CN107293127B - Charging square congestion monitoring system based on multi-beam wide-area microwave detection - Google Patents

Charging square congestion monitoring system based on multi-beam wide-area microwave detection Download PDF

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CN107293127B
CN107293127B CN201710496721.XA CN201710496721A CN107293127B CN 107293127 B CN107293127 B CN 107293127B CN 201710496721 A CN201710496721 A CN 201710496721A CN 107293127 B CN107293127 B CN 107293127B
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CN107293127A (en
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陶劲松
王宝
孙岳
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Wuhan Lu'an Electronic Equipment Co.,Ltd.
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Wuhan University WHU
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Abstract

The invention provides a charging square congestion monitoring system based on multi-beam wide-area microwave detection, which comprises a plurality of microwave sensors, a communication module, a congestion analysis module and an early warning module, wherein the communication module is used for receiving a plurality of microwave signals; the microwave sensor, the communication module, the congestion analysis module and the early warning module are sequentially connected; the microwave sensor sends the toll plaza road information to the congestion analysis module in real time through the communication module, and the congestion analysis module analyzes the real-time road condition by using the continuously received real-time information through time delay calculation and sends the real-time road condition to the early warning module in real time. In the invention, 16 or 32 microwave sensors with fixed angles are used, the congestion condition of a toll plaza is analyzed and calculated by acquiring the existence of vehicles in the ground area covered by the microwave sensors, and early warning is made according to the condition so as to help a toll station to timely determine the increase and decrease of toll collection personnel.

Description

Charging square congestion monitoring system based on multi-beam wide-area microwave detection
Technical Field
The invention relates to a congestion monitoring system for a toll plaza. In particular to a charging square congestion monitoring system based on multi-beam wide-area microwave detection.
Background
The end point of the expressway is a toll station, and in order to save manpower and material resources, toll ramps of the toll station are usually not completely opened, but are correspondingly opened to form partial ramps or all ramps according to the flow. Therefore, it is important to determine whether to increase or decrease the open ramp according to the congestion situation, in terms of safety and economy.
Disclosure of Invention
Aiming at the problems in the background art, the invention provides a charging square congestion monitoring system based on multi-beam wide-area microwave detection. The system analyzes and calculates the congestion condition of the toll plaza by acquiring the existence of vehicles in the ground area covered by the microwave sensor, and correspondingly makes early warning according to the condition to help the toll station to timely determine to increase or decrease toll collection personnel.
The invention is realized by adopting the following technical scheme:
a charging square congestion monitoring system based on multi-beam wide-area microwave detection comprises a plurality of microwave sensors, a communication module, a congestion analysis module and an early warning module; the microwave sensor, the communication module, the congestion analysis module and the early warning module are sequentially connected; the microwave sensor sends the toll plaza road information to the congestion analysis module in real time through the communication module, and the congestion analysis module analyzes the real-time road condition by using the continuously received real-time information through time delay calculation and sends the real-time road condition to the early warning module in real time.
The microwave sensor comprises a DDS + LO double-sideband signal input unit, a quadrature frequency mixing unit, a frequency multiplication unit, a power distributor, a power amplification unit, a high-frequency radio frequency switch, a transmitting antenna, a receiving antenna, an LNA, a frequency mixer, an intermediate frequency filtering unit, a differential intermediate frequency amplifier, a signal conditioning unit, an A/D, an FPGA and a DSP; DDS + LO double-sideband signal input, a quadrature mixing unit, a frequency doubling unit, a power divider, a power amplifier unit, a high-frequency radio frequency switch and a transmitting antenna are sequentially connected, and a receiving antenna, an LNA, a mixer, an intermediate frequency filtering unit, a differential intermediate frequency amplifier, a signal conditioning unit, an A/D, an FPGA and a DSP are sequentially connected; the DSP is connected with the communication module.
The congestion analysis module is used for measuring the slant distance between the vehicle and the microwave sensor, measuring the position of the vehicle and judging the road occupation time of the vehicle; calculating the vehicle position through the slope distance, and judging the track occupation time according to the vehicle position information;
the judging method comprises the following steps: drawing a square frame in a mode of simulating a ground induction coil according to the area of the microwave sensor projected to the ground, and defining the square frame as a simulation coil;
after the accurate position information of the vehicle is obtained, by comparing with the preset position information of the virtual coil, if a certain frame is continuously occupied for more than 50s and the middle is continuously free of the empty window time, the vehicle is concluded to be stopped above the virtual coil.
The measuring process of the skew distance is as follows;
firstly, clutter suppression, detection and data acquisition of analog-to-digital conversion are carried out on signals obtained from a radio frequency front end, then peak monitoring is carried out, and a final processing result, namely the slant distance delta l of the vehicle distance radar, is obtained; the principle adopted by the distance measurement is pulse Doppler, and the form of a transmitted signal is a frequency stepping linear frequency modulation pulse;
the signal form of the stepping chirp is adopted, and the slant distance resolution ratio of the stepping chirp is as follows:
Figure GDA0002171289490000021
wherein, BnAn operating bandwidth for radio frequencies;
resolution to the horizontal direction is better than
Figure GDA0002171289490000022
Sufficient accuracy is provided for the accuracy of the vehicle position.
The measurement process of the vehicle position is as follows;
since the height of the radar mount is known, h, after measuring the vehicle's slope Δ l from the radar, the horizontal slope of the vehicle from the radar can be determined:
Figure GDA0002171289490000023
since the beam pointing direction of the radar receiving antenna deviates by θ equal to 30 °, the horizontal distance of the target from the radar:
Figure GDA0002171289490000024
assuming that the horizontal distance from the antenna erection position to the road edge is Δ P and the lane widths are uniformly distributed, the lane positions of the measured vehicle are as follows:
Figure GDA0002171289490000025
wherein, the [ alpha ], [ beta ]·]Denotes rounding, WlaneThe width of a single lane.
The congestion analysis module realizes the measurement of the vehicle speed; when two arbitrary known wave beams detect same platform vehicle-hour, can accomplish and test the speed:
Figure GDA0002171289490000031
wherein d is the distance between the two antennas, and Δ t is the time difference when the vehicle enters the two receiving beams respectively.
The congestion analysis module realizes the measurement of the length of the vehicle;
after the speed v of the vehicle and the slant distance delta l of the vehicle distance radar are measured, the measurement of the vehicle length l can be completed;
Figure GDA0002171289490000032
namely, the vehicle length l is:
Figure GDA0002171289490000033
wherein, t1And t3Respectively the time when the automobile passes through two adjacent microwave signals,
Figure GDA0002171289490000034
is the angle between two microwave signals.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention has the advantages of accurate measurement, strong pertinence and all-weather measurement. Compare in ground sensor need be at road surface cutting sensor mounting groove, this system can not destroy the road to do not have the contact between check out test set and the vehicle, be difficult to destroyed, the reliability is higher.
In the invention, 16 or 32 microwave sensors with fixed angles are used, the congestion condition of a toll plaza is analyzed and calculated by acquiring the existence of vehicles in the ground area covered by the microwave sensors, and early warning is made according to the condition so as to help a toll station to timely determine the increase and decrease of toll collection personnel.
The invention can realize automatic scheduling of the high-speed toll station, thereby saving manpower and material resources; the system can help highway managers and toll collectors to obtain greater effect on the aspects of safety, economy, driver satisfaction and the like.
Drawings
FIG. 1 is a block diagram of a toll plaza congestion monitoring system architecture;
fig. 2 is a schematic diagram of the multi-beam detection principle;
FIG. 3 is a schematic view of a microwave sensor floor footprint;
FIG. 4 is a microwave sensor hardware block diagram;
FIG. 5 is a flowchart of the operation of the microwave sensor;
FIG. 6 is a schematic diagram of the velocity measurement principle;
FIG. 7 is a schematic of time difference detection;
FIG. 8 is a diagram of a signal processing implementation algorithm;
FIG. 9 is a graph of transmitted signal time-frequency relationship;
FIG. 10 is a schematic view of lane identification;
fig. 11 is a schematic view of the principle of measuring the vehicle length.
Detailed Description
The charging square congestion monitoring system based on microwave detection is composed of a microwave sensor, a communication module, a congestion analysis module and an early warning module. The schematic block diagram is shown in fig. 1. The congestion analysis module and the early warning module are integrated on an upper computer, and the upper computer uses an industrial computer; the communication module is respectively arranged on the microwave sensor and the upper computer, and is divided into a wired connection mode and a wireless transmission mode, the communication module is used according to an actual installation mode, the wired connection mode is an RS232 connection mode, and the wireless transmission mode is a WIFI mode.
The invention utilizes a plurality of microwave sensors with fixed angles to poll and scan a target area at a high speed, and utilizes an industrial control computer to realize the congestion monitoring of a toll plaza 24 hours all day and under any climatic conditions.
And the microwave sensor sends the toll plaza road information to the congestion analysis module in real time through the communication module every 50 ms. The congestion analysis module analyzes real-time road conditions by using the continuously received real-time information through time delay calculation and displays the real-time road conditions on the screen of the industrial personal computer through the early warning module in real time. And if the congestion phenomenon occurs, the congestion analysis module sends congestion information. And highlighting through a liquid crystal display screen. For the toll station manager to decide to open a new toll channel.
In order to make the coverage area of the microwave sensor meet the technical requirements, the suspension height H, the depression angle α and the included angle β between the emission angle and the road surface line need to be enabled to meet the measurement requirements, and the schematic diagram of the multi-beam detection principle is shown in fig. 2.
According to the requirement, the system needs two 16 paths of microwave sensors so that the covered area can reach the optimal area for judging the congestion phenomenon. A schematic view of the microwave sensor covering the ground is shown in fig. 3.
The monitoring controller for the system adopts an industrial control machine, the system is Windows XP, and the adopted software is C + +.
The detection controller of the system consists of a communication module, a congestion analysis module and an early warning display module.
The communication module is used for information transmission between the microwave sensor and the monitoring controller, and comprises establishment of a communication protocol, transmission of effective data and the like. The communication mode has two modes, namely a wired mode and a wireless mode according to the field complexity.
After receiving and extracting the information transmitted by the communication module, the congestion analysis module analyzes whether congestion occurs on the road, and if so, sends the information to the early warning display module.
The early warning display module is used for reminding the user of the complexity of the toll plaza, and if congestion occurs, the display can remind the user of the complexity in a highlight mode.
The following is a detailed description of each constituent part of the present invention:
first, microwave sensor design index
1. Operating frequency of microwave
24-24.24GHz，BW＝240MHz
2. Antenna characteristics
Single antenna with 16 groups of antennas for transmitting and horizontal narrow beam for receiving
The horizontal beam width of the receiving antenna is less than or equal to 6 degrees, and the sidelobe level is less than or equal to-40 dB
The vertical beam width of the receiving antenna is more than or equal to 72 degrees, and the sidelobe level is less than or equal to-40 dB
3. Transmitting power
Pout≥10dBm
4. Receiver sensitivity
Assuming that the microwave sensor is erected at a height of 7m and is spaced apart from the first lane by a lateral distance of 2m, the maximum operating distance Rmax of the microwave sensor is 70.2m, and the minimum operating distance Rmin is 5.57 m.
Assuming that the scattering cross-sectional area of the microwave sensor of the target vehicle is 1m2The transmitter power was taken to be 10mW and the antenna beam width 5 ° (i.e. the antenna gain was about 17.78 dB). According to the microwave sensor equation:
Figure GDA0002171289490000051
wherein: ptThe power is transmitted, G is gain, sigma is effective area of target ground, and R is acting distance of microwave;
the variation range of the power of the echo signal received by the microwave sensor is [ -99.4dBm, -55.4dBm ], and the dynamic range is 44 dB.
If the working bandwidth of the radio frequency front end LNA is 240MHz, the noise power at the input end of the LNA is as follows:
Ni＝kT0Bn＝1.38×10-23×293×240×106＝9.6×10-13W＝-90.2dBm(2)
wherein: k Boltzmann constant, T0Is absolute temperature, BnAn operating bandwidth for radio frequencies;
the noise figure of the LNA should therefore satisfy the following equation:
NLNA≤-99.4-(-90.2)＝-9.2dB(3)
the noise coefficient of the LNA chip selected at present is 2.5dB, and the LNA chip completely meets the system index requirements.
Second, system scheme
The microwave sensor adopts a Digital Direct Synthesis (DDS) technology to generate a microwave sensor intermediate frequency emission waveform. The waveform is subjected to frequency mixing and up-conversion, then is up-converted to 24-24.24 GHz radio frequency, and is radiated out through a transmitting antenna. The radiated electromagnetic wave of the microwave sensor irradiates a target to form a reflected wave which is received by a receiving antenna of the microwave sensor, amplified by two stages of high frequency, mixed by harmonic wave and then down-converted to intermediate frequency. And obtaining an intermediate frequency echo signal through intermediate frequency amplification and filtering. The signal is converted into a digital intermediate frequency signal after AD conversion, and the existence of a target is detected after digital filtering, ground clutter suppression, pulse compression, high resolution of a synthetic distance, threshold detection and unit average Constant False Alarm Rate (CFAR) processing. And further performing echo time-frequency analysis on the basis of detecting the existence of the target, thereby completing the functions of target speed measurement, distance measurement and the like.
The microwave sensor emission waveform is to adopt a frequency stepping Chirp waveform, which is a compromise between a Chirp signal and a frequency stepping signal, and has the advantages of the Chirp signal and the frequency stepping signal, so that the microwave sensor emission waveform can obtain high distance resolution and high data rate, and simultaneously can keep lower system instantaneous bandwidth.
1. Speed measuring function
The basic principle is as follows: when any two known wave beams detect the same trolley, the speed measurement can be finished
Figure GDA0002171289490000061
Wherein d is the distance between the two antennas, and Δ t is the time difference when the vehicle enters the two receiving beams respectively. See in particular fig. 6.
Since d is very short (only 13.8cm), in order to ensure the velocity measurement accuracy, high repetition frequency pulses must be used, and PRF is currently selected to be 1 MHz.
The maximum speed target speed required to be measured by the device is 200 km/h-55.56 m/s, and when the PRF is 1MHz, the number of pulses which can be received when the vehicle passes through two beams is as follows:
n＝106×d/vmax＝2484(5)
wherein: d is the projected distance between the two beams on the ground, vmaxThe highest speed target speed. Because the echo pulse with huge number can be received, the speed measurement precision can be ensured.
2. Distance measurement function
The accuracy of measuring the distance delta l between the vehicle and the microwave sensor directly determines the accuracy of judging the position of the subsequent vehicle. At present, the width of a high-speed lane of a highway in China is 3.75 meters, and if a common pulse signal is adopted, lane resolution is realized, the pulse width must meet the following formula:
Figure GDA0002171289490000062
then the pulse width τ is ≦ 0.0125 us. If the pulse repetition period is chosen to be 1us, the duty cycle is known to be only 1.25%. With such a small duty cycle, the average transmission time interval of the microwave sensor will be small, which will directly affect the microwave sensor range.
Therefore, in order to solve the above problem, the present design uses the signal form of the step chirp, as shown in fig. 7. The slant distance resolution can reach:
Figure GDA0002171289490000071
wherein: b isnAn operating bandwidth for radio frequencies;
the resolution calculated to the horizontal direction is better than that calculated to the horizontal direction
Figure GDA0002171289490000072
Sufficient accuracy is provided for lane accuracy. The specific signal processing flow is shown in fig. 8.
Fig. 8 shows that the signal from the rf front end is first processed by clutter suppression, detection, and data acquisition of analog-to-digital conversion, and then peak detection, and the final processing result Δ l is obtained.
The principle adopted by ranging is pulse Doppler, and the transmitted signal form is a frequency stepping chirp. For example, a group of pulses (e.g., 5 pulses) has a time-frequency distribution of the transmitted signal shown in fig. 9.
3. Position discrimination
Since the height at which the microwave sensor is mounted is known (set as h), after the vehicle is measured at an incline Δ l from the microwave sensor, the horizontal incline of the vehicle from the microwave sensor can be determined:
Figure GDA0002171289490000073
since the beam pointing direction of the receiving antenna of the microwave sensor deviates by θ ═ 30 °, the horizontal distance of the target from the microwave sensor:
Figure GDA0002171289490000074
assuming that the horizontal distance from the antenna erection position to the road edge is Δ P and the lane widths are uniformly distributed, the lane positions of the measured vehicle are as follows:
Figure GDA0002171289490000075
wherein [. ]]Denotes rounding, WlaneThe width of a single lane.
For non-uniformly distributed lanes, i.e. WlaneDifferent expressways need to be set according to actual conditions. After the microwave sensor equipment is powered on and initialized, the lane position parameters are set through operating software of a screen (an early warning display module) of an upper computer terminal. Or training and learning according to a certain number of vehicles to realize automatic lane recognition, and the part of contents are realized through a neural network. Firstly, manually judging whether the occupied condition of the lane is occupied or unoccupied, inputting the field condition to a congestion analysis module, automatically learning by the module according to manual data, and storing the learning result in a back-end database for judging the future congestion condition. The method can eliminate the place where the vehicle can not pass without using the vehicleThe lane is judged to belong to the certain lane. As shown in fig. 10.
4. Vehicle length measurement
After the speed v of the vehicle and the slope distance delta l of the vehicle from the microwave sensor are measured, the function of measuring the vehicle length l can be completed by using the method illustrated in fig. 11.
Figure GDA0002171289490000081
Namely, the vehicle length l is:
Figure GDA0002171289490000082
wherein, t1And t3Respectively the time when the automobile passes through two adjacent microwave signals,
Figure GDA0002171289490000083
is the angle between two microwave signals.
Third, congestion judgment (congestion analysis module)
After the accurate position information of the vehicle is obtained, the accurate position information of the vehicle can be compared with preset position information of a virtual coil, wherein the virtual coil is a square frame drawn in a mode of simulating a ground induction coil according to the area of the 16 paths of microwave sensors projected to the ground, and if a certain square frame is continuously occupied for more than 50s and the middle of the square frame is continuously free of empty window time, the fact that the vehicle stays above the virtual coil is inferred.
A plurality of virtual coils with the same area are drawn on the same lane, so that the effective measurement areas with different lengths can be covered, and the alarm function of different queuing lengths can be realized.
The system does not need to damage the road surface, realizes cleanness and tidiness of the road surface in class, and does not damage the sensor due to physical contact.
The microwave sensor of the system can reduce the possibility of being shielded and missed according to the actual conditions of different fields through the adjustment of installation height and inclination angle.

Claims (5)

1. A charging square congestion monitoring system based on multi-beam wide-area microwave detection is characterized in that: the intelligent traffic jam early warning system comprises a plurality of microwave sensors, a communication module, a jam analysis module and an early warning module; the microwave sensor, the communication module, the congestion analysis module and the early warning module are sequentially connected; the microwave sensor sends the toll plaza road information to the congestion analysis module in real time through the communication module, and the congestion analysis module analyzes the real-time road condition by using the continuously received real-time information through time delay calculation and sends the real-time road condition to the early warning module in real time;
the microwave sensor comprises a DDS + LO double-sideband signal input unit, a quadrature frequency mixing unit, a frequency multiplication unit, a power distributor, a power amplification unit, a high-frequency radio frequency switch, a transmitting antenna, a receiving antenna, an LNA, a frequency mixer, an intermediate frequency filtering unit, a differential intermediate frequency amplifier, a signal conditioning unit, an A/D, an FPGA and a DSP;
DDS + LO double-sideband signal input, a quadrature mixing unit, a frequency doubling unit, a power divider, a power amplifier unit, a high-frequency radio frequency switch and a transmitting antenna are sequentially connected, and a receiving antenna, an LNA, a mixer, an intermediate frequency filtering unit, a differential intermediate frequency amplifier, a signal conditioning unit, an A/D, an FPGA and a DSP are sequentially connected;
the DSP is connected with the communication module;
the congestion analysis module is used for measuring the slant distance between the vehicle and the microwave sensor, measuring the position of the vehicle and judging the road occupation time of the vehicle; calculating the vehicle position through the slope distance, and judging the track occupation time according to the vehicle position information;
the judging method comprises the following steps: drawing a square frame in a mode of simulating a ground induction coil according to the area of the microwave sensor projected to the ground, and defining the square frame as a simulation coil;
after the accurate position information of the vehicle is obtained, by comparing with the preset position information of the virtual coil, if a certain frame is continuously occupied for more than 50s and the middle is continuously free of the empty window time, the vehicle is concluded to be stopped above the virtual coil.
2. The toll plaza congestion monitoring system based on multi-beam wide-area microwave detection of claim 1, wherein: the measuring process of the skew distance is as follows;
firstly, clutter suppression, detection and data acquisition of analog-to-digital conversion are carried out on signals obtained from a radio frequency front end, then peak monitoring is carried out, and a final processing result, namely the slant distance delta l of the vehicle distance radar, is obtained; the principle adopted by the distance measurement is pulse Doppler, and the form of a transmitted signal is a frequency stepping linear frequency modulation pulse; the signal form of the stepping chirp is adopted, and the slant distance resolution ratio of the stepping chirp is as follows:
Figure FDA0002171289480000011
wherein, BnAn operating bandwidth for radio frequencies;
resolution to the horizontal direction is better than
Figure FDA0002171289480000021
Sufficient accuracy is provided for the accuracy of the vehicle position.
3. The toll plaza congestion monitoring system based on multi-beam wide-area microwave detection of claim 1, wherein: the measurement process of the vehicle position is as follows;
since the height of the radar mount is known, h, after measuring the vehicle's slope Δ l from the radar, the horizontal slope of the vehicle from the radar can be determined:
Figure FDA0002171289480000022
since the beam pointing direction of the radar receiving antenna deviates by θ equal to 30 °, the horizontal distance of the target from the radar:
Figure FDA0002171289480000023
assuming that the horizontal distance from the antenna erection position to the road edge is Δ P and the lane widths are uniformly distributed, the lane positions of the measured vehicle are as follows:
Figure FDA0002171289480000024
wherein [ ·]Denotes rounding, WlaneThe width of a single lane.
4. The toll plaza congestion monitoring system based on multi-beam wide-area microwave detection of claim 2, wherein: the congestion analysis module realizes the measurement of the vehicle speed; when two arbitrary known wave beams detect same platform vehicle-hour, can accomplish and test the speed:
Figure FDA0002171289480000025
wherein d is the distance between the two antennas, and Δ t is the time difference when the vehicle enters the two receiving beams respectively.
5. The toll plaza congestion monitoring system based on multi-beam wide-area microwave detection of claim 3, wherein: the congestion analysis module realizes the measurement of the length of the vehicle;
after the speed v of the vehicle and the slant distance delta l of the vehicle distance radar are measured, the measurement of the vehicle length l can be completed;
Figure FDA0002171289480000026
namely, the vehicle length l is:
Figure FDA0002171289480000027
wherein, t1And t3Respectively the time when the automobile passes through two adjacent microwave signals,
Figure FDA0002171289480000031
is the angle between two microwave signals.
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