CN107564285A - Vehicle queue length detection method and system based on microwave - Google Patents
Vehicle queue length detection method and system based on microwave Download PDFInfo
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Abstract
The invention discloses the vehicle queue length detection method based on microwave and system, including array antenna module and radio-frequency module to be used to launch multiple wave beams in detection overlay area, and receives the multiple wave beam of return；Model database is used to establish coordinate system in detection overlay area, and each track is numbered, to determine coordinate range of each track in Y-axis；Track algorithm module is used to analyze the multiple wave beams returned within a scan period；It is additionally operable to determine vehicle in the discreet area that next scan period will appear from；It is additionally operable to multiple wave beams that analysis returns within next scan period；Data processing module, for collective model database and the data of track algorithm module, and judge whether the speed of vehicle is less than predetermined value, to calculate queue length.The present invention is capable of the state of real-time tracing vehicle, analyzes the queuing situation of vehicle in real time, avoids being influenceed by environment, foundation is provided for the control of traffic signals.
Description
Technical field
The present invention relates to traffic control field, vehicle queue length detection method and system more particularly to based on microwave.
Background technology
Traffic is the lifeblood in city, is basic facilities mostly important in urban economy and people's life.Traffic control
It is the work for the public good to involve the interests of the state and the people, is closely related with the production and living of the citizen masses, whether good its state of development is
Be directly connected to masses' normal life, thus it also turn into the citizen masses most concerned about, it is most direct the problem of one of, it is steady to city
Fixed, sustainable development and the raising of living standards of the people play an important role.Reform and open up to the outside world over 30 years, with China
The fast development of economic society, the gradual expansion of size of urban population, there is the situation to grow at top speed in vehicle guaranteeding organic quantity, existing
Road network scale has been difficult to meet growing transport need, cause urban traffic accident to take place frequently, traffic congestion it is tight all the more
High, a series of problems, such as environmental pollution is serious, needs the serious problems of improvement badly as each city of current National, while is also puzzlement
Urban development, restrict an important factor for urban economy is built.
Due to the control of traffic lights, in the urban traffic network under high saturation state vehicle queue behavior necessarily send out
It is raw, and accurately obtain and estimate that vehicle queue length is to carry out congested in traffic scale evaluation, signal control of intersection timing, hand over
The important prerequisite of through-flow overflow control etc..
In the prior art, the general earth magnetism according to intersection obtains vehicle of leaving away, also obtained according to the microwave section on section
The maximum queue length for taking the weighting carried out into crossing vehicle to try to achieve.But this mode can not be to track Shang Liangge sections
Interior vehicle is tracked calculating, can only try to achieve queue length maximum on the section and can not obtain the row in each track
Team leader's degree.
Moreover, the video sensor collection vehicle image of prior art, generally comprises vehicle queue and detection, tail of the queue inspection be present
Survey, the conversion three parts of pixel distance to actual range, pixel distance is mainly converted into physical length by it.Under actual environment
Lane line is parallel, but due to the reason of camera lens imaging so that the lane line of imaging is no longer parallel.In addition, traffic
Crossing vehicle is more, lane line abrasion and it is seriously polluted, be not easy to identify track method segmentation detection zone.If moreover,
During IMAQ, influenceed by illumination, shade, bad weather, pedestrian, this will cause vehicle image large area
The problem of blocking, so as to be difficult to accurately be split the vehicle in image, eventually reduce crossing vehicle queue length inspection
The accuracy of survey, it can not be commanded for intelligent transportation system and accurate foundation is provided.Due to the different day and night scenes of brightness
Grey level histogram larger difference be present, vehicle queue detection of the video to day and night needs to use different algorithms, because
This needs to realize that day and night vehicle queue detection algorithm automatically switches.
The content of the invention
The technical problem to be solved in the present invention is to provide the vehicle queue length detection method based on microwave and system, in real time
The state of vehicle is followed the trail of, the queuing situation of vehicle is analyzed in real time, avoids being influenceed by environment, provided for the control of traffic signals
Foundation.
In order to solve the above-mentioned technical problem, the technical scheme is that：
Vehicle queue length detection method based on microwave, comprises the following steps：
S1：It is square by X-axis of the direction parallel to track and Microwave emission using microwave remote sensor position as origin
To, as Y-axis positive direction, to establish coordinate system perpendicular to the direction in the track and Microwave emission；
S2：Each track is numbered, and determines coordinate range of each track in Y-axis；
S3：Within a scan period, the detection overlay area of the microwave remote sensor is scanned, to obtain in the detection
The X-coordinate value of each vehicle in overlay area, Y-coordinate value, X velocity amplitudes, Y velocity amplitudes, the vehicle commander along X-direction；
S4：Each vehicle is matched with corresponding ID number；
S5：The place track of the vehicle is determined according to the Y-coordinate value and the coordinate range；
S6：Within one scan period, determine the vehicle in the discreet area that next scan period will appear from；
S7：Within next scan period, the detection overlay area is scanned, to redefine the corresponding ID number
The X-coordinate value, the Y-coordinate value, the X velocity amplitudes, the Y velocity amplitudes, the track；
S8：On same track, whether the speed of the nearest vehicle of judging distance stop line is less than predetermined value, "Yes", then enters
Row S9, "No", then carry out S3；
S9：On the same track, judging the speed of vehicle forward since apart from the farthest vehicle of stop line one by one is
It is no to be less than the predetermined value, until "Yes", then tail of the queue vehicle is found, and carry out S10；
S10：According to described apart from the coordinate of the nearest vehicle of stop line, the coordinate of the tail of the queue vehicle and vehicle commander, the row of calculating
Team leader's degree.
It is preferably, further comprising the steps of between S2 and S3,
S201：Scanning is without nobody track of car, to obtain background power spectrogram；
Wherein, from S3 to S10, the value of power spectrum chart that the microwave remote sensor obtains after scanning each time all subtracts pair
The value for the background power spectrogram answered.
Preferably, it is further comprising the steps of between S7 and S8：
S701：After the vehicle leaves the detection overlay area, the information of the corresponding ID number is emptied.
In order to solve the above-mentioned technical problem, technical scheme can also be：Vehicle queue length based on microwave
Detecting system, including：
Array antenna module and radio-frequency module, for launching multiple wave beams in detection overlay area, and receive the institute of return
State multiple wave beams；
Model database, for establishing coordinate system in the detection overlay area, and each track is numbered, with true
Fixed coordinate range of each track in Y-axis, wherein, the coordinate system using microwave remote sensor position as origin, with
Be X-axis positive direction parallel to track and the direction of Microwave emission, using perpendicular to the direction in the track and Microwave emission as Y-axis just
Direction；
Track algorithm module, for analyzing the multiple wave beam returned within a scan period, to obtain power spectrum
Figure and the X-coordinate value of each vehicle in the detection overlay area, Y-coordinate value, X velocity amplitudes, Y velocity amplitudes, along X-axis side
To vehicle commander, and each vehicle is matched with corresponding ID number；It is additionally operable to determine the vehicle in next scanning week
The discreet area that phase will appear from；The multiple wave beam that analysis returns within next scan period is additionally operable to, with again
It is determined that the X-coordinate value of the corresponding ID number, the Y-coordinate value, the X velocity amplitudes, the Y velocity amplitudes, the track；
Data processing module, for integrating the data of the model database and the track algorithm module, and judge car
Speed whether be less than predetermined value, to calculate queue length.
Preferably, in addition to background suppression module, for preserving the array antenna module and the radio-frequency module in nothing
Obtained background power spectrogram is scanned on nobody track of car；It is additionally operable to the value of the power spectrum chart subtracting the background
The value of power spectrum chart.
Preferably, in addition to memory module, for storing the data of the queue length, and by the number of the queue length
According to being sent to data feedback module.
Preferably, the width of the wave beam is 1 °, and the width of the multiple wave beam is 36 °.
Compared with prior art, the beneficial effects of the present invention are：The present invention is being detected in advance using Microwave Detecting Technology
Road information is set in device (when mounted just to demarcate the microwave detector, track coordinate is adjusted simultaneously in host computer
And it is sent to microwave detector).On the basis of the road information set in advance, the present invention being capable of real time scan road vehicle
Running situation, position and the speed of each vehicle are detected in real time, without choosing a certain position as sampling location.Cause
This, if the present invention can have in the range of the track of covering queuing situation can real-time high-accuracy output work queue's length.
The present invention can also be calculated the queue length in each track, output work queue's length of divided lane.
The present invention preferred scheme in, for present on road some can be influenceed such as isolation strip or metal hand rail
To the situation of radar performance, the present invention carries out ambient noise suppression by two-dimensional radar image method, to avoid environment to detection essence
The influence of exactness.
The present invention preferred scheme in, the present invention by a very narrow wave beam to quickly being scanned in detection zone,
To improve the resolution ratio to multi-target detection.
Brief description of the drawings
Some specific embodiments of the present invention are described in detail by way of example, and not by way of limitation with reference to the accompanying drawings hereinafter.
Identical reference denotes same or similar part or part in accompanying drawing.It should be appreciated by those skilled in the art that these
What accompanying drawing was not necessarily drawn to scale.In accompanying drawing：
Fig. 1 is the flow chart of one embodiment of the vehicle queue length detection method of the invention based on microwave；
Fig. 2 is the system block diagram of one embodiment of the vehicle queue length detecting system of the invention based on microwave；
Fig. 3 is array antenna module and the signal of radio-frequency module annexation in vehicle queue length detecting system of the present invention
Figure；
Fig. 4 is working state schematic representation of the vehicle queue length detecting system of the present invention on road；
Fig. 5 is the schematic diagram of the detection overlay area of vehicle queue length detecting system of the present invention；
Fig. 6 is schematic diagram of the detection overlay area of detecting system in Fig. 5 on road；
Fig. 7 is schematic diagram of the vehicle queue length detecting system of the present invention to the discreet area of vehicle；
Fig. 8 be the vehicle queue length detecting system scanning of the present invention without nobody track of car when obtained background power spectrum
Figure；
Fig. 9 is that the vehicle queue length detecting system of the present invention scans the power spectrum chart obtained during daily track；
Figure 10 is continuously linear frequency-modulated wave schematic diagram；
Figure 11 is the continuously linear frequency-modulated wave schematic diagram for adding Doppler frequency shift.
The implication that each symbol represents in figure is as follows：
0- microwave remote sensors, 1- array antenna modules, 11- transmitting antennas, 12-36 roads reception antenna, 2- radio-frequency modules, 3-
Data processing module, 31- model databases, 32- background suppression modules, 33- track algorithm modules, 34- memory modules, 4- data
Feedback module, 5- power-supply systems, 6- discreet areas, θ-sensor vertical luffing angle, α-sensor levels deviation angle, Dr-
Radial distance.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.Herein it should be noted that for
The explanation of these embodiments is used to help understand the present invention, but does not form limitation of the invention.It is in addition, disclosed below
As long as each embodiment of the invention in involved technical characteristic do not form conflict can each other and be mutually combined.
As shown in Fig. 2 the present invention includes array antenna module 1, radio-frequency module 2, data processing module 3, data feedback mould
Block 4.Array antenna module 1 and radio-frequency module 2 can be used for launching multiple wave beams in detection overlay area, and receive the institute of return
State multiple wave beams.Transmitting and the schematic diagram received may refer to Fig. 3.Radio-frequency module 2 is by monolithic integrated microwave circuit, multiple low noises
Sound amplifies and local oscillator composition.Radio-frequency module 2 externally launches multiple wave beams by transmitting antenna 11.Then, array antenna module 1 is logical
Cross 36 road reception antennas 12 and receive the multiple wave beams returned.Signal enters data processing by low pass filter, analog-digital converter
Module 3 is handled.
The present invention is used as detection medium using millimeter wave, because millimeter wave frequency band is special between electric wave and light wave
Frequency range, possess all weather operations characteristic of optical detection accuracy and electric wave, its environmental suitability and equipment later maintenance
It is far superior to the detection device of other frequency ranges, meanwhile, microwave remote sensor is in itself due to using millimere-wave band, so antenna size
Very little, microwave remote sensor also very little in itself, facilitates the construction and installation of follow up device at the scene.The detection overlay area of specific wave beam
As shown in Figure 5 and Figure 6.The present invention uses scan-type antenna, by a very narrow wave beam to being carried out in detection overlay area
Quick scanning, to obtain a fan-shaped detection overlay area.In the present embodiment, the width of a wave beam is 1 °, there is 36
Such wave beam is in the scanning of detection overlay area.So narrow wave beam can improve the resolution ratio to multi-target detection.Detection is covered
Effective radial direction length range of cover area is 0 meter~200 meters, covers substantially queue length of the general vehicle on track.
Coordinate system and related data are established in model database 31.
Fig. 4 shows the specific works mode of vehicle queue length detecting system of the present invention.The microwave sensing of detecting system
Device 0 is arranged on the position at crossing, and its setting height(from bottom) apart from ground is H, sensor vertical luffing angle is θ.Then, with microwave
The position of sensor 0 is origin O, using the direction parallel to track and Microwave emission as X-axis positive direction, with perpendicular to the car
The direction of road and Microwave emission is Y-axis positive direction, establishes coordinate system.Sensor levels deviation between microwave remote sensor 0 and X-axis
Angle is α.Then, each track is numbered, and determines coordinate range of each track in Y-axis.For example, first
The coordinate range in track is Y0<Lane1<Y1, the coordinate range of second lane is Y1<Lane2<Y2, the coordinate model of third lane
Enclose for Y2<Lane3<Y3.In the present embodiment, actual coordinate is is origin of coordinates O with microwave remote sensor 0 (radar), vertically
It is X-axis in radar antenna direction, the direction of Microwave emission is positive for X-axis；Be Y-axis parallel to radar antenna direction, i.e., perpendicular to
The track and the direction of Microwave emission are that Y-axis is positive.During due to installing the radar, the Detection results ratio of track installation is faced
Preferably, so general mounting means is all to face track installation.Thus, it is possible to it is X-axis to be construed to " line " parallel with track,
" line " vertical with track is Y-axis.Therefore, in one embodiment, two sides of sector region can be relative to the X-axis
Symmetrically.And in another embodiment, as shown in figure 5, a fan-shaped side can be X-axis, the fan-shaped opposite side
The side point farthest with detecting system described in distance on the stop line at the crossing intersects.
The microwave remote sensor 0 of the present invention receives the power spectrum for obtaining each angular range by each angle in turn.Due to
Vehicle enclosure is metal material, and the material that common road uses is pitch and cement etc., and the reflection power value of vehicle is remote
Higher than highway.In order to avoid the interference of contextual factor, after coordinate system is determined, staff operates microwave remote sensor 0, sweeps
Nobody track of no car is retouched, to obtain background power spectrogram.Specific background power spectrogram on road as shown in figure 8, not have
The background power spectrogram obtained under the detection environment of people and vehicle by some wave beam.In figure ripple is represented in the small lattice of abscissa
The radial distance of beam；Abscissa represents difference frequency value fb, unit kHz；Ordinate represents the energy work rate value P of each range points,
Unit is dBm.The power spectrum chart that microwave remote sensor 0 obtains when being scanned under general condition is as shown in Figure 9.Background power is composed
The effect of figure is exactly to be superimposed with power spectrum chart, to subtract the influence of background environment, the position where prominent vehicle.The step for
It is called ambient noise suppression.As shown in Fig. 2 the present invention is stored in nobody track of no car by background suppression module 32
It is upper to scan obtained background power spectrogram, then the value of power spectrum chart is subtracted to the value of the background power spectrogram, to avoid examining
Geodesic structure is disturbed by environmental factor.
The modulation system of the microwave beam of the present invention is specific as follows.This radar system uses CW with frequency modulation system, and
Symmetric triangular ripple is modulated.The frequency of transmission signal is modulated for symmetric triangular ripple.Figure 10 shows the principle of continuously linear frequency-modulated wave
Figure, the amplitude of transmission signal is constant, and in a cycle T, the frequency of signal is：
Wherein：
f0For signal active centre frequency；
△ F are signal effective bandwidth；
For coefficient of frequency modulation；
T is triangle wave period；
For initial phase.
Therefore, in a cycle, frequency sweep section is represented by under the mountain of transmission signal：
Wherein：
A is signal amplitude (and representing the energy value of echo).
Within the effective signal period, signal echo is：
Wherein：
R is the radial distance of target vehicle, and c is the light velocity.
Then, in the useful signal cycleWithIt is interior, by formula (4) and formula (2)
Instantaneous phase subtract each other, or the instantaneous phase of formula (3) and formula (1) is subtracted each other, can obtain transmission signal and echo-signal
The instantaneous phase of the difference frequency signal of gained is mixed, is：
Then difference frequency signal frequency i.e. can obtain to formula (7) derivation, is：
By formula (8) it is recognised that the distance and difference frequency signal frequency of target are directly proportional, as long as therefore measuring output intermediate frequency
The frequency of signal, it is possible to calculate the distance of target.Formula (7) and (8) are that the target vehicle to be detected is static situation.
If target vehicle is using speed as radial motions of the v along microwave remote sensor wave beam, it will makes the echo of microwave remote sensor increase
Doppler frequency shift fd.Doppler frequency shift causes the curve of frequency-time of echo to be raised and lowered, so as to cause a part poor
A Doppler frequency shift is added on frequency, or reduces a Doppler frequency shift on another part difference frequency.Figure 11 shows increasing
The continuously linear frequency-modulated wave schematic diagram of Doppler frequency shift is added.
If target vehicle, close to microwave remote sensor, the difference frequency within the frequency modulation cycle is：
Wherein：
For the difference frequency of upper frequency sweep section；
For the difference frequency of lower frequency sweep section.
The distance and velocity information of target can be then calculated by formula (11) and formula (12)：
From formula (11), as long as measuring the average frequency of output difference frequency signal, you can obtain the distance of target vehicle.
If measuring the speed of target vehicle, the difference frequency signal of upper and lower frequency sweep section output must be measured respectively, as shown in formula (12).
Derived according to ambiguity function, the range resolution ratio of triangle arm continuous wave is：
The velocity resolution of triangle arm continuous wave is：
According to the modulation system of above-mentioned microwave beam, microwave remote sensor after scanning, has obtained the radial direction of target vehicle
Then speed, radial distance Dr (as shown in Figure 4), target vehicle pass through echo-signal relative to the radial velocity V of sensor
Extraction obtains the RCS values (RCS) of target vehicle, so as to obtain the vehicle commander of target vehicle and overall width.
Track algorithm module 33 analyzes the multiple wave beam returned within a scan period, with obtain power spectrum chart and
The X-coordinate value of each vehicle in detection overlay area, Y-coordinate value, X velocity amplitudes, Y velocity amplitudes, the car along X-direction
It is long, and each vehicle is matched with corresponding ID number.For example, target vehicle is arrived in scanning, its coordinate (X, Y) is obtained,
And the speed Vx of its X-direction is obtained, the speed Vy of Y-direction.Wherein, X and Y calculation is：
X=(Dr × sin θ) × cos α (15)
Y=(Dr × sin θ) × sin α (16)
The calculation of the speed of X-direction：
Vx=(V × sin θ) × cos α (17)
Vy=(V × sin θ) × sin α (18)
Then, determine target vehicle on which track according to the coordinate range of Y value and each track.According to target vehicle
RCS RCS carry out target classification (cart, dolly, pedestrian, motorcycle, bicycle etc.), and obtain target vehicle
Vehicle commander and overall width.
On the basis of above-mentioned scanning, track following is carried out to target vehicle.Fig. 7, which is shown, estimated during track following
The one embodiment in region 6.The concrete mode of track following is as follows.First, track algorithm module 33 was analyzed a scanning week
The multiple wave beam returned in phase, to obtain the X-coordinate value of power spectrum chart and each vehicle in detection overlay area, Y
Coordinate value, X velocity amplitudes, Y velocity amplitudes, the vehicle commander along X-direction, and by each vehicle scanned and corresponding ID number phase
Match somebody with somebody.The track where target vehicle is also obtained in track algorithm module 33.Then, within this scan period, track algorithm
Module 33 determines vehicle in the discreet area that next scan period will appear from 6 according to the data obtained before.Discreet area 6 is just
It is the region extended from the headstock of target vehicle toward its traffic direction, the starting point of wherein discreet area 6 is exactly at this
The headstock position of target vehicle in the individual scan period.Then, within next scan period, track algorithm module 33 is again
The multiple wave beam that secondary analysis returns, to redefine the X-coordinate value of the corresponding ID number, Y-coordinate value, X velocity amplitudes, Y speed
Angle value, the track, so as to which the data of the target vehicle under this ID number be updated.
When more than one target is present in discreet area, the closest point of starting point apart from discreet area 6
For target point this moment, the information updating of this coordinate points is given to this ID number.Typically in urban transportation, if the movement of a target
Speed is 120km/h, then door size in track is about 1.6 meters of circle, and the circle that 40km/h tracks door size is about 0.5 meter, so
Vehicle driving trace just can be by microwave remote sensor real-time capture according to above rule.If target have left the detection area of coverage
Domain, then by the ID number information initializing of this target, that is, the information of the corresponding ID number being emptied, this ID number will free out,
The new target vehicle for entering detection overlay area will be given.
Preferably, a scan period can be 60ms or other suitable cycle times.
On the basis of vehicle in real-time tracking detection overlay area, vehicle queue length detecting system of the invention is entered
The calculating of row queue length.The definition of queue length (originates in and stopped for the queue length of each track vehicle in specified time section
Fare position, terminate at the vehicle that last stops in track).It is right after the target following processing in detection overlay area
Vehicle in the region carries out real-time statistics, divided lane output work queue length.As shown in Fig. 2 the present invention passes through data processing mould
The data of the collective model database 31 of block 3 and track algorithm module 33, and judge whether the speed of vehicle is less than predetermined value, in terms of
Calculate queue length.
Due to just being had been obtained for when establishing coordinate before, the X-coordinate of the stop line in track and each car under coordinate system
The coordinate in road, and the Y-coordinate of each vehicle is divided according to the coordinate range in each track by track.And each mesh
Target X-coordinate value is all the coordinate value of its headstock position.Ranked length gauge for the vehicle in same track after divided lane
Calculate.When the speed of the target vehicle (apart from the nearest vehicle of stop line) of the track foremost is 0km/h, the track last
When the speed of car (apart from the farthest vehicle of stop line) is also 0km/h, calculate apart from the farthest vehicle of stop line and apart from stop line most
The distance length of nearly vehicle, and the vehicle commander plus this apart from the farthest vehicle of stop line, it is the queue length in the track.But
If the speed of last car of track is not 0km/h situation, the speed of previous car of the target is calculated, with such
Push away, until authenticating to the tail of the queue vehicle for being 0km/h apart from the farthest speed simultaneously of stop line.Then tail of the queue vehicle is calculated with distance to stop
The only distance length of the nearest vehicle of line, and plus the queue length of the vehicle commander of the tail of the queue vehicle, the as track.
Preferably, data processing module 3 judges whether the speed of vehicle is less than predetermined value, and predetermined value can be 0km/h,
Can be 0.2km/h.
To sum up, queue length is equal to the coordinate value that the X-coordinate value of tail of the queue vehicle is subtracted apart from the nearest vehicle of stop line and added
The vehicle commander of tail of the queue vehicle.
Preferably, queue length detecting system of the invention also includes memory module 34, power-supply system 5 and data feedback mould
Block 4.Memory module 34 is used for the data for storing the queue length, and the data of the queue length are sent into data feedback
Module 4.And power-supply system 5 will provide electric energy for all parts of present system.
As shown in figure 1, according to another aspect of the present invention, present invention also offers the vehicle queue length based on microwave
Detection method, comprise the following steps：
S1：It is square by X-axis of the direction parallel to track and Microwave emission using microwave remote sensor position as origin
To, as Y-axis positive direction, to establish coordinate system perpendicular to the direction in the track and Microwave emission；
S2：Each track is numbered, and determines coordinate range of each track in Y-axis；
S3：Within a scan period, the detection overlay area of the microwave remote sensor is scanned, to obtain in the detection
The X-coordinate value of each vehicle in overlay area, Y-coordinate value, X velocity amplitudes, Y velocity amplitudes, the vehicle commander along X-direction；
S4：Each vehicle is matched with corresponding ID number；
S5：The place track of the vehicle is determined according to the Y-coordinate value and the coordinate range；
S6：Within one scan period, determine the vehicle in the discreet area that next scan period will appear from；
S7：Within next scan period, the detection overlay area is scanned, to redefine the corresponding ID number
X-coordinate value, Y-coordinate value, X velocity amplitudes, Y velocity amplitudes, the track；
S8：On same track, whether the speed of the nearest vehicle of judging distance stop line is less than predetermined value, "Yes", then enters
Row S9, "No", then carry out S3；
S9：On the same track, judging the speed of vehicle forward since apart from the farthest vehicle of stop line one by one is
It is no to be less than the predetermined value, until "Yes", then tail of the queue vehicle is found, and carry out S10；
S10：According to described apart from the coordinate of the nearest vehicle of stop line, the coordinate of the tail of the queue vehicle and vehicle commander, the row of calculating
Team leader's degree.
In above-mentioned steps, S1 to S2 is the step of establishing coordinate.S3 to S7 is real-time rail of the present invention to target vehicle
Mark tracking step.S8 to S10 is the queue length calculation procedure of the present invention.Specific step implementation has in detail above
Elaboration.
Preferably, it is further comprising the steps of between S2 and S3 when establishing coordinate, S201：Scanning is without car described in nobody
Track, to obtain background power spectrogram.The value for the power spectrum chart that microwave remote sensor obtains after scanning each time all subtracts correspondingly
The background power spectrogram value, to avoid scanning result effected by environmental factors.
Preferably, it is further comprising the steps of between S7 and S8 during track following：S701：Left in the vehicle described
After detecting overlay area, the information of the corresponding ID number is emptied.
Embodiments of the present invention are explained in detail above in association with accompanying drawing, but the invention is not restricted to described implementation
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen within protection scope of the present invention.
Claims (7)
1. the vehicle queue length detection method based on microwave, it is characterised in that comprise the following steps：
S1：Using microwave remote sensor position as origin, using the direction parallel to track and Microwave emission as X-axis positive direction, with
It is Y-axis positive direction perpendicular to the track and the direction of Microwave emission, establishes coordinate system；
S2：Each track is numbered, and determines coordinate range of each track in Y-axis；
S3：Within a scan period, the detection overlay area of the microwave remote sensor is scanned, to obtain covering in the detection
The X-coordinate value of each vehicle in region, Y-coordinate value, X velocity amplitudes, Y velocity amplitudes, the vehicle commander along X-direction；
S4：Each vehicle is matched with corresponding ID number；
S5：The place track of the vehicle is determined according to the Y-coordinate value and the coordinate range；
S6：Within one scan period, determine the vehicle in the discreet area that next scan period will appear from；
S7：Within next scan period, the detection overlay area is scanned, to redefine the institute of the corresponding ID number
State X-coordinate value, the Y-coordinate value, the X velocity amplitudes, the Y velocity amplitudes, the track；
S8：On same track, whether the speed of the nearest vehicle of judging distance stop line is less than predetermined value, "Yes", then carries out S9,
"No", then carry out S3；
S9：On the same track, judge whether the speed of vehicle is small forward since apart from the farthest vehicle of stop line one by one
In the predetermined value, until "Yes", then tail of the queue vehicle is found, and carry out S10；
S10：According to described apart from the coordinate of the nearest vehicle of stop line, the coordinate of the tail of the queue vehicle and vehicle commander, calculate and be lined up length
Degree.
2. vehicle queue length detection method according to claim 1, it is characterised in that：Between S2 and S3 also include with
Lower step,
S201：Scanning is without nobody track of car, to obtain background power spectrogram；
Wherein, from S3 to S10, corresponding to the value of power spectrum chart that the microwave remote sensor obtains after scanning each time all subtracts
The value of the background power spectrogram.
3. vehicle queue length detection method according to claim 1, it is characterised in that：Between S7 and S8, in addition to
Following steps：
S701：After the vehicle leaves the detection overlay area, the information of the corresponding ID number is emptied.
4. the vehicle queue length detecting system based on microwave, it is characterised in that including：
Array antenna module and radio-frequency module, for launching multiple wave beams in detection overlay area, and receive the described more of return
Individual wave beam；
Model database, for establishing coordinate system in the detection overlay area, and each track is numbered, to determine
Coordinate range of each track in Y-axis is stated, wherein, the coordinate system is using microwave remote sensor position as origin, with parallel
In track and the direction of Microwave emission be X-axis positive direction, using square as Y-axis perpendicular to the direction in the track and Microwave emission
To；
Track algorithm module, for analyzing the multiple wave beam that is returned within a scan period, with obtain power spectrum chart and
The X-coordinate value of each vehicle, Y-coordinate value, X velocity amplitudes, Y velocity amplitudes in the detection overlay area, along X-direction
Vehicle commander, and each vehicle is matched with corresponding ID number；It is additionally operable to determine that the vehicle will in next scan period
The discreet area of appearance；The multiple wave beam that analysis returns within next scan period is additionally operable to, to redefine
The X-coordinate value of the corresponding ID number, the Y-coordinate value, the X velocity amplitudes, the Y velocity amplitudes, the track；
Data processing module, for integrating the data of the model database and the track algorithm module, and judge vehicle
Whether speed is less than predetermined value, to calculate queue length.
5. vehicle queue length detecting system according to claim 4, it is characterised in that also including background suppression module,
Obtained background work(is scanned for preserving the array antenna module and the radio-frequency module on without nobody track of car
Rate spectrogram；It is additionally operable to subtract the value of the power spectrum chart value of the background power spectrogram.
6. vehicle queue length detecting system according to claim 4, it is characterised in that also including memory module, be used for
The data of the queue length are stored, and the data of the queue length are sent to data feedback module.
7. the vehicle queue length detecting system according to claim 4 or 5, it is characterised in that the width of the wave beam is
1 °, the width of the multiple wave beam is 36 °.
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