CN107146291B - Obtain the method, apparatus and non-stop charging method, system of vehicle location - Google Patents
Obtain the method, apparatus and non-stop charging method, system of vehicle location Download PDFInfo
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- CN107146291B CN107146291B CN201710210749.2A CN201710210749A CN107146291B CN 107146291 B CN107146291 B CN 107146291B CN 201710210749 A CN201710210749 A CN 201710210749A CN 107146291 B CN107146291 B CN 107146291B
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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
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
Abstract
The invention discloses a kind of method, apparatus and non-stop charging method, system for obtaining vehicle location, are applied to intelligent transportation field.The method for obtaining vehicle location includes: A, vehicle by the way that when feeling with driving into, vehicle count N increases by 1；B, vehicle is by the way that when feeling with sailing out of, vehicle count N reduces 1；C, divide ground sense block: ground sense state be one with vehicles independently sense be a ground sense block, or continuously for it is with vehicles it is multiple to be adjacent to sense be a ground sense block, the quantity of ground sense block is M；D, judgement ground sense location information: if N is equal to M, the position for feeling block eachly is the ground sense location information of corresponding vehicle, and M, N are the integer more than or equal to 1.The present invention obtains the position of vehicle in lane, thus the accurately location information of acquisition vehicle by independently feeling with vehicles one or being continuously multiple quantity for being adjacent to the quantity that sense feels block, and passes through vehicle with being divided into one and feeling block with ground with vehicles.
Description
Technical field
The present invention relates to intelligent transportation fields, the in particular to method, apparatus of acquisition vehicle location and non-parking charge side
Method, system.
Background technique
Electric non-stop toll (ETC, Electronic Toll Collection) has been pushed away extensively at home at present
Extensively, in the traditional lane ETC layout, although feeling with being provided in lane, after more vehicles enter the lane ETC, if
Comprising the biggish vehicle of vehicle, it is how many vehicles that existing ground sensing system, which can not be differentiated actually, so that vehicle can not be obtained accurately
Location information.In addition, traditional lane ETC is laid out the location information because can not accurately obtain all vehicles in lane, it can not
The common interference with vehicle in the current lane ETC is really solved, monkey chatter, (electronic tag is also known as on board unit On to preceding OBU
Board Unit) there is crossing of orders in Che Yuhou OBU vehicle causes to detain wrong money, no label vehicle misplaces row, thus caused by ETC vehicle
Road congestion problems.
Summary of the invention
In view of this, the purpose of the present invention is to provide it is a kind of by sense and take the method, apparatus and not of vehicle location
Parking charging method, system, to solve the skill in the prior art that can not accurately obtain all vehicle position informations in lane
Art problem.
First part of the present invention provides a kind of method for sensing by ground and taking vehicle location, the ground sense state packet felt describedly
Include with vehicles and car-free status, feel describedly including driving into feel, feel with being driven out to and multiple positions feel, the method packet
Include following steps:
A, vehicle is by the way that when feeling with driving into, vehicle count N increases by 1；
B, vehicle is by the way that when feeling with sailing out of, vehicle count N reduces 1；
C, divide ground sense block: ground sense state be one with vehicles independently sense be a ground sense block, or it is continuous to have
The multiple of car state are adjacent to sense for one sense block, and the quantity of ground sense block is M；
D, judgement ground sense location information: if N is equal to M, the position for feeling block eachly is the ground sense position letter of corresponding vehicle
Breath；
M, N is the integer more than or equal to 1.
The method of above-mentioned acquisition vehicle location, it is preferred that the step D further include: if N is greater than M, feels block over the ground and carry out
At least 1 dividing processing, and judged after segmentation every time, judge whether N is equal to M+L after the L times segmentation, if it is, point
The ground sense location information that the rear position for feeling block eachly is corresponding vehicle is cut, if otherwise sense block carries out continuing to divide over the ground；Point
Cut mode specifically: whether judgement corresponds to single vehicle comprising multiple ground sense blocks for being adjacent to sense one by one, if it is not, block then is felt on the ground
It is divided into two ground sense blocks；L is the integer more than or equal to 1.
The method of above-mentioned acquisition vehicle location, it is preferred that the partitioning scheme specifically: the successively ground in judgement ground sense block
Sense feels whether state is car-free status previously, then shows that ground sense block does not correspond to single vehicle if car-free status, then by institute
Feel block with stating be divided into two ground sense blocks from the position of the ground sense of car-free status and feels in block with continuing judgement if with vehicles
That feels nextly feels whether state is car-free status previously.
Second part of the present invention provides a kind of non-stop charging method of intelligence separation vehicle, comprising the following steps:
The electronic tag location information of vehicle in lane is obtained by antenna；
The ground sense location information of vehicle triggering in lane is obtained by the method for above-mentioned acquisition vehicle location；
Judge whether the vehicle in lane is to receive automatically according to the electronic tag location information and ground sense location information
Take vehicle, if it is, to it is described can automatic charging vehicle charge；
Above-mentioned non-stop charging method, it is preferred that obtain in lane in antenna and gone back after the electronic tag location information of vehicle
Include: to establish electronic tag vehicle platoon, obtained in lane after the ground sense location information of vehicle triggering in ground-sensor further include:
Establish ground sense vehicle platoon；It is described judge vehicle whether be can automatic charging vehicle further include: according to the electronic tag vehicle
Queue and described feel vehicle platoon and judge whether the vehicle in lane is equipped with electronic tag.
Above-mentioned non-stop charging method, it is preferred that the electronic tag vehicle platoon includes passing through antenna and electronic tag
Communicate the vehicle obtained；Feeling vehicle platoon describedly includes the vehicle by vehicle felt location information and obtain vehicle；It is described to sentence
Disconnected vehicle whether be can automatic charging vehicle further include: compare vehicle and the institute for communicating acquisition with electronic tag by antenna
State by vehicle feel location information obtain vehicle vehicle it is whether consistent.
Part III of the present invention feels position acquisition device with providing a kind of vehicle, and the ground sense state of ground sense includes with vehicles
And car-free status, feel describedly including driving into feel, feel with being driven out to and multiple positions feel, described device includes:
Vehicle count module, for being counted to the vehicle fleet size in lane, vehicle by feel with driving into when, vehicle meter
Number N increases by 1；Vehicle is by the way that when feeling with sailing out of, vehicle count N reduces 1；
Sense block division module in ground for receiving feels the ground sense state of transmission, and will be in ground with vehicles in lane
Block is felt in sense with being divided into, and divides concrete mode are as follows: ground sense state be one with vehicles independently sense be a ground sense block, or
Continuously for it is with vehicles it is multiple to be adjacent to sense be a ground sense block, the quantity of ground sense block is M；And according to vehicle fleet size N and ground
The quantity for feeling block is the ground sense position of M acquisition vehicle, specifically: if N is equal to M, feel the position of block eachly for corresponding vehicle
Ground sense location information；
M, N is the integer more than or equal to 1.
Above-mentioned position acquisition device, it is preferred that feel describedly block division module be also used to N be greater than M when, over the ground feel block into
Row at least 1 dividing processing, and judged after segmentation every time, judge whether N is equal to M+L after the L times segmentation, if it is,
The position for feeling block after segmentation eachly is the ground sense location information of corresponding vehicle, if it is not, then sense block carries out continuing to divide over the ground；
Partitioning scheme specifically: whether judgement corresponds to single vehicle comprising multiple ground sense blocks for being adjacent to sense one by one, if it is not, then feeling the ground
Block is divided into two ground sense blocks；
L is the integer more than or equal to 1.
Part IV of the present invention provide it is a kind of intelligence separation vehicle no-stop charging system, the system comprises antenna,
Ground sense and charging device, further include above-mentioned vehicle feel position acquisition device；
The antenna is used to obtain the electronic tag location information of vehicle in lane, and by the electronic tag location information
It is transmitted to the charging device；
Felt describedly for obtaining the ground sense state that vehicle triggers in lane, and state transfer will be felt describedly to the vehicle
Ground sense position acquisition device；
Feel to the vehicle position acquisition device to be used for according to the ground sense location information for feeling state acquisition vehicle describedly, and
Charging device is sent to by location information is felt describedly；
The charging device is used to judge the vehicle in lane according to the electronic tag location information and ground sense location information
Whether be can automatic charging vehicle, if it is, charging to the vehicle；
Above-mentioned no-stop charging system, the antenna include front end antenna and rear end antenna, the front end antenna and described
The projected area of rear end antenna is different, and the front end antenna and rear end antenna are used to obtain the electronic tag for vehicles in projected area
Information, and the electronic labeling information that interaction respectively obtains.
As shown from the above technical solution, provided by the invention that the method for taking vehicle location is sensed by ground, pass through judgement ground
Sense state is with vehicles and car-free status, with vehicles one is independently felt or is continuously with vehicles multiple adjacent
Ground sense is divided into a ground sense block, and by the quantity of the quantity of comparison vehicle and ground sense block, obtains the position of vehicle in lane
Range, to accurately obtain the location information of vehicle.
In addition, the non-stop charging method of intelligence separation vehicle provided by the invention, by the position that ground is sensed to pick-up
The electronic labeling information that confidence breath and antenna obtain is compared, the accurate vehicle obtained in lane whether be can automatic charging
Vehicle, so that avoiding the occurrence of crossing of orders causes to detain wrong money, no label vehicle misplaces row, thus caused by the congestion of the lane ETC ask
Topic.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 senses the flow chart for taking the method for vehicle location by ground to be provided in an embodiment of the present invention；
Fig. 2 is another flow chart provided in an embodiment of the present invention that the method for taking vehicle location is sensed by ground；
Fig. 3 is the flow chart of the non-stop charging method of intelligence separation vehicle provided in an embodiment of the present invention；
Fig. 4 is another flow chart of the non-stop charging method of intelligence separation vehicle provided in an embodiment of the present invention；
Fig. 5 feels the block diagram of position acquisition device for vehicle provided in an embodiment of the present invention；
Fig. 6 is the block diagram of the no-stop charging system of intelligence separation vehicle provided in an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
The embodiment of the present invention is described in detail below.
Embodiment one
It is shown in Figure 1 it is provided in an embodiment of the present invention the flow chart for taking the method for vehicle location is sensed by ground, should
Obtain vehicle location method the following steps are included:
Vehicle fleet size statistics:
A, vehicle is by the way that when feeling with driving into, vehicle count N increases by 1；
B, vehicle is by the way that when feeling with sailing out of, vehicle count N reduces 1；
Sense block in ground divides:
C, feel state be one with vehicles independently sense be a ground sense block, or be continuously with vehicles multiple
It is adjacent to sense and for one feels block, the quantity of ground sense block is M；
Judgement ground sense location information:
If D, N is equal to M, the position for feeling block eachly is the ground sense location information of corresponding vehicle；
M, N is the integer more than or equal to 1.
If N is greater than M, block is felt over the ground and carries out at least 1 dividing processing, and judged after segmentation every time, the L times segmentation
Judge whether N is equal to M+L afterwards, if it is, the position for feeling block after segmentation eachly is the ground sense location information of corresponding vehicle, such as
Otherwise sense block carries out continuing to divide fruit over the ground；Partitioning scheme specifically: that successively feels to judgement the ground sense in block feels shape previously
Whether state is car-free status, then shows that ground sense block does not correspond to single vehicle if car-free status, then will feel block describedly from no vehicle
The position of the ground sense of state is divided into two ground sense blocks and feels with continuing judgement and feel previous in block nextly if with vehicles
Whether sense state in ground is car-free status.
Another process provided in an embodiment of the present invention that the method for taking vehicle location is sensed by ground shown in Figure 2
Figure, in practical applications, the layout in the lane ETC are felt with also typically including triggering, before the sense setting of triggering ground driving into is felt, use
It starts to work in triggering whole system, in vehicle by the way that when feeling with driving into, vehicle count N increases by 1, and vehicle is by sailing out of coil N
1 is subtracted, vehicle N is finally obtained.It is 0 (i.e. car-free status) that state is felt when pressing according to the variation felt without vehicle eachly, there is pressure
When state be 1 (with vehicles).The variation of ground sense, 0 → 1,1 → 0,1 → 1, it states respectively are as follows: rising edge, failing edge are static
State obtains vehicle heading: advances, retreats, it is static.
By the way that sense multiple 1 (with vehicles) of ining succession in ground until encountering 0 (car-free status) and being separated out are felt block multiplely
Block_0, Block_1 ... Block_X ..., by block number M compared with vehicle number N, if illustrate to feel when phase eachly
Block corresponds to a vehicle, and the position of various regions sense block is the ground sense location information of corresponding vehicle, and there is no fuzzy vehicle can not separate
Out, if block number M < vehicle number N, illustrate that partly sense block may correspond to more vehicles, it is incorrect to there is faintly sense block
Vehicle is separated, i.e. in the case that more spacings are close, sense state in ground is continuously with vehicles, but not knowing is more on earth
Few vehicle, enters faintly feel dividing processing at this time.
The ground sense that the processing of Block_X fuzzy partition is felt in block with specially successively judging (refers mainly to continuously to be with vehicles
It is multiple be adjacent to sense formed ground sense blocks in ground senses) feel whether state is car-free status previously: for example, first
Judge in the fuzzy ground sense block the 1st ground sense feel lastly position corresponding to state whether be it is with vehicles, i.e., whether
Have vehicle, if without vehicle illustrate ground at this time it is sympathetic be lap position, from the ground sense position Block_X be divided into two ground
Feeling block Block_x1, Block_x2, the quantity M that block is felt after the 1st segmentation adds 1, judges whether M+1 is equal with vehicle count N,
If equal explanation can stop dividing, all vehicles have been successfully separated, vehicle platoon library have been updated, into lane transaction modules area
Domain needs to continue to handle according to above-mentioned partitioning scheme if unequal, such as after the 2nd segmentation, judges M+2
It is whether equal with vehicle count N, if equal explanation can stop dividing, all vehicles have been successfully separated, have updated vehicle platoon
Library, if unequal, needs to continue to handle according to above-mentioned partitioning scheme into lane transaction modules region.Until most
After dividing L times afterwards, M+L is equal with vehicle N, vehicle platoon library backed off after random separation processing is updated, into trading post.
If the 1st of Block_X ground sense feel lastly position corresponding to state be it is with vehicles, illustrate ground sense
Position is not fuzzy partition point, continually looks for next paste mould position, judges that this faintly feels the 2nd ground sense of block Block_X
It is matched with the 3rd ground sense with the ground sense of the last state, vehicle has been verified whether as handled by above-mentioned logic, until this
Until with faintly feeling the last one of block sense has judged.
There are it is multiple faintly feel block when, need to continue with according to above-mentioned steps separate it is next faintly feel block,
It circuits sequentially that finally to feel number of blocks M+L after separating equal with vehicle count N, stops dividing.
After stopping segmentation, by the headstock of the vehicle of each ground sense block, the tailstock, vehicle heading is updated into vehicle
Bank of queues.
It is provided in this embodiment that the method for taking vehicle location is sensed by ground, by judging feel state to be with vehicles and
With vehicles one is independently felt or continuously multiple are adjacent to sense to be with vehicles and are divided into a ground sense by car-free status
Block, and by the quantity of the quantity of comparison vehicle and ground sense block, the position range of vehicle in lane is obtained, to accurately obtain vehicle
Location information.
Embodiment two
The flow chart of the non-stop charging method of Fig. 3 and Fig. 4 intelligence separation vehicle provided in an embodiment of the present invention is please referred to,
The non-stop charging method the following steps are included:
The electronic tag location information of vehicle in lane is obtained by antenna；
In ETC system, RSU (Road Side Unit, roadside unit) is by obtaining smooth electronics with electronic tag
Label phase information calculates the two-dimensional coordinate system for obtaining and being projected on lane: [X, Y] by phase information.The lane ETC is built
If width is normal width, generally lateral positive and negative 1.8 meters.Therefore it obtains in electronic tag two-dimensional coordinate system and is judged by X-axis
The electronic tag of Ben Dao or neighboring trace can be calibrated.It can obtain by Y-axis judgement and be arranged successively in electronic tag vehicle platoon
Electronic tag longitudinal coordinate position.RSU can be constantly in the state for receiving electronic tag signal, and calculate acquisition electronic tag
The current coordinate of signal (two-dimensional coordinate system), establishes electronic tag vehicle platoon.
In addition, decrypting information of vehicles by the information for obtaining the OBU vehicle, vehicle vehicle is obtained, to be equipped with
The vehicle of OBU vehicle, final updating OBU line up.The extraction of OBU vehicle vehicle improves the OBU coordinate of exception (poor compatibility)
Precision is briefly exactly the OBU coordinate there may be trueness error problem, may determine that it is a few type vehicles, axle by vehicle
Distance is short to carry out more high-precision matching with the vehicle of ground sense queue, complementary.
The process for establishing electronic tag vehicle platoon (electronic tag queue) is as follows:
It initially sets up a search and saves electronic tag queue, queue format is as follows: OBU tag ID number searches this person in servitude
Belong to lane equipment ID number, parsing OBU receives signal coordinates value (X, Y), the time of current coordinate point, current coordinate point validity mark
Will position stores coordinate queue.Structure is as follows:
OBU_ID+DEVICEID+(X1,Y1)+(T1)+(avil1)+(X2,Y2)+(T2)+(avil2)----(XN,YN)+
Vech_type (vehicle).
Then establish two-dimensional coordinate (X, Y): RSU aerial signal projects to and forms elliptical region on lane, this region
It is divided with central point and just forms a two-dimensional coordinate system, the OBU signal searched in the region, by the incidence for calculating signal
Angle, RSU antenna height and phase information just can form the two-dimensional coordinate value (X, Y) of elliptical region, every lane general standard
Actual physical range (lane is wide: 3.6m long: 20m) forming effective coverage two-dimensional coordinate are as follows: X:(-1.8,1.8), Y:(0,
20)。
The ground sense location information that the method for taking vehicle location obtains vehicle triggering in lane is sensed by ground；
The detailed process of location information is felt to the acquisition referring to embodiment one.
Judge whether the vehicle in lane is to receive automatically according to the electronic tag location information and ground sense location information
Take vehicle, if it is, to it is described can automatic charging vehicle charge；
Known electronic tag queue, the corresponding position each OBU and vehicle, the headstock of each vehicle of ground sense vehicle platoon,
And the tailstock, the two mutually judge to match, the vehicle of OBU coordinate Y is matched with ground sense vehicle one-to-one correspondence one by one, feels vehicle with learning
In first vehicle be OBU or non-OBU vehicle, successively second vehicle, third vehicle, and match OBU's for each
Sense vehicle assignment vehicle in ground terminates until matching all vehicles, forms lane vehicle platoon transaction system.Match parameter is ground sense
Each real-time physical location, establish the virtual positioning legal area of coordinate, each legal area is now recognized depending on antenna positioning accuracy
Be for the position positioning accuracy felt eachly+- 1m and ground feels the sum of width value itself.
Fabs(YGround sense N-YRSU)≤Para_Dis,
Wherein, Para_Dis ∈ (feels to 0+N m, feels m) to 1+N.
Above-mentioned condition meets, then can clearly know that lane in the presence of no OBU vehicle, forbids trading, and closes scanning phased array day
Line waits this to sail out of lane without OBU vehicle, and real-time update feel vehicle platoon and electronic tag queue.
In process of exchange, there are three wave beams for phased array antenna tool, and by triggering antenna mode, system controls antenna, i.e.,
Vehicle driving opens antenna, aerial signal is at this moment irradiated to far field end, real-time tracking vehicle, vehicle pressure to when the sense of triggering ground
When feeling to the position of middle petiolarea, it is assumed that feel for No. 3 positions, aerial signal is irradiated to middle Qu Duan at this time, vehicle is pressed onto closely
When feeling to end position, it is assumed that feel for No. 5 positions, aerial signal be irradiated near region end at this time, thus be both tracking vehicle and
Control separates OBU signals of vehicles, then by calculating OBU vehicle coordinate with the location algorithm of phased array, is flexibly matched with, is matched
Transaction is just established in success, is otherwise abandoned information, is re-searched for.
For the present embodiment by forming electronic tag queue, the ground sense variation that vehicle is passed through obtains the ground sense of all vehicles
Location information feels queue with establishing vehicle, according to electronic tag queue and vehicle platoon according to effectively judgement, can obtain entire
The preliminary information of all vehicles is i.e. in queue: having the coordinate of OBU vehicle, the position of no OBU vehicle.To can really solve
Certainly bypass road interferes, and no OBU vehicle accidentally rushes, front and back OBU vehicle crossing of orders and interference with vehicle, thus caused by can not move backward
Heavy congestion, detain wrong money, the serious problems such as malice fee evasion.And the phased array lane layout complete and record lane RSU with
The entire dynamic trajectory process of the transaction of OBU, phased array RSU signal coverage areas is wide, the lane ETC is greatly promoted logical
Scanning frequency degree, during guaranteeing higher speed, even if trading time-out for the first time, it is ensured that under not parking passage situation, additionally it is possible to
Have two to Transaction apparatus meeting three times, the more preferable whole traffic efficiency for promoting the lane lorry ETC faster, so that whole success rate is non-
Chang Gao, the entirety that can preferably promote the lane lorry ETC according to the speed of OBU is unobstructed, and effect is significant.
Embodiment three
Referring to Fig. 5, vehicle provided in an embodiment of the present invention feel the block diagram of position acquisition device, feel position to the vehicle
Acquisition device is used for electronic toll collection, and feeling to the vehicle position acquisition device includes::
Vehicle count module, for being counted to the vehicle fleet size in lane, vehicle by feel with driving into when, vehicle meter
Number N increases by 1；Vehicle is by the way that when feeling with sailing out of, vehicle count N reduces 1；
Sense block division module in ground for receiving feels the ground sense state of transmission, and will be in ground with vehicles in lane
Block is felt in sense with being divided into, and divides concrete mode are as follows: ground sense state be one with vehicles independently sense be a ground sense block, or
Continuously for it is with vehicles it is multiple to be adjacent to sense be a ground sense block, the quantity of ground sense block is M；And according to vehicle fleet size N and ground
The quantity for feeling block is the ground sense position of M acquisition vehicle, specifically: if N is equal to M, feel the position of block eachly for corresponding vehicle
Ground sense location information；
M, N is the integer more than or equal to 1.
If N is greater than M, sense block division module in the ground feels block over the ground and carries out at least 1 dividing processing, and carries out after segmentation every time
Judgement judges whether N is equal to M+L after the L times segmentation, if it is, the position for feeling block after segmentation eachly is corresponding vehicle
Ground sense location information, if it is not, then sense block carries out continuing to divide over the ground；Partitioning scheme specifically: judgement includes multiple phases one by one
Whether the ground sense block felt adjacently corresponds to single vehicle, if it is not, ground sense block is then divided into two ground sense blocks；L is more than or equal to 1
Integer.
As a preferred embodiment, ground sense block division module feels point that block carries out at least 1 time dividing processing over the ground
The mode of cutting can be used: that feels the ground sense in block with successively judging feels whether state is car-free status previously, if car-free status
Then show that ground sense block does not correspond to single vehicle, then will feel block describedly from the position of the ground sense of car-free status and be divided into two ground senses
Block, if with vehicles, feel with continuing judgement feel nextly in block feel whether state is car-free status previously.
The detailed operation mode for feeling to the vehicle position acquisition device can be found in embodiment one.
Example IV
Referring to Fig. 6, the block diagram of the no-stop charging system of intelligence separation vehicle provided in an embodiment of the present invention,
The no-stop charging system include antenna, feel and charging device, further include vehicle described in embodiment three
Feel position acquisition device；Antenna is used to obtain the electronic tag location information of vehicle in lane, and by the electronic tag position
Information is transmitted to the charging device；Felt describedly for obtaining the ground sense state that vehicle triggers in lane, and will felt describedly
State transfer feels position acquisition device to the vehicle；
Feel to the vehicle position acquisition device to be used for according to the ground sense location information for feeling state acquisition vehicle describedly, and
Charging device is sent to by location information is felt describedly；The charging device is used for according to the electronic tag location information and ground
Sense location information judge the vehicle in lane whether be can automatic charging vehicle, if it is, charging to the vehicle；
In a kind of application scenarios, the distance of single phased array antenna covering is insufficient for the demand of lane length, single
If it is close that a antenna scene is set as communication zone, it is fast to be unable to satisfy the speed that is open to traffic, it is traditional if setting communication zone is remote
Phased array antenna is easy to appear remote signaling and drifts, and signal energy is not concentrated, and is easy to appear and establishes process of exchange failure, lane
The heavy congestion that can not be moved backward, phased array antenna switching-beam, which is easy to appear, accidentally to be switched, and causes to damage quality, it is easier to lose
It loses, wave beam control unevenness is easy to appear interference of leading the way, to cause to detain wrong money, malice fee evasion etc. is serious.
In a preferred embodiment, two antennas are set to realize covering lane over long distances, i.e., before antenna includes
Antenna (phased array antenna RSU1) and rear end antenna are held, the front end antenna is different with the projected area of the rear end antenna, institute
Front end antenna is stated for obtaining electronic labeling information in lane, and interacts electronic labeling information described in lane with rear end antenna.Before
It holds phased array antenna RSU1 to carry out strict control to a series of current vehicles, can be allowed to lead to after being oriented function
Row is into lane, i.e., the lane front end phased array antenna RSU1 cloth intra-office is pre-processed.Preprocess method is: vehicle drives into ETC
Feel to triggering in lane, antenna starting scanning lane OBU vehicle, (two dimension is sat for the position for carrying out where positioning obtains each OBU
Mark: X, Y).Front end antenna can will allow the electronic labeling information traded to be transmitted directly to rear end antenna and trade.
The present embodiment uses the setting of double antenna, and signal coverage areas is wide, and the lane ETC is allowed greatly to promote passage
Speed, during guaranteeing higher speed, even if trading time-out for the first time, it is ensured that under not parking passage situation, additionally it is possible to have
Two, to Transaction apparatus meeting three times, more preferably promote the whole traffic efficiency in the lane ETC faster.
Same or similar part may refer to each other between each embodiment in this specification.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, this explanation
Embodiment is only a part of the embodiment of the present invention in book, instead of all the embodiments, based on the embodiments of the present invention, this
Field those of ordinary skill every other embodiment obtained without making creative work, belongs to the present invention
The present invention will not be limited to the embodiments shown herein for the range of protection, and is to fit to and original disclosed herein
Manage the widest scope consistent with features of novelty.
Claims (8)
1. a kind of sense the method for taking vehicle location by ground describedly, which is characterized in that the ground sense state felt includes vehicle shape
State and car-free status, feel describedly including driving into feel, feel with being driven out to and multiple positions feel, the method includes following steps
It is rapid:
A, vehicle is by the way that when feeling with driving into, vehicle count N increases by 1；
B, vehicle is by the way that when feeling with sailing out of, vehicle count N reduces 1；
C, divide ground sense block: ground sense state be one with vehicles independently sense be a ground sense block, or it is continuous to there is vehicle shape
The multiple of state are adjacent to sense for one sense block, and the quantity of ground sense block is M；
D, judgement ground sense location information: if N is equal to M, the position for feeling block eachly is the ground sense location information of corresponding vehicle；
M, N is the integer more than or equal to 1；
The step D further include: if N is greater than M, feels block over the ground and carry out at least 1 dividing processing, and sentenced after segmentation every time
It is disconnected, judge whether N is equal to M+L after the L times segmentation, if it is, the position for feeling block after segmentation eachly is the ground of corresponding vehicle
Location information is felt, if otherwise sense block carries out continuing to divide over the ground；
Partitioning scheme specifically: whether judgement corresponds to single vehicle comprising multiple ground sense blocks for being adjacent to sense one by one, if it is not, then should
Ground sense block is divided into two ground sense blocks；
L is the integer more than or equal to 1.
2. the method according to claim 1 for obtaining vehicle location, which is characterized in that the partitioning scheme specifically: according to
The secondary ground sense felt with judging in block feels whether state is car-free status previously, then shows sense block in the ground if car-free status not
Corresponding single vehicle will then feel block from the position of the ground sense of car-free status and be divided into two ground sense blocks, describedly if with vehicles
Then continue judgement feel feel nextly in block feel whether state is car-free status previously.
3. a kind of non-stop charging method of intelligence separation vehicle, which comprises the following steps:
The electronic tag location information of vehicle in lane is obtained by antenna；
The ground sense location information of vehicle triggering in lane is obtained by the described in any item methods of claim 1 to 2；According to described
Electronic tag location information and ground sense location information judge the vehicle in lane whether be can automatic charging vehicle, if it is,
To it is described can automatic charging vehicle charge.
4. non-stop charging method according to claim 3, which is characterized in that
It is obtained in lane after the electronic tag location information of vehicle in antenna further include: establish electronic tag vehicle platoon；
It is obtained in lane after the ground sense location information of vehicle triggering in ground-sensor further include: establish ground sense vehicle platoon；
It is described judge vehicle whether be can automatic charging vehicle further include: according to the electronic tag vehicle platoon and described feel
Vehicle platoon judges whether the vehicle in lane is equipped with electronic tag.
5. according to the method described in claim 4, it is characterized in that, the electronic tag vehicle platoon includes by antenna and electricity
The vehicle that subtab communication obtains；
Feeling vehicle platoon describedly includes the vehicle by vehicle felt location information and obtain vehicle；
It is described judge vehicle whether be can automatic charging vehicle further include: compare and described acquisition communicated with electronic tag by antenna
Vehicle and it is described by vehicle feel location information obtain vehicle vehicle it is whether consistent.
6. feeling position acquisition device to a kind of vehicle, which is characterized in that the ground sense state of ground sense includes with vehicles and without vehicle shape
State, feel describedly including driving into feel, feel with being driven out to and multiple positions feel, described device includes:
Vehicle count module, for being counted to the vehicle fleet size in lane, vehicle by feel with driving into when, vehicle count N
Increase by 1；Vehicle is by the way that when feeling with sailing out of, vehicle count N reduces 1；
Sense block division module in ground for receiving is felt the ground sense state of transmission, and is drawn ground sense with vehicles is in lane
Feel block with being divided into, divide concrete mode are as follows: ground sense state be one with vehicles independently sense be a ground sense block, or it is continuous
For it is with vehicles it is multiple to be adjacent to sense be a ground sense block, the quantity of ground sense block is M；And according to vehicle fleet size N and ground sense block
Quantity be M obtain vehicle ground sense position, specifically: if N be equal to M, feel eachly block position be correspondence vehicle ground
Feel location information；
M, N is the integer more than or equal to 1；
Block division module is felt describedly to be also used to when N is greater than M, is felt block over the ground and is carried out at least 1 dividing processing, and segmentation every time
After judged, the L times segmentation after judge whether N is equal to M+L, if it is, segmentation after feel eachly block position be correspondence
The ground sense location information of vehicle, if it is not, then sense block carries out continuing to divide over the ground；
Partitioning scheme specifically: whether judgement corresponds to single vehicle comprising multiple ground sense blocks for being adjacent to sense one by one, if it is not, then should
Ground sense block is divided into two ground sense blocks；
L is the integer more than or equal to 1.
7. a kind of no-stop charging system of intelligence separation vehicle, which is characterized in that including antenna, feel and charging device,
Further include vehicle as claimed in claim 6 feel position acquisition device；
The antenna is used to obtain the electronic tag location information of vehicle in lane, and the electronic tag location information is transmitted
To the charging device；
Felt describedly for obtaining the ground sense state that vehicle triggers in lane, and state transfer will be felt describedly to the vehicle
Feel position acquisition device；
Position acquisition device is felt to the vehicle for according to the ground sense location information for feeling state describedly and obtaining vehicle, and by institute
Feel location information with stating and is sent to charging device；
The charging device is used to judge that the vehicle in lane is according to the electronic tag location information and ground sense location information
It is no for can automatic charging vehicle, if it is, charging to the vehicle.
8. system according to claim 7, which is characterized in that the antenna includes front end antenna and rear end antenna, described
Front end antenna is different with the projected area of the rear end antenna, and the front end antenna and rear end antenna are for obtaining in projected area
Electronic tag for vehicles information, and the electronic labeling information that respectively obtains of interaction.
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| CN108510734A (en) * | 2018-03-30 | 2018-09-07 | 深圳市金溢科技股份有限公司 | A kind of information of vehicles matching process of roadside unit and a kind of roadside unit |
| CN110930529B (en) * | 2019-12-16 | 2021-09-07 | 交通运输部路网监测与应急处置中心 | Method and system for processing one vehicle in ETC lane to pass along with abnormal vehicle |
| CN111553992B (en) * | 2020-04-23 | 2021-07-06 | 深圳智优停科技有限公司 | Parking space management equipment management method and system |
| CN117558071B (en) * | 2024-01-11 | 2024-04-05 | 四川成渝高速公路股份有限公司 | Expressway vehicle access checking method and system |
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