CN107464427B - A kind of queuing vehicle length detecting systems and method - Google Patents
A kind of queuing vehicle length detecting systems and method Download PDFInfo
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- CN107464427B CN107464427B CN201710580539.2A CN201710580539A CN107464427B CN 107464427 B CN107464427 B CN 107464427B CN 201710580539 A CN201710580539 A CN 201710580539A CN 107464427 B CN107464427 B CN 107464427B
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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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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Abstract
The invention discloses a kind of queuing vehicle length detecting systems and methods.The system includes control module and the laser range finder being attached thereto respectively, x/y to steering engine, human-computer interaction module and memory module, the laser range finder is mounted on x/y on steering engine, x/y includes x to steering engine and y to steering engine to steering engine, is respectively used to the rotation of horizontal direction and vertical direction；By human-computer interaction module to control module input control instruct and running parameter, control module drives x/y to rotate to steering engine, to drive the data of laser range finder acquisition different location, control module goes out the length of queuing vehicle according to these DATA REASONINGs, and measurement result is shown on human-computer interaction module.Compared with prior art, the present invention structure is simple and affected by environment small, there is very big practical value.
Description
Technical field
The invention belongs to traffic data field of measuring technique, in particular to a kind of queuing vehicle length detecting systems and side
Method.
Background technique
With industrialization, the quickening of urbanization paces, urban transportation blocking has evolved as a global problem,
Even if in some developing countries, Urban Traffic Jam Based also grows in intensity.As the China of developing country, nearly 20 years
Come, with sustained, rapid an sound development of the economy, due to advancing by leaps and bounds for vehicles number, urban traffic pressure increases suddenly, hands over
Logical congestion phenomenon gradually becomes common.Especially in big city, traffic congestion blocking and thus caused traffic energy consumption, environment
The aggravation of pollution is one of the extremely serious "urban disease" that China city faces, and it is further to have become restriction national economy
The bottleneck of development.Smooth urban transportation is one of city normal operation essential condition.Can urban transport problems smoothly solve, directly
Connect the improved degree for being related to urban economy development, urban modernization construction and resident living.
Currently, also having much in relation to the solution for solving traffic congestion, such as speed guidance system and signal timing dial tune
Whole system, and in these solutions, require to get an important parameter from the external world in advance --- current lane row
Team's length information.Therefore, it is necessary to a set of feasible solutions, can easily get current vehicle queue length letter in real time
Breath.
Currently, existing vehicle queue length measuring system also there are many kinds of: for example based on the vehicle queue of image procossing
Length measuring system specifically gets current vehicle queue photo using high definition camera, carries out image procossing point later
Analysis, obtains current vehicle queue length；There are also the Vehicle length measuring systems based on short distance radar, are specifically sent out using radar
The machine of penetrating launches frequency electromagnetic waves, according to radar return, detects to front vehicles, to obtain vehicle queue length letter
Breath.It for the former, due to being related to image procossing, is influenced by current shooting environment is very big, in rainy days and other are special
In the case of, effect is undesirable, additionally due to being related to complicated image procossing, wants to embedded system performance and camera system
Ask higher, price is costly；For the latter, since radar transmitter power consumption is higher, and radiation can be generated to human body, it may
Risk is come to health care belt, is not easy to largely equip.
Summary of the invention
In order to solve the technical issues of above-mentioned background technique proposes, the present invention is intended to provide a kind of queuing vehicle length detection
System and method make up the deficiency of existing vehicle queue length measuring technique.
In order to achieve the above technical purposes, the technical solution of the present invention is as follows:
A kind of queuing vehicle length detecting systems, laser range finder, the x/y being attached thereto including control module and respectively
To steering engine, human-computer interaction module and memory module, the laser range finder is mounted on x/y on steering engine, x/y to steering engine include x
To steering engine and y to steering engine, it is respectively used to the rotation of horizontal direction and vertical direction；It is defeated to control module by human-computer interaction module
Enter control instruction and running parameter, control module drives x/y to rotate to steering engine, so that laser range finder be driven to acquire different location
Data, control module goes out the length of queuing vehicle according to these DATA REASONINGs, and measurement result is shown in human-computer interaction mould
On block.
Queuing vehicle length detecting method based on above system, comprising the following steps:
(1) position for determining measurement origin and each measurement point, according to the position of each measurement point and x/y to steering engine
The relationship for rotating angle, calculates rotation angle of the corresponding x/y of each measurement point to steering engine, and save；
(2) each measurement point corresponding distance threshold of the lane to be measured without vehicle when is calculated, comprising the following steps:
(21) queuing vehicle length detecting systems are installed, the measurement origin that step (1) determines is installation site；
(22) origin position calibration is carried out to steering engine to x/y；
(23) rotation angle from the corresponding x/y of each measurement point that read step (1) saves to steering engine, and according to rotation angle
Degree driving x/y is rotated to steering engine, and laser range finder acquires the range data of each measurement point and preservation；
(24) range data of each measurement point obtained according to step (23) calculates the corresponding no vehicle of each measurement point
When distance threshold；
(3) vehicle queue length in lane to be measured is measured in the vehicle congestion period, comprising the following steps:
(31) origin position calibration is carried out to steering engine to x/y；
(32) rotation angle from the corresponding x/y of each measurement point that read step (1) saves to steering engine, and according to rotation angle
Degree driving x/y is rotated to steering engine, and laser range finder acquires the range data of each measurement point and preservation；
(33) distance threshold that the range data for each measurement point that comparison step (32) obtains and step (24) obtain, obtains
To vehicle queue length.
Further, detailed process is as follows for step (1):
Measurement origin is located at the front of lane stop line to be measured, the place plane using ground as plane right-angle coordinate, with
Measurement origin is coordinate origin, to be parallel to the direction in lane to be measured as coordinate system x-axis, perpendicular to the direction of x-axis work
For coordinate system y-axis, plane right-angle coordinate is established, all measurement points are on plane right-angle coordinate along the direction for being parallel to x-axis
It is equidistantly arranged since stop line, if the spacing of adjacent measurement points is a, then a <b, b are parking personal distance, obtain each survey
Coordinate of the amount point in the coordinate system calculates the corresponding rotation angle of each measurement point according to the relational expression of formula (1):
In formula (1), θx、θyFor respectively x to steering engine and y to the rotation angle of steering engine, x, y are respectively measurement point in coordinate system
Interior cross, ordinate, h are height of the distance measuring sensor away from ground.
Further, specific step is as follows for step (22) and (31):
(A) origin position calibration is carried out to steering engine to x:
(A1) point on the basis of current point saves current point and measures distance x0；
(A2) control x turns right α degree to steering engine, saves point measurement distance x1；
(A3) control x turns left 2 α degree to steering engine, saves point measurement distance x2；
(A4) compare x0, x1 and x2, select datum mark of the corresponding point of minimum value as calibration next time；
(A5) repeat step (A1)-(A4), until x1 is equal with x2, preservation current base point position, and as x to
Steering engine datum mark；
(B) origin position calibration is carried out to steering engine to y, step is identical to steering engine origin position calibration as x；
(C) after calibrating, so that the beam orthogonal of laser ranging sensing instrument transmitting is in road surface, and by the laser point on road surface
Measure origin.
Further, specific step is as follows for step (24):
(241) laser range finder is repeated as many times the range data for acquiring certain measurement point, and the data of multi collect are formed one
A array；
(242) array is repeated multi-time weighted average:
In formula (2), LiFor i-th of element in array, n is array length, LbFor last weighted average, mbFor Lb
Weight in this calculating；
(243) outlier is rejected centered on weighted average；
(244) secondary weighted average to the data progress after rejecting outlier, obtain the distance threshold of the measurement point.
Further, detailed process is as follows for step (33):
Since the stop line in lane to be measured, step (32) is obtained into the range data of each measurement point and step (24) obtain
To the distance threshold of the measurement point be compared, first range data is less than the measurement point of distance threshold as vehicle row
The terminal of team is then the length of queuing vehicle from the distance of lane stop line to the terminal to be measured.
By adopting the above technical scheme bring the utility model has the advantages that
Compared with the prior art, since structure is simple, (only there are two rotate steering wheel and a laser rangings by the present invention
Instrument), it is affected by environment small convenient for arrangement, and due to using laser ranging, therefore have very big practical value.By to vehicle
Accurately calculating for queue length, reflects the information of vehicle flowrate on road surface, provides decision for traffic control department and dispatches foundation, reduces and hand over
Logical congestion phenomenon.
Detailed description of the invention
Fig. 1 is the system composition block diagram of the invention；
Fig. 2 is holistic approach flow chart of the invention；
Fig. 3 is establishment of coordinate system schematic diagram of the invention；
Fig. 4 is the relation schematic diagram in the present invention between rectangular co-ordinate and rotation angle；
Fig. 5 is the flow chart of step 2 in the present invention；
Fig. 6 is that distance threshold seeks flow chart in the present invention；
Fig. 7 is the flow chart of step 3 in the present invention.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
A kind of queuing vehicle length detecting systems, as shown in Figure 1, including control module and the laser being attached thereto respectively
To steering engine, human-computer interaction module and memory module, the laser range finder is mounted on x/y on steering engine by rangefinder, x/y, x/y to
Steering engine includes x to steering engine and y to steering engine, is respectively used to the rotation of horizontal direction and vertical direction；By human-computer interaction module to
The instruction of control module input control and running parameter, control module drives x/y to rotate to steering engine, so that laser range finder be driven to adopt
Collect the data of different location, control module goes out the length of queuing vehicle according to these DATA REASONINGs, and measurement result is shown
On human-computer interaction module.
The invention also includes the queuing vehicle length detecting methods based on above system, as shown in Fig. 2, specific steps are such as
Under.
Step 1: the position of measurement origin and each measurement point is determined, according to the position of each measurement point and x/y to rudder
The relationship of the rotation angle of machine calculates rotation angle of the corresponding x/y of each measurement point to steering engine, and saves.
Measurement origin is located at the front of lane stop line to be measured, the place plane using ground as plane right-angle coordinate, with
Measurement origin is coordinate origin, to be parallel to the direction in lane to be measured as coordinate system x-axis, perpendicular to the direction of x-axis work
For coordinate system y-axis, plane right-angle coordinate is established, all measurement points are on plane right-angle coordinate along the direction for being parallel to x-axis
It is equidistantly arranged since stop line, if the spacing of adjacent measurement points is a, then a <b, b are parking personal distance.Fig. 3 is to establish
One exemplary diagram of plane right-angle coordinate, the α in figure1n、α2nThe measurement point respectively arranged on lane 1,2.
Coordinate of each measurement point in the coordinate system is obtained, formula (1) is obtained according to Fig. 4, calculates each measurement point pair
The rotation angle answered:
In formula (1), θx、θyFor respectively x to steering engine and y to the rotation angle of steering engine, x, y are respectively measurement point in coordinate system
Interior cross, ordinate, h are height of the distance measuring sensor away from ground.
Step 2: when calculating lane to be measured without vehicle each measurement point of (such as midnight 12 points to 4:00 AM) it is corresponding away from
From threshold value, as shown in figure 5, specific step is as follows.
Step 21: installation queuing vehicle length detecting systems, the measurement origin that step 1 determines is installation site.
Step 22: origin position calibration being carried out to steering engine to x/y, specific step is as follows.
A, origin position calibration is carried out to steering engine to x:
A1, the point on the basis of current point save current point and measure distance x0；
A2, control x turn right α degree to steering engine, save point measurement distance x1；
A3, control x turn left 2 α degree to steering engine, save point measurement distance x2；
A4, compare x0, x1 and x2, select datum mark of the corresponding point of minimum value as calibration next time；
A5, step A1-A4 is repeated, until x1 is equal with x2, preservation current base point position, and as x to steering engine
Datum mark；
B, origin position calibration is carried out to steering engine to y, step is identical to steering engine origin position calibration as x；
C, after calibration, so that the beam orthogonal of laser ranging sensing instrument transmitting is in road surface, and by the laser point on road surface
Measure origin.
Step 23: rotation angle from the corresponding x/y of each measurement point that read step 1 saves to steering engine, and according to rotation
Angle drives x/y to rotate to steering engine, and laser range finder acquires the range data of each measurement point and preservation.
Step 24: the range data of each measurement point obtained according to step 23 calculates the corresponding no vehicle of each measurement point
When distance threshold, as shown in fig. 6, specific step is as follows.
Step 241: laser range finder is repeated as many times the range data for acquiring certain measurement point, and the data of multi collect are formed
One array；
Step 242: array is repeated multi-time weighted average:
In formula (2), LiFor i-th of element in array, n is array length, LbFor last weighted average, mbFor Lb
Weight in this calculating；
Step 243: outlier is rejected centered on weighted average；
Step 244: it is secondary weighted average to the data progress after rejecting outlier, obtain the distance threshold of the measurement point.
Step 3: the vehicle queue length in lane to be measured is measured in vehicle congestion period (such as upper and lower class's peak period),
As shown in fig. 7, specific step is as follows.
Step 31: origin position calibration being carried out to steering engine to x/y, the process and step 22 are consistent.
Step 32: rotation angle from the corresponding x/y of each measurement point that read step 1 saves to steering engine, and according to rotation
Angle drives x/y to rotate to steering engine, and laser range finder acquires the range data of each measurement point and preservation.
Step 33: the distance threshold that the range data and step 24 for each measurement point that comparison step 32 obtains obtain obtains
To vehicle queue length.Since the stop line in lane to be measured, step 32 is obtained into the range data and step of each measurement point
The distance threshold of the 24 obtained measurement points is compared, and first range data is less than the measurement point of distance threshold as vehicle
Be lined up terminal, then be the length of queuing vehicle from the distance of lane stop line to the terminal to be measured.
Embodiment is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, it is all according to
Technical idea proposed by the present invention, any changes made on the basis of the technical scheme are fallen within the scope of the present invention.
Claims (3)
1. the queuing vehicle length detecting method based on queuing vehicle length detecting systems, which is characterized in that the queuing vehicle
Length detecting systems include control module and the laser range finder being attached thereto respectively, x/y to steering engine, human-computer interaction module and
Memory module, the laser range finder are mounted on x/y on steering engine, and x/y includes x to steering engine and y to steering engine to steering engine, use respectively
In the rotation of horizontal direction and vertical direction；By human-computer interaction module to control module input control instruct and running parameter,
Control module drives x/y to rotate to steering engine, to drive the data of laser range finder acquisition different location, control module is according to this
A little DATA REASONINGs go out the length of queuing vehicle, and measurement result is shown on human-computer interaction module；
Queuing vehicle length detecting method based on above system the following steps are included:
(1) position of measurement origin and each measurement point, the rotation according to the position of each measurement point and x/y to steering engine are determined
The relationship of angle calculates rotation angle of the corresponding x/y of each measurement point to steering engine, and saves；
(2) each measurement point corresponding distance threshold of the lane to be measured without vehicle when is calculated, comprising the following steps:
(21) queuing vehicle length detecting systems are installed, the measurement origin that step (1) determines is installation site；
(22) origin position calibration is carried out to steering engine to x/y；
(23) read step (1) save rotation angle from the corresponding x/y of each measurement point to steering engine, and according to rotation angle drive
Dynamic x/y is rotated to steering engine, and laser range finder acquires the range data of each measurement point and preservation；
When (24) range data of each measurement point obtained according to step (23) calculates each measurement point corresponding no vehicle
Distance threshold；Detailed process is as follows for the step:
(241) laser range finder is repeated as many times the range data for acquiring certain measurement point, and the data of multi collect are formed a number
Group；
(242) array is repeated multi-time weighted average:
In formula (1), LiFor i-th of element in array, n is array length, LbFor last weighted average, mbFor LbAt this
Weight in calculating；
(243) outlier is rejected centered on weighted average；
(244) secondary weighted average to the data progress after rejecting outlier, obtain the distance threshold of the measurement point；
(3) vehicle queue length in lane to be measured is measured in the vehicle congestion period, comprising the following steps:
(31) origin position calibration is carried out to steering engine to x/y；
(32) read step (1) save rotation angle from the corresponding x/y of each measurement point to steering engine, and according to rotation angle drive
Dynamic x/y is rotated to steering engine, and laser range finder acquires the range data of each measurement point and preservation；
(33) distance threshold that the range data for each measurement point that comparison step (32) obtains and step (24) obtain, obtains vehicle
Queue length；Detailed process is as follows for the step:
Since the stop line in lane to be measured, step (32) obtained into the range data of each measurement point and step (24) obtain
The distance threshold of the measurement point is compared, and first range data is less than the measurement point of distance threshold as vehicle queue
Terminal is then the length of queuing vehicle from the distance of lane stop line to the terminal to be measured.
2. queuing vehicle length detecting method according to claim 1, which is characterized in that detailed process is as follows for step (1):
Measurement origin is located at the front of lane stop line to be measured, plane where using ground as plane right-angle coordinate, with measurement
Origin is coordinate origin, to be parallel to the direction in lane to be measured as coordinate system x-axis, using the direction perpendicular to x-axis as sitting
Mark system y-axis, establishes plane right-angle coordinate, and all measurement points are on plane right-angle coordinate along being parallel to the direction of x-axis from stopping
Only line starts equidistantly to arrange, if the spacing of adjacent measurement points is a, then a <b, b are parking personal distance, obtains each measurement point
Coordinate in the coordinate system calculates the corresponding rotation angle of each measurement point according to the relational expression of formula (2):
In formula (2), θx、θyFor respectively x to steering engine and y to the rotation angle of steering engine, x, y are respectively measurement point in coordinate system
Horizontal, ordinate, h are height of the distance measuring sensor away from ground.
3. queuing vehicle length detecting method according to claim 1, which is characterized in that the specific step of step (22) and (31)
It is rapid as follows:
(A) origin position calibration is carried out to steering engine to x:
(A1) point on the basis of current point saves current point and measures distance x0；
(A2) control x turns right α degree to steering engine, saves point measurement distance x1；
(A3) control x turns left 2 α degree to steering engine, saves point measurement distance x2；
(A4) compare x0, x1 and x2, select datum mark of the corresponding point of minimum value as calibration next time；
(A5) step (A1)-(A4) is repeated, until x1 is equal with x2, preservation current base point position, and as x to steering engine
Datum mark；
(B) origin position calibration is carried out to steering engine to y, step is identical to steering engine origin position calibration as x；
(C) after calibrating, so that the beam orthogonal of laser ranging sensing instrument transmitting is to measure in road surface, and by the laser point on road surface
Origin.
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| CN102867414A (en) * | 2012-08-18 | 2013-01-09 | 湖南大学 | Vehicle queue length measurement method based on PTZ (Pan/Tilt/Zoom) camera fast calibration |
| CN103985251A (en) * | 2014-04-21 | 2014-08-13 | 东南大学 | Method and system for calculating vehicle queuing length |
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