference point arranged as reference metric, the infrared image that thermal camera shoots is utilized to obtain engine location and the vehicle ' s contour of vehicle, so that it is determined that vehicle and the vehicle-mounted OBU of auxiliary positioning, and then improve transaction success rate.Also can be tracked at the follow-up vehicle-mounted OBU to being traded according to the present invention, to reduce Radio frequency interference.Additionally, application native system can find that vehicle associates the situation that vehicle information is not inconsistent with OBU in time, improve reliability and the safety of ETC system further.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, is used for explaining the present invention, but is not intended that limitation of the present invention together with detailed description below.In the accompanying drawings:
Fig. 1 is the structural representation of the ETC system of integrated according to the preferred embodiment of the present invention infrared photography function.
Fig. 2 is according to the preferred embodiment of the present invention for the vehicle identification of ETC system and localization method.
Description of reference numerals
1, vehicle-mounted OBU12, roadside unit (RSU) 2
3, thermal camera 4, infrared reference point
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.It should be appreciated that detailed description of the invention described herein is merely to illustrate and explains the present invention, it is not limited to the present invention.
In the present invention, when not making contrary explanation, the noun of locality of use such as " radially " direction travelled that is often referred on ETC track vehicle.
The invention discloses the ETC system of a kind of integrated infrared photography function, described ETC system includes: vehicle-mounted OBU and roadside unit, is communicated by wireless signal between described vehicle-mounted OBU and described roadside unit, to complete data transmission and payment；Thermal camera, is arranged on above ETC track, and for shooting the infrared image of area-of-interest and by corresponding information transmission to described roadside unit, described infrared image is used to obtain engine location and the vehicle ' s contour of vehicle；And infrared reference point, be positioned at described area-of-interest, for when obtaining described engine location and described vehicle ' s contour as reference.
Fig. 1 is the structural representation of the ETC system of integrated according to the preferred embodiment of the present invention infrared photography function.This ETC system can include vehicle-mounted OBU1, RSU2 and thermal camera 3.RSU2 continues to launch broadcast singal, and when vehicle-mounted OBU1 enters the transmitting coverage of RSU2, vehicle-mounted OBU1 can be waken up, and then RSU2 can position this vehicle-mounted OBU1, and wireless communication link can be set up between vehicle-mounted OBU1 and RSU2, to complete data transmission and payment, without parking.ETC system according to the present invention also includes thermal camera 3 and infrared reference point 4, for the vehicle-mounted OBU1 of auxiliary positioning to improve positioning precision further, and the also type of recognizable vehicle.
Thermal camera 3 may be installed above ETC track, for shooting the infrared image of area-of-interest and corresponding information being sent to RSU2.Wired or wireless communication can be adopted between thermal camera 3 and RSU2, present embodiment adopts wire communication.RSU2 also can send to the thermal camera 3 such as the configuration of thermal camera 3 and control information.This thermal camera 3 can be active infrared video camera.In area-of-interest, there also is provided infrared reference point 4, owing to absolute position and the relative position (including the distance between Different Red External Reference point and line direction etc.) of infrared reference point 4 are known, therefore using the infrared reference point 4 that presents in infrared image as reference, the position of other objects, shape and size can be determined.Preferably, in order to make the infrared reference point presented in image clear as far as possible, infrared dot matrix (the infrared dot matrix of such as n*n) can be adopted as infrared reference point.Preferably, in order to improve accuracy of identification, the infrared dot matrix of at least two can be arranged along ETC track radial direction.The relative position between the infrared dot matrix of this at least two on infrared image can be obtained, and the actual relative position between the known infrared dot matrix of this at least two, then can obtain the mapping relations between infrared image and actual scene, and according to infrared image and this mapping relations, obtain the position of jobbie, shape and size in actual scene.
Preferably, above-mentioned area-of-interest (i.e. the coverage of thermal camera 3) can close to the transmitting coverage of RSU2.In present embodiment, the coverage of the transmitting coverage of RSU2 and thermal camera 3 can be disposed as along the region that ETC track radical length is 9 meters, radially (such as linearly) an infrared reference point 4 can be arranged every 3 meters simultaneously, arrange 3 infrared reference points 4 altogether.
Vehicle motor, body shell are different with the temperature on background (such as ground), therefore, can obtain position and the vehicle ' s contour of vehicle motor from infrared image.Any means well known by persons skilled in the art can be adopted to obtain above-mentioned information from infrared image.Usual car, minibus, SUV electromotor be front-mounted engine, and the electromotor of motor bus and truck is rear engine, is therefore combined the position of vehicle ' s contour and electromotor, can relatively accurately distinguish different automobile types.Vehicle can be divided into two classes or more than two classes (such as three classes) based on vehicle ' s contour and engine location information.If being divided into two classes, car, SUV, minibus can be classified as a class；Motor bus, truck are classified as a class.If be divided three classes, car can be classified as a class；SUV and minibus are classified as a class；Motor bus, truck are classified as a class.Different thermal cameras and corresponding image processing equipment can be selected as required, to meet different accuracy requirement.
Can according to the vehicle-mounted OBU1 of vehicle auxiliary positioning.The vehicle-mounted OBU1 of car is typically mounted near rearview mirror, and terrain clearance is about 1.3 meters；The vehicle-mounted OBU1 of SUV and minibus is similarly installed near rearview mirror, and terrain clearance is slightly above car；The vehicle-mounted OBU1 of motor bus and truck is arranged on the lower end of windshield, therefore can obtain the position of vehicle-mounted OBU1 according to vehicle.The position of the vehicle-mounted OBU1 that RSU2 can comprehensively obtain via radio frequency signal and the position positioning vehicle-carried OBU1 exactly of vehicle-mounted OBU1 obtained via infrared image.Further, since RSU can obtain vehicle information via infrared image, this transaction reliability and safety of being conducive to improving ETC system.Such as, although current vehicle-mounted OBU1 has adopted Anti-dismantling antenna generally, if but Anti-dismantling antenna is cracked, or vehicle-mounted OBU1 and the glass being in contact with it together are removed, it is likely to occur the vehicle-mounted OBU1 that should associate with compact car to be installed on large car, and adopts the present invention, the situation that vehicle information is not inconsistent that associates of vehicle and vehicle-mounted OBU1 can be found in time, and pointed out or alert, stop fee evasion phenomenon.
In the present embodiment, for reducing cost and maintaining easily, thermal camera 3 can be adopted directly by wired or wireless signal, infrared image to be sent to RSU2, then processed the RSU2 of equipment handling process infrared image being processed and therefrom obtaining the information such as engine location, vehicle ' s contour by being integrated with respective image.In another embodiment, by RSU2, infrared image can be sent to host computer, then carried out image procossing by host computer and return the information needed for RSU2 to RSU2.In yet, image processing equipment can be integrated in thermal camera 3, thermal camera 3 carry out image procossing and the information needed for RSU2 is sent to RSU2, being all sent to RSU2 without by whole infrared image.
Preferably, thermal camera 3 can be set to shoot 20～40 infrared images each second.In present embodiment, thermal camera 3 is set to shoot 30 infrared images each second.
Preferably, can according to certain strategy (such as, according to vehicle-mounted OBU1 near to remote order) select the vehicle-mounted OBU1 that will be traded, and it is adaptively adjusted the range of receiving of RSU2, it is made only to receive from the selected vehicle-mounted OBU1 signal launched, transaction by mistake can be avoided further, improve transaction accuracy rate.Such as, the range of receiving of RSU2 can define along radial direction move ahead from the current location of vehicle-mounted OBU1 to it region between position of 7.5 meters.
The invention also discloses a kind of vehicle identification for ETC system and localization method, including: the infrared image of shooting area-of-interest；Engine location and the vehicle ' s contour of vehicle is obtained according to described infrared image；Vehicle and positioning vehicle-carried OBU is obtained according to described engine location and described vehicle ' s contour.
Fig. 2 is according to the preferred embodiment of the present invention for the vehicle identification of ETC system and localization method.
In step sl, infrared reference point can be arranged in area-of-interest.Owing to infrared reference point can be clearly presented on infrared image, and it is known that the physical location of infrared reference point (includes absolute position and relative position), so the mapping relations between infrared image and actual scene (such as area-of-interest) can be obtained based on infrared reference point, in order to obtain the position of jobbie, shape and size in actual scene.Area-of-interest can close to the transmitting coverage of RSU in (including identical) ETC system.Infrared reference point can include the infrared dot matrix of at least two arranged along ETC track radial direction.Such as, if the radical length of area-of-interest is 9 meters, an infrared reference point 4 can be arranged every 3 meters, arrange 3 infrared reference points altogether.In some enforcement scenes, have in area-of-interest and as the reference point of reference in infrared image, therefore, can arrange extra infrared reference point no longer separately.
In step s 2, the infrared image of area-of-interest can be shot.Such as, active infrared video camera can be adopted with the infrared image of the frequency of 20～40 shooting each second area-of-interest.Thermal camera can be erected at the position of (centre above such as ETC track) above ETC track close charge station or RSU.
In step s3, engine location and the vehicle ' s contour of vehicle can be obtained from infrared image.Owing to the temperature of electromotor, vehicle enclosure and background (such as track) is different from, therefore, any means well known by persons skilled in the art can be adopted to obtain from infrared image about the information arbitrarily with the position of object of specific infrared induction feature, shape and size.
In step s 4, vehicle information positioning vehicle-carried OBU are obtained in combinations with engine location and vehicle ' s contour.Such as, car, minibus and SUV etc. are generally front-mounted engine, motor bus and truck and are generally rear engine, in conjunction with vehicle ' s contour, can relatively accurately distinguish different automobile types.Such as, car, SUV and minibus can be classified as a class, motor bus and truck are classified as a class.The position of vehicle-mounted OBU is judged in conjunction with vehicle.The vehicle-mounted OBU of car, SUV and minibus should be arranged near rearview mirror, and the vehicle-mounted OBU of motor bus and truck should be arranged on the lower end of windshield, can obtain the position of vehicle-mounted OBU accordingly.The vehicle-mounted OBU installation site of car is typically somewhat lower than SUV and minibus, so being grouped into row segmentation further also dependent on needs to above-mentioned.The vehicle-mounted OBU obtained via infrared image positions information can as auxiliary positioning information, and RSU, in combinations with this auxiliary positioning information and original alignment system, is accurately positioned and distinguishes the multiple OBU in coverage.Meanwhile, the vehicle information obtained via infrared image additionally aids system and finds the situation associating vehicle information collision of vehicle and vehicle-mounted OBU1 in time, improves reliability and the safety of ETC system.
In step S5, the range of receiving of adjustable RSU so that it is follow the tracks of the vehicle-mounted OBU that will be traded.When having multiple vehicle-mounted OBU in the transmitting coverage of RSU, RSU can be traded with multiple vehicle-mounted OBU successively according to certain strategy (such as near to remote order), during the vehicle-mounted OBU will being traded in elected, the range of receiving of RSU can be adaptively adjusted.Such as, can be set as radially moving ahead from the current location of the vehicle-mounted OBU that will be traded to it region between position of 7.5 meters by the range of receiving of RSU.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing; but; the present invention is not limited to the detail in above-mentioned embodiment; in the technology concept of the present invention; technical scheme can being carried out multiple simple variant, these simple variant belong to protection scope of the present invention.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, it is possible to be combined by any suitable mode.In order to avoid unnecessary repetition, various possible compound modes are no longer illustrated by the present invention separately.
Additionally, can also carry out combination in any between the various different embodiment of the present invention, as long as it is without prejudice to the thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. an ETC system for integrated infrared photography function, described ETC system includes:
Vehicle-mounted OBU and roadside unit, communicated by wireless signal between described vehicle-mounted OBU and described roadside unit, to complete data transmission and payment；
Thermal camera, is arranged on above ETC track, and for shooting the infrared image of area-of-interest and by corresponding information transmission to described roadside unit, described infrared image is used to obtain engine location and the vehicle ' s contour of vehicle；
Infrared reference point, is positioned at described area-of-interest, is used for when obtaining described engine location and described vehicle ' s contour as reference.
2. the ETC system of integrated infrared photography function according to claim 1, wherein, described infrared reference point includes the infrared dot matrix of at least two arranged along ETC track radial direction.
3. the ETC system of integrated infrared photography function according to claim 1, wherein, obtains vehicle according to described engine location and described vehicle ' s contour and positions described vehicle-mounted OBU.
4. the ETC system of the integrated infrared photography function according to any one of claim 1-3, wherein, the range of receiving of described roadside unit can be adjusted, with the described vehicle-mounted OBU that tracking will be traded.
5. for the vehicle identification of ETC system and a localization method, including:
The infrared image of shooting area-of-interest；
Engine location and the vehicle ' s contour of vehicle is obtained according to described infrared image；
Vehicle and positioning vehicle-carried OBU is obtained according to described engine location and described vehicle ' s contour.
6. the vehicle identification for ETC system according to claim 5 and localization method, is additionally included in described area-of-interest and arranges infrared reference point, is used for when obtaining described engine location and described vehicle ' s contour as reference.
7. the vehicle identification for ETC system according to claim 6 and localization method, described infrared reference point includes the infrared dot matrix of at least two arranged along ETC track radial direction.
8. the vehicle identification for ETC system according to claim 5 and localization method, wherein, the filming frequency of described infrared image is shoot 20～40 each second.
9. the vehicle identification for ETC system according to claim 5 and localization method, wherein, the scope of described area-of-interest is close to the transmitting coverage of roadside unit in described ETC system.
10. according to any one of claim 5-9 for the vehicle identification of ETC system and localization method, also include:
Adjust the range of receiving of roadside unit in described ETC system, with the described vehicle-mounted OBU that tracking will be traded.
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| CN108664905A (en) * | 2018-04-26 | 2018-10-16 | 智慧互通科技有限公司 | A kind of Roadside Parking management method, system and device based on infrared image |
| CN109359596A (en) * | 2018-10-18 | 2019-02-19 | 上海电科市政工程有限公司 | A kind of highway vehicle localization method fast and accurately |
| CN110687562A (en) * | 2019-09-12 | 2020-01-14 | 华为技术有限公司 | Positioning method and vehicle-mounted device |
| CN111152729A (en) * | 2019-12-27 | 2020-05-15 | 北京万集科技股份有限公司 | Emission angle adjusting method and system, storage medium and electronic device |
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| CN112580695A (en) * | 2020-12-02 | 2021-03-30 | 王刚 | Vehicle type identification method and device, storage medium and electronic equipment |
| US11293758B2 (en) | 2019-05-22 | 2022-04-05 | Ford Global Technologies, Llc | Systems and methods for increasing the accuracy of vehicle positioning |
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| CN111152729A (en) * | 2019-12-27 | 2020-05-15 | 北京万集科技股份有限公司 | Emission angle adjusting method and system, storage medium and electronic device |
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| CN112017312A (en) * | 2020-08-18 | 2020-12-01 | 北京聚利科技有限公司 | Vehicle positioning method, device, equipment and computer readable storage medium |
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Application publication date: 20160727 |