CN107657817A - A kind of vehicle condition detection device based on more geomagnetic sensors - Google Patents
A kind of vehicle condition detection device based on more geomagnetic sensors Download PDFInfo
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- CN107657817A CN107657817A CN201710905730.XA CN201710905730A CN107657817A CN 107657817 A CN107657817 A CN 107657817A CN 201710905730 A CN201710905730 A CN 201710905730A CN 107657817 A CN107657817 A CN 107657817A
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- vehicle
- geomagnetic
- data
- detection device
- geomagnetic sensor
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
Abstract
The invention discloses a kind of vehicle condition detection device based on more geomagnetic sensors, belong to traffic and transport field.Described detection means employs multiple geomagnetic sensors and is arranged in below road surface or road surface, during by vehicle by near geomagnetic sensor, make the data of geomagnetic sensor that the characteristic of significant change occur, contrasted using the characteristic of multiple geomagnetic sensors and then measure vehicle in the position on road surface, vehicle size and model, the advantage of measurement accuracy is influenceed with being not easy to be blocked by other objects, while there is faster processing speed.
Description
Technical field
The invention belongs to traffic and transport field, is related to and carries out state-detection to road vehicle, and in particular to one kind is on road surface
Or arrange that multiple geomagnetic sensors carry out the detection means of the location status of real-time perception vehicle under road surface.
Background technology
The patent application of application number 201410183886.8 provides a kind of earth magnetism wagon detector, the iron that vehicle contains in itself
Magnetic material can have an impact to the Geomagnetic signal of vehicle domain of the existence, the geomagnetic chart linesofforce of vehicle domain of the existence is bent.
When vehicle passes through sensor proximity, sensor sensitive can perceive the change of signal, and detection is can be obtained by through signal analysis
The relevant information of target.By contrast by different geomagnetic sensors detections to Geomagnetic signal differential signal, extraction
Different differential signals, sorts out to differential signal, and different classes of differential signal is acted into phase from different vehicles while passing
Association, associating between differential signal and vehicle action is obtained, realizes and the vehicle near the earth magnetism vehicle detection apparatus is entered
The judgement having troubles, the detection Geomagnetic signal in opposite direction that the differential signal is read by different geomagnetic sensors it
Difference, the classification refer to the classification carried out according to the excursion of differential signal, and the association refers to the change according to differential signal
The differentiation that change amplitude acts to vehicle, and by after differentiation particular vehicle action and the differential signal specific change amplitude phase
Corresponding, the vehicles while passing situation includes the travel direction of vehicle.
The patent application of application number 201110056910.8 discloses a kind of vehicle position detection system, passes through current shooting
The size comprising same object compares (mapping relations comprising image and distance in database) in the image of image and database,
And then show that distance determines vehicle location.
The problem of above-mentioned prior art is present includes：Function is single, that is, is only capable of carrying out the Detection of Existence of vehicle, without it
His function；And the scene of stationary vehicle can not be applied to, detection function can not be expressed completely in the case of by occlusion.
The content of the invention
In order to solve the problems, such as exist in the prior art for vehicle detection, the present invention provides a kind of based on more earth magnetism sensing
The vehicle condition detection device of device, described detection means employ multiple geomagnetic sensors and are arranged in below road surface or road surface,
During by vehicle by near geomagnetic sensor, make the data of geomagnetic sensor that the characteristic of significant change occur, using multiple
The characteristic of Magnetic Sensor contrasts and then measures vehicle in the position on road surface, vehicle size and model, has and is not easy by other
Object blocks and influences the advantage of measurement accuracy, while has faster processing speed.
Vehicle condition detection device provided by the invention based on more geomagnetic sensors, by geomagnetic data acquisition module, number
Formed according to processing module and wireless transport module, geomagnetic data acquisition module is arranged under road surface, is mainly used in where obtaining
The earth induction strength signal of installation site.Geomagnetic data acquisition module arranges that each point senses comprising an earth magnetism in dot matrix
Device, each geomagnetic sensor can detect the earth induction strength signal in three directions, and by gained earth induction strength signal number
Sent according to by bus to data processing module.Data processing module is by analyzing the ground of several points around vehicle position
Magnetic induction intensity signal can be derived that the information such as vehicle position coordinate, vehicle, vehicle size and speed.
Data processing module is located at trackside, and major function is strong to receive the earth induction that geomagnetic data acquisition module is sent
Degree signal data simultaneously analyzed and handled, while also have concurrently control geomagnetic data acquisition module precision and frequency acquisition,
Wireless transport module is controlled to send the function of data.Data processing module is obtaining the information such as the position of multiple vehicles and speed
Afterwards, the spacing of a car and other vehicles can be calculated, and combines velocity information and anti-collision warning is carried out to vehicle, and the car is all
Enclose information of vehicles and the board units loaded to the car are sent by wireless transport module, realize the functions such as anti-collision warning.
Wireless transport module major function is sent to phase to receive through data processing module output information, and by output information
The vehicle condition detection device of the board units answered or the trackside in other sections, realize the shared of information.
A kind of the advantages of vehicle condition detection device of more geomagnetic sensors of the present invention, is：
(1) by being arranged with some form to multiple geomagnetic sensors, the numerical characteristics pair of multiple sensors are utilized
Than having and being not easy to be blocked by other objects and influenceed the advantage of measurement accuracy, while there is faster processing speed.
(2) subsurface placement sensor detection vehicle location is used in, vehicle size is calculated by sensor network data,
The anti-collision warning of vehicle is calculated by vehicle location, compared to image recognition, there is the advantages of processing speed is fast, and precision is high.
(3) wireless transport module sends the information such as vehicle collision prewarning to board units or other trackside sensor lists
Member, by information sharing, the information outside sighting distance can be provided to the driver on other roads, to realize that rational path is advised
Draw, avoid traffic congestion, save driver time.
Brief description of the drawings
Fig. 1 is the hardware structure diagram of the vehicle condition detection device based on more geomagnetic sensors of the present invention；
Fig. 2 is geomagnetic sensor arrangement signal in the vehicle condition detection device based on more geomagnetic sensors of the invention
Figure.
Fig. 3 is the location drawing of vehicle in the road.
Earth induction Strength Changes figure when Fig. 4 is lateral direction of car distance respectively 30cm and 60cm.
Embodiment
With reference to the accompanying drawings and examples to a kind of vehicle condition detection device based on more geomagnetic sensors of the present invention
It is described in detail.
The present invention provides a kind of vehicle condition detection device based on more geomagnetic sensors, using multiple geomagnetic sensor cloth
It is placed in below road surface or road surface, when vehicle is passed through nearby, makes geomagnetic sensor numerical value that significant change occur, passed using multiple earth magnetism
The characteristic of sensor contrasts and then measures vehicle in the position on road surface, vehicle size and model, has and is not easy by other objects
Block and influence the advantage of measurement accuracy, and faster processing speed.
The described vehicle condition detection device based on more geomagnetic sensors provided by the invention, as shown in figure 1, including ground
Magnetic data acquisition module, data processing module and wireless transport module, described geomagnetic data acquisition module are arranged by dot matrix
Geomagnetic sensor form, described geomagnetic sensor be arranged on road surface below, be mainly used in obtain where installation site ground
Magnetic induction intensity signal.Each geomagnetic sensor can detect three directions (X, Y, Z) earth induction strength signal, and by gained
Earth induction strength signal data are sent to data processing module by bus.Data processing module is in place by analyzing vehicle institute
The earth induction strength signal for putting several points of surrounding can be derived that vehicle position coordinate, vehicle, vehicle size and speed
Etc. information.Data processing module is located at trackside, and major function is strong to receive the earth induction that geomagnetic data acquisition module is sent
Degree signal data simultaneously analyzed and handled, while also have concurrently control geomagnetic data acquisition module precision and frequency acquisition,
Wireless transport module is controlled to send the function of data.Data processing module is obtaining the information such as the position of multiple vehicles and speed
Afterwards, the spacing of a car and other vehicles can be calculated, and combines velocity information and anti-collision warning is carried out to vehicle, and the car is all
Enclose information of vehicles to send to the board units where the car, realize the functions such as anti-collision warning.Dot matrix is arranged as preferably, dot matrix arrangement
Benefit be that distance between points is steady state value, be convenient to calculate.
Corresponding information can be sent to a board units by the wireless transport module shown by Fig. 1, can also be sent to
Multiple board units.
Vehicle condition detection device provided by the invention, can be by once sampling while obtaining multiple geomagnetic sensors
Sampled data, the information such as position, vehicle, vehicle size and the speed of vehicle can be obtained.
Such as the geomagnetic sensor 1~15 in Fig. 2, geomagnetic sensor are arranged in dot matrix, are a bicycle road shown in Fig. 2,
Row's geomagnetic data acquisition module is respectively arranged in track both sides with lane center, and spacing is definite value (such as 2.5m).
By carrying out analysis calculating to the numerical value of multiple geomagnetic sensors, it is as follows to obtain vehicle location method：
The vehicle a certain moment hits exactly in road shown in Fig. 2 and travelled, and vehicle body is just in geomagnetic sensor 5 and geomagnetic sensor 8
Surface (lane center line position), as shown in figure 3, at this moment, data processing module obtains geomagnetic sensor 1~15
Numerical value, according to the fundamental characteristics of geomagnetic sensor, the earth induction intensity for obtaining geomagnetic sensor 4 and geomagnetic sensor 7 can be with
Obtaining vehicle this moment, relative to the lateral separation of geomagnetic sensor 4 and geomagnetic sensor 7, can also similarly obtain relative to earth magnetism
The lateral separation of sensor 6 and geomagnetic sensor 9, two lateral separations of acquisition carry out differential pair ratio and verification, you can to obtain
Lateral separation of the more accurate vehicle on this road is obtained, is illustrated in figure 4 when lateral direction of car distance is 30cm and 60cm
Earth induction Strength Changes；Similarly, fore-and-aft distance can determine it by the size of four numerical value of geomagnetic sensor 2,5,8,11
Approximate location, and it is obtained with respect to deviation post so that it is determined that it is more accurate vertical by four geomagnetic sensor numerical value contrasts
To distance.
Vehicle size is characterized by the width and length data of vehicle, and the width of vehicle can be attached by vehicle location
The changes of threshold scope of near geomagnetic sensor obtains, and the length of vehicle can pass through the symmetrical of two geomagnetic sensors by vehicle
Peak-data during point obtains.Using detection means provided by the invention, vehicle size is obtained in the following way：
Such as：Vehicle location shown in Fig. 3, different size of vehicle is on identical position, geomagnetic sensor 4,7,6,9
The peak value of sensor values change can produce change, by geomagnetic sensor 4 and geomagnetic sensor 7 and geomagnetic sensor 6 and
The differential pair ratio of the sensor values of geomagnetic sensor 9 can be removed because peak value caused by vehicle location influences, and remove vehicle
Numerical analysis is carried out to the peak value of sensor values after the influence of position, you can draw the width of vehicle；Together should vehicle traveling
During to the longitudinally asymmetric position of geomagnetic sensor 2 and geomagnetic sensor 11, now can by analyze geomagnetic sensor 2,5,
8th, 11 peak-data obtains the length data of vehicle.
Describe in detail：When different size of vehicle runs to same position, although earth induction intensity is passed through in vehicle
Caused waveform is roughly the same, and still, due to the size of vehicle, magnetic induction intensity can impact over the ground, so sensor number
The maximum and minimum of value changes are general also different, by contrasting different size vehicle by caused by same place magnetic strength
The maximum of intensity and minimum is answered to carry out demarcation and can obtain the length and width information of vehicle.
Vehicle determines to need to determine by machine learning, of the invention to pass through several key feature points, including earth magnetism senses
The point of significant change takes place in device numerical value, data are climbed, and point, data peak, data drop point and data return to original shape
The several key feature points of point of state and the vehicle of used vehicle are associated.Data training is carried out to multiple vehicles, obtained
The weighted value of learning model, data are substituted into learning model.When a vehicle enters the region next time, it is by learning model
The vehicle of vehicle can be analyzed.
By analyzing the data of an independent geomagnetic sensor, when vehicle and geomagnetic sensor lateral separation
For numerical fluctuations variation diagram during respectively 60cm and 30cm as shown in figure 4, t represents the time in figure, unit s, G represent that magnetic field is strong
Degree, unit Gs.
When vehicle passes through geomagnetic sensor, the axle earth induction intensity of geomagnetic sensor x, y, z tri- has large change, and
And the threshold value difference changed in 60cm and 30cm is very greatly；On longitudinal direction of car (i.e. travel direction), when vehicle distances earth magnetism passes
Sensor fore-and-aft distance is nearer, and numerical value change is more obvious, and when longitudinal direction of car is completely square on a sensor, numerical value is maximum, then by
It is decrescence small, and then the geomagnetic sensor signal for combining surrounding can analyze the position of its vehicle.
Such as：Utilized the earth induction strength information (such as Z axis information) of vehicle as y, the position of vehicle as x
Polynomial interopolation is fitted, and the result multinomial of fitting and is actually compared, and is used if working well, effect is typically
Expand polynomial number.
Claims (5)
- A kind of 1. vehicle condition detection device based on more geomagnetic sensors, it is characterised in that：Including geomagnetic data acquisition module, Data processing module and wireless transport module, geomagnetic data acquisition module are arranged under road surface, for installation position where obtaining The earth induction strength signal put；Data processing module is located at trackside, the ground sent for receiving geomagnetic data acquisition module Magnetic induction intensity signal data is simultaneously analyzed and handled, while is also had the precision of control geomagnetic data acquisition module concurrently and adopted Collect frequency, control wireless transport module sends the function of data；Data processing module is obtaining the position of multiple vehicles and speed After information, the spacing of a car and other vehicles is calculated, and combines velocity information and anti-collision warning is carried out to vehicle, and the car is all Enclose information of vehicles and the board units loaded to the car are sent by wireless transport module, realize anti-collision warning function；Wireless transport module is used for the output information for receiving data processing module, and output information is sent to corresponding vehicle-mounted list Member or the vehicle condition detection device in other sections, realize the shared of information.
- A kind of 2. vehicle condition detection device based on more geomagnetic sensors according to claim 1, it is characterised in that：Institute The geomagnetic data acquisition module stated arranges that each point includes a geomagnetic sensor, and each geomagnetic sensor can detect in dot matrix The earth induction strength signal in three directions, and gained earth induction strength signal data are sent to data processing by bus Module.
- A kind of 3. vehicle condition detection device based on more geomagnetic sensors according to claim 1, it is characterised in that：Institute The vehicle location stated obtains by the following method：The vehicle a certain moment hits exactly in road and travelled, vehicle body just directly over the geomagnetic sensor of lane center line position, This moment, data processing module obtain the numerical value of all geomagnetic sensors, according to the fundamental characteristics of geomagnetic sensor, obtain road The earth induction intensity of side geomagnetic sensor, obtain this moment vehicle relative to the lateral separation of the geomagnetic sensor of trackside, road two Two lateral separations that side obtains carry out differential pair ratio and verification, you can obtain lateral separation of the vehicle on this road；Pass through Four geomagnetic sensor numerical value contrast of same row, obtains vehicle with respect to deviation post so that it is determined that the fore-and-aft distance of vehicle.
- A kind of 4. vehicle condition detection device based on more geomagnetic sensors according to claim 1, it is characterised in that：Institute The vehicle size stated is characterized by the width and length data of vehicle, and the width of vehicle passes through the earth magnetism near vehicle location The changes of threshold scope of sensor obtains, and the length of vehicle passes through the peak value during symmetric points of two geomagnetic sensors by vehicle According to acquisition.
- A kind of 5. vehicle condition detection device based on more geomagnetic sensors according to claim 1, it is characterised in that：Institute The vehicle stated determines to need to determine by machine learning, sets key feature points first, including geomagnetic sensor numerical value starts The point of significant change occurs, data climb point, data peak, data drop point and data return to original state point it is several The vehicle of key feature points and used vehicle is associated；Data training is carried out to multiple vehicles, obtains learning model Weighted value, data are substituted into learning model；When a vehicle enters the region next time, vehicle is drawn by learning model Vehicle.
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| CN113085897A (en) * | 2021-04-27 | 2021-07-09 | 淮阴工学院 | Speed control system of automatic driving vehicle |
| CN117116060A (en) * | 2023-10-24 | 2023-11-24 | 四川九通智路科技有限公司 | Induction system and induction detection method for detecting multi-lane running vehicle |
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Application publication date: 20180202 |