CN108039046A - A kind of city intersection pedestrian detection identifying system based on C-V2X - Google Patents

A kind of city intersection pedestrian detection identifying system based on C-V2X Download PDF

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Publication number
CN108039046A
CN108039046A CN201810011640.0A CN201810011640A CN108039046A CN 108039046 A CN108039046 A CN 108039046A CN 201810011640 A CN201810011640 A CN 201810011640A CN 108039046 A CN108039046 A CN 108039046A
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pedestrian
mobile phone
carrier
mrow
mobile phones
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CN108039046B (en
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蒋建春
李蒙蒙
刘红东
李玉环
张号
杨成成
杨允新
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Chongqing Yuanchuang Zhilian Technology Co ltd
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Chongqing University of Post and Telecommunications
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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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information

Abstract

A kind of city intersection pedestrian detection identifying system for being based on C V2X (Cellular Vehicle to Everything) is claimed in the present invention, including：The information gathering frame based on the C V2X communication technologys is designed, with reference to city intersection high accuracy map, the species of judgement mobile phone carrier；Utilize the probability that the current location determination carrier of following C V2X terminal carrier is pedestrian；Using C V2X mobile phone present speed information, identify whether C V2X mobile phones carrier is pedestrian；Draw the density range when C V2X mobile phones carrier is pedestrian, with reference to the density information around C V2X mobile phones, it is the probability of pedestrian under current density to differentiate C V2X mobile phones carrier；Direction is represented using the method in field, different regions is divided into according to field feature to the region of intersection scope, direction of advance set when C V2X mobile phones carrier is pedestrian obtains the factor of influence in direction to the factor of influence in direction, position by the direction before C V2X mobile phones, pedestrian, the C V2X mobile phones carrier with reference to actual this direction of advance of C V2X mobile phone direction calculatings is the probability of pedestrian.

Description

A kind of city intersection pedestrian detection identifying system based on C-V2X
Technical field
The invention belongs to future city traffic intersection pedestrian to identify field, and in particular to a kind of city based on C-V2X City intersection pedestrian detection and identifying system.
Background technology
City intersection can assemble substantial amounts of vehicle, pedestrian, be one of all larger region of vehicle flowrate, flow of the people, by It is complicated and changeable in traffic scene, be traffic accident multiplely.Pedestrian detection and identification to intersection can collect intersection Mouthful special time people's flow data and changing rule, provide initial data for intersection traffic participant's model, while be also Pedestrian's early warning, path optimization and other traffic schedulings provide foundation.
Pedestrian's identification technology species is relatively more at present, common more view-based access control models, infrared ray, radar, laser etc..Based on regarding The recognition methods of feel needs to be used for the information such as video, the image of research by camera acquisition, uses the method for image procossing to know Pedestrian in other video, image, this method have higher requirement to the performance and external environment of video camera, are moved in target object When dynamic very fast, dense fog, insufficient light, shelter block, it may appear that image obscures, None- identified, recognition accuracy not The problems such as high.Infrared imagery technique is distributed according to object temperature shows image, can solve the problems, such as that night deficiency causes, But infrared sensor is affected by temperature larger, detection error is larger under intense light irradiation weather condition.Microwave radar technology is launched Electromagnetic wave is irradiated target and receives echo.Radar sensor frequency of use modulates continuous wave technology for detection object, Europe And the U.S. uses bandwidth between 76Ghz-77Ghz, effective range 1m-100m.Detections of radar accuracy is with climate change Change small, but need the target that detects more and detect in the case of blocking to be affected running into.Laser ranging is other one Kind carry out pedestrian detection and the technology of identification, but laser has that brightness is high, the great feature of energy, when using laser into every trade People detects and can trigger fuel factor, photochemical effect, pressure action, galvanomagnetic-effect, biologic effect etc. during identifying Side effect, when being irradiated with a laser, human eye can be subject to grievous injury.Laser technology is when city intersection is applied easily to row People, vehicle interfere and trigger traffic accident, and laser can not accurately identify substantial amounts of pedestrian under complex background.More than There is very big defect in the vehicle based on monotechnics, pedestrian detection technology, the detection method based on multiple technologies fusion needs to make With multiple equipment, there are equipment room interference and collect the data problem of repetition, and in vehicle and pedestrian's identification process, Need on the basis of existing infrastructure device to increase dedicated for Data Detection, transmitting, the equipment received, add research and answer Use cost.
With Internet of Things and the development of intelligent transportation, the data class of single communication technology collection is single, and there are quilt The phenomenon of other equipment interference, is communicated between the communication terminal that far can not be met to become increasingly abundant using the single communication technology Demand.Mobile phone has become one of instrument indispensable in people's life and work at present, its GPS chip, gyroscope, accelerometer, The inside chips such as coiling property can obtain the position of mobile phone, speed, angle information exactly.GCMA(Global System for Mobile Communications Alliance, global system for mobile communications alliance) it is pre- in newest annual report in 2017 Survey International Mobile Subscriber quantity and reach 5,000,000,000 or so, the year two thousand twenty is estimated to will be increased to 5,700,000,000.With the increasing of the mobile phone volume of holding per capita Add and in life application range broadening, some taxi-hailing softwares, traffic predictions software by mobile phone terminal be people trip It is convenient to provide.Reach its maturity with the development and car networking technology of the communication technology, future supports the information of the mobile phone of C-V2X to adopt Integrate, the function such as high accuracy positioning can be that the identification of the traffic entity of car networking provides base support.And in bus or train route collaborative research and Mobile phone of the addition with C-V2X communications can make the data of acquisition more have realistic meaning as communication equipment in, at the same time also The channel of data acquisition can be widened, saves construction and the maintenance cost of road infrastructure.
The content of the invention
Present invention seek to address that above problem of the prior art.Propose it is a kind of improve accuracy of identification, strong antijamming capability, Realize the city intersection pedestrian detection identifying system based on C-V2X of dynamic realtime tracking.Technical scheme is such as Under：
A kind of city intersection pedestrian detection identifying system based on C-V2X, it includes：Multi-mode communication information gathering mould Block, location determination module, speed determination module, density determination module and direction determining module；Wherein, the multi-mode communication information Acquisition module, for including vehicle on-board terminal, mobile phone, road by the information collecting device collection based on the C-V2X communication technologys Essential information including the position of side apparatus, course angle, speed, height above sea level, multi-mode communication information acquisition module for the system other Module provides primary data information (pdi)；
Location determination module, the C-V2X mobile phone position informations collected using multi-mode communication information acquisition module, for sentencing The high accuracy positioning information of settled C-V2X mobile phones is a certain in intersection) region when C-V2X mobile phones carrier be the general of pedestrian Rate, is speed determination module (13), density determination module (14), direction determining module (15) the offer regional effect factor；
Speed determination module, the mobile phone velocity information and positional information collected using multi-mode communication information acquisition module, Pass through factor of influence, C-V2X mobile phone signal pair of the different classes of initial velocity, position influenced from any factor to speed The factor of influence of speed, direction calculate the velocity interval of pedestrian, with reference to the C- being an actually-received to the factor of influence of speed The velocity information of V2X mobile phones, C-V2X mobile phones carrier is the probability of pedestrian when calculating this speed；
Density determination module, the C-V2X mobile phone position informations and trackside collected using multi-mode communication information acquisition module The information that equipment receives, calculates the pedestrian density around C-V2X mobile phone carrier, and calculates C- under pedestrian density herein V2X mobile phones carrier is the probability of pedestrian, and density determination module (14) is considered bus back yard scape, can be reduced using position Put the error of determination module (12) and speed determination module (13) to pedestrian detection and identification；
Direction determining module, considers the influence of the position, speed, density of C-V2X mobile phone carrier to direction, utilizes C-V2X mobile phones direction that multi-mode communication information acquisition module (11) collects, positional information, pass through current C-V2X mobile phones direction The probability that C-V2X mobile phones carrier is pedestrian is calculated with the information including C-V2X mobile phone locations.
Further, the multi-mode communication information acquisition module is realized using V2V cars-driving skills art of C-V2X and led between vehicle Letter；The communication between vehicle and roadside device is realized using V2I vehicles-infrastructure technique of C-V2X, driver and passenger's Mobile phone using C-V2X P2I pedestrian-interacted between infrastructure technique and roadside unit, the board units and information of vehicle Service management platform carries out information exchange using V2N cars-Internet technology communication technology of C-V2X, and vehicle passes through car with pedestrian Carrier unit carries out information exchange with mobile phone using V2P cars-pedestrian's technology of C-V2X；The C-V2X mobile phones that pedestrian is carried by it, Communication between information service platform, the C-V2X that pedestrian is carried by it are realized by P2N pedestrian-Internet technology of C-V2X Communicated between mobile phone and roadside unit using P2I pedestrian-underlying device technologies of C-V2X；Roadside device and information service pipe Interacted between platform using I2N infrastructure devices-Internet technology of C-V2X.
Further, the mould that different functional areas is divided into according to the functional characteristic of city intersection is also wrapped Block, and showed using section, the road representation near intersection is as follows：{(type,orientation, StartPoint, endPoint, length, width, AddPoint) | type={ 0,1,2,3,4 }, orientation ∈ [0, 2 π), AddPoint={ point1, point2 ..., pointN } } 0 in type represent pavement, 1 represents cycle track, and 2 Car lane is represented, 3 represent zebra stripes, and 4 represent road junction center；N is positive integer.
Further, the location determination module judges that C-V2X mobile phone carrier specifically includes for pedestrian：Mobile phone is carried Person is four classifications according to different traffic participant Type divisions：Be according to road user category division, pedestrian, bicycle, Passenger on public transport, other automobile drivers；
C-V2X mobile phones carrier represents as follows：(type, pos, v, orientation, acc, accOrien) | type= {0,1,2,3},orientation∈[0,2π),accO rien∈[0,2π)}
1 in type represents C-V2X mobile phones carrier as pedestrian, and 2 represent the C-V2X mobile phone carrier vehicles as voluntarily Car, 3 represent traffic participant as automobile driver, and 0 represents other situations.
Further, the location determination module is by the positions of current C-V2X mobile phones, with reference to city intersection road Functional regional division, it is the probability of pedestrian at current location to determine C-V2X mobile phones carrier, and representation formula is as follows.
Wherein k={ 0,1,2,3,4 },S0-S4Respectively Corresponding pavement, zebra stripes, car lane, non-motorized lane, intersection central area.
WhereinRespectively represent region k in the range of C-V2X mobile phones carrier for pedestrian, vehicle, The probability of bicycle.
Further, the terminal for the certain area that the density determination module is received using information service management platform is The signal density in this region is calculated in the case of C-V2X cellphone informations, representation is as follows：
siFor the area of survey region i, PiTo can be determined that the number of the signal sent for C-V2X mobile phones in survey region i Amount.
Further, the speed determination module using the speed of C-V2X mobile phone carrier, present position influence because Son, signal density factor of influence, direction factor of influence information draw speed at this time, believe with the C-V2X mobile phones speed received Breath combines, and calculates when C-V2X mobile phones carrier is moved using this speed as the probability of pedestrian, represents as follows.
Assuming that vrealSpeed when for C-V2X mobile phone carrier being pedestrian, vinitial、q1pos、q1ρ、q1direRespectively go People's velocity original value, pedestrian position factor of influence, C-V2X mobile phone carrier's ambient densities factor of influence, direction of advance shadow Ring the factor, it is assumed that the region value collection of the factor of influence of pedestrian is combined into T, it is assumed that C-V2X mobile phones carrier is pedestrian, i.e., q1type∈ T, it is assumed that [v1,v2] it is the pedestrian's velocity interval calculated.
Further, the direction determining module represents direction of advance using the method for neighborhood, its representation is as follows：
G (x, y, z) represents C-V2X mobile phone locations, G1(x1,y1,z1) represent the positions of C-V2X mobile phone subsequent times, and G1 Region is G neighborhoods；Can be with by the direction of advance of C-V2X mobile phone carrier, the classification of C-V2X mobile phone carrier, position The direction of C-V2X mobile phone carrier is drawn, with reference to C-V2X mobile phone directional informations, it can be deduced that C-V2X mobile phones carrier is pedestrian Probability.Assuming that Ppedes(θ) represents pass when C-V2X mobile phone carrier is the probability of pedestrian and the region positive direction angle is θ It is function, the direction set of pedestrian is combined into [- α, α] ∪ [π-α, π+α], and there are following relation:
Calculating the probability that it is pedestrian according to the direction θ of C-V2X mobile phone carrier at this time is:
Advantages of the present invention and have the beneficial effect that：
1st, pedestrian of the tradition based on image identifies that people's quantity of being expert at is more or has building cannot be accurate in the case of blocking Be identified, the pedestrian detection based on technologies such as infrared, radars had a great influence by temperature, shelter, it is necessary to by camera, The equipment such as IR sensor, radar, add extra research and use cost.V2X functions of C-V2X mobile phones and high-precision fixed Bit function, can realize C-V2X mobile phones and other car networking terminal interactions, the high precision position confidence for obtaining C-V2X mobile phones in real time Breath.Pedestrian detection and identification are carried out using the mobile terminal of mobile telephone increasingly popularized by cellphone information, use a variety of communication technologys Carry out information exchange, be not affected by the weather, blocked by building influenced it is smaller, it is not necessary to add extra equipment, and It can also realize that dynamic realtime is followed the trail of.
2nd, city intersection regional and road user are described using character representation mode, being capable of more letter comprehensively Its each traffic object is described cleanly.Different functional areas is divided into using the functional characteristic of city intersection, and Showed using section, the road representation near intersection is as follows：
(type, orientation, startPoint, endPoint, length, width, AddPoint) | type= { 0,1,2,3,4 }, orientation ∈ [0,2 π), AddPoint={ point1, point2 ..., pointN } }
0 in type represents pavement, and 1 represents cycle track, and 2 represent car lane, and 3 represent spot
Horse line, 4 represent road junction center；N is positive integer
Road user representation is as follows：
(type, pos, v, orientation, acc, accOrien) | type={ 0,1,2,3 }, orientation ∈ [0,2 π), and accO rien ∈ [0,2 π) } 1 in type C-V2X mobile phones carrier is represented as pedestrian, 2, which represent C-V2X mobile phones, takes Band person's vehicles are bicycle, and 3 represent traffic participant as automobile driver, and 0 represents other situations.
3rd, city intersection scene is complicated, and each position, direction are likely to pedestrian occur, uses position, speed, close The combined influences of the information such as degree, direction of advance differentiates the classification of mobile phone carrier, can reduce caused by only considering single factors Error probability.
4th, city intersection is divided into different regions by function, there is substantially the feature of road user in different zones Difference, the method for using area can preferably quantify the probability of pedestrian's appearance, for pedestrian detection and identify and provide basis.
5th, the influence of position, pedestrian density, direction to C-V2X mobile phone carrier's speed is quantified as factor of influence, and The value of these factors of influence is calculated by collecting multigroup pedestrian's data of this intersection, by with mobile phone speed knot It is total to calculate the probability that this C-V2X mobile phone carrier is pedestrian.The method is to traffic congestion, mass transportation facilities arrive at a station, Hang Renben Situations such as race, is considered, avoid it is single based on the judgement of speed under traffic congestion, mass transportation facilities deceleration situations Motor vehicle is identified as pedestrian or pedestrian is identified as vehicle, improves accuracy of identification.
6th, the influence of position, speed to C-V2X mobile phone carrier's ambient densities is quantified as factor of influence, with reference to mobile phone institute Density in position, can be more accurately predicted the probability that C-V2X mobile phones carrier is pedestrian.The method is to pavement, spot The more situation more with passenger in motor vehicles especially mass transportation facilities of the region pedestrian such as horse line is considered, and is kept away Exempt from pedestrian being erroneously identified as Vehicular occupant or Vehicular occupant is erroneously identified as pedestrian.
7th, C-V2X mobile phone directions of advance are represented using the method in field, is distinguished with the direction at C-V2X mobile phone current times Open, pass through the direction change in the movement locus for obtaining pedestrian and whole motion process of pedestrian present position at different moments.OK The action of people has greatly randomness, vertical with zebra stripes direction there are direction during by pavement, zebra stripes Situation, the method designs to solve pedestrian's randomness during exercise, by a series of direction comprehensive descision directions, keeps away Exempt from the pedestrian of pavement or zebra stripes being identified as Vehicular occupant.
8th, influence of the C-V2X mobile phone carrier present positions to direction is quantified as position factor of influence, passes through this region The use of different types of road user provides that the direction scope of pedestrian is calculated, easy to calculate when C-V2X hands under front direction Machine carrier is the probability of pedestrian.The method considers the comprehensive function between position, direction, avoids pavement, zebra stripes Pedestrian's wrong identification in region is Vehicular occupant, or the Vehicular occupant of the pedestrian crossing is erroneously identified as pedestrian.
Brief description of the drawings
Fig. 1 be the present invention provide preferred embodiment in the city intersection pedestrian detection based on C-V2X, recognition methods with System function module figure；
Traffic entity information exchange frame diagrams of the Fig. 2 based on C-V2X；
Road scene figure near Fig. 3 city intersections；
Fig. 4 city intersection road scene figures；
Fig. 5 traffic participant classification decision flow charts；
Fig. 6 zebra stripes regional function distribution maps；
Fig. 7 directions Neighborhood Graph；
Fig. 8 zebra stripes area road user's direction scope figures；
Fig. 9 pedestrian advancing direction probability distribution graphs.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, detailed Carefully describe.Described embodiment is only the part of the embodiment of the present invention.
The present invention solve above-mentioned technical problem technical solution be：
1 a kind of city intersection pedestrian detection, recognition methods and system based on C-V2X has five function modules, such as Shown in Fig. 1, multi-mode communication information acquisition module (11) is carried using a variety of communication technologys collection C-V2X mobile phones based on C-V2X The essential information of person, city intersection different type function is described according to city intersection feature and road user feature Region and road user；Location determination module (12) is used to judge that C-V2X mobile phone carrier is under C-V2X mobile phones current location The probability of pedestrian；Speed determination module (13) is used to calculate under the influence of position, C-V2X mobile phone signals density, direction, currently The C-V2X mobile phones carrier of speed is the probability of pedestrian；Density determination module (14) is used to calculate under the influence of position, speed, It is presently in the probability that position signal density can determine that C-V2X mobile phones carrier is pedestrian；Direction determining module (15) is used for Calculate the probability of current location and direction C-V2X mobile phones carrier for pedestrian.
The 2 traffic entity information exchange frames based on C-V2X
The information gathering of city intersection uses the traffic entity information exchange frame based on C-V2X to realize, such as Fig. 2 It is shown.Pedestrian detection and identification collect basic road using existing road infrastructure and widely distributed C-V2X smart mobile phones Road basal conditions and road occupation situation information.Information service management platform storage roadside device collection vehicle, pedestrian, other The information of equipment, and broadcast related traffic information.Pass through mobile unit, C-V2X mobile phones between vehicle and information service management platform Etc. realizing information exchange, interaction is completed using the V2N technologies of C-V2X in communication process；Roadside device will be received by roadside unit The information that collects and data transfer caused by itself arrive information service management platform, and the I2N skills of C-V2X are used in communication process Art；Pedestrian is produced with information service management platform by mobile phone and interacted, and communication is completed using the P2N of C-V2X；Between vehicle and pedestrian Information exchange, exchange are completed by board units, mobile phone, the V2P technologies of C-V2X are used in communication process.Dedicated pedestrian takes Carrying device needs to consider the factors such as popularization and the volume of holding, and C-V2X mobile phones are the comparisons that pedestrian's state is studied in current bus or train route collaboration There is the selection of realistic meaning.Therefore during pedestrian is detected, information service management platform need to be only handled from smart mobile phone Data.
C-V2X mobile phones are substantially all the instrument that can be carried during having become people's trip, by gathering C-V2X mobile phones The essential information of offer can reduce the addition for terminal device in bus or train route cooperative system research, effectively reduce research cost and Promote difficulty.Fast development, the replacement of mobile phone version and hardware of mobile communication technology promote mobile phone answering in car networking With and development.C-V2X mobile phones realize the perfect V2X communication systems of car networking as communication terminal, and height can be provided for car networking The information such as precision location information, real-time speed, acceleration.Roadside device or information service platform are obtained by wireless communication means The basic information of the mobile terminals such as the C-V2X mobile phones arrived is as follows：
Table 1 collects the information table that road occupation carrying mobile phone：
Species Description
Position High precision position information, including longitude and latitude degrees of data and altitude information are obtained by mobile phone
Speed The speed at mobile phone current time, scalar
Direction Represented using course angle
Acceleration Scalar
3 intersection road area divisions
Road near city intersection generally comprises pavement, cycle track, car lane, as shown in Figure 3.Intersect Zebra stripes at crossing jaywalk region for what pedestrian and bicycle provided safety.Road at non-crossing crossing has significantly Function division and region division.As shown in figure 3, pavement, non-motorized lane, car lane have obvious height in actual scene Degree difference or using guardrail, traffic participant can mobile phone signal location determination its classes that directly basis is collected into these regions Not.
Intersection adds the scenes such as zebra stripes, start-finish line, intersection central area compared with the road near it, is Reaching the effect of control traffic also needs the signs such as addition traffic lights, speed limit, direction instruction, as shown in Figure 4.
The essential information of road is gathered by roadside device, and the essential information of road carries for the judgement of road user classification For foundation.The expression of road is shown as the following formula near intersection：
(type, orientation, startPoint, endPoint, length, width, AddPoint) | type= { 0,1,2,3,4 }, orientation ∈ [0,2 π), AddPoint={ point1, point2 ..., pointN } }
0 in type represents pavement, and 1 represents cycle track, and 2 represent car lane, and 3 represent zebra stripes, and 4 represent road Intersection center；N is positive integer
To being described as follows shown in table for road.
2 road attribute table of table
4 road user classifications
It is as shown in the table there are obvious difference for the road user of different attribute, its characteristic：
3 road user property list of table
In bus or train route cooperative system road, vehicle, the base of pedestrian are collected using equipment such as roadside device, mobile unit and mobile phones This information.The attribute of road user includes its type, position, speed, direction of travel, acceleration, acceleration direction, it is retouched State as shown in the table.
4 road user attribute list of table
C-V2X mobile phone carrier classification represents as follows：
(type, pos, v, orientation, acc, accOrien) | type={ 0,1,2,3 }, orientation ∈ [0,2π),accO rien∈[0,2π)}
1 in type represents C-V2X mobile phones carrier as pedestrian, and 2 represent the C-V2X mobile phone carrier vehicles as voluntarily Car, 3 represent traffic participant as automobile driver, and 0 represents other situations.
, can be substantially using information such as its speed of this moment, position, density when receiving a C-V2X cellphone information The classification of carrier is determined, general differentiation flow chart is as shown in Figure 5.
5 location determination modules
Pavement and zebra stripes of the position of pedestrian generally near intersection, are closing on the region on pavement and zebra stripes Also can there are part pedestrian.For bicycle, many city bicycles roads domestic at present be arranged on pavement and car lane it Between, in the case of no cycle track, bicycle may be travelled in car lane region.Bus is in car lane or zebra stripes area Domain, close to the place of road edge can there are overlapping with the positional information of pedestrian and bicycle.Personal car intersects in city The region of mouth is generally car lane and zebra stripes.
As shown in fig. 6, the length L2 in zebra stripes region is the width of road,《Highway traffic sign and graticule set specification》 The length of middle regulation zebra stripes is 5 meters, namely the width in zebra stripes region is 5 meters.Pedestrian or bicycle are in the mistake jaywalked Not fully in zebra stripes region in journey, in the case where the people jaywalked is relatively more, some can be outside zebra stripes Regionality is advanced.Overlapping region 3 and overlapping region 4 are road users when by zebra stripes region due to custom, flow of the people The region of the factor outside zebra stripes region such as big.Overlapping region 3 is expressed as { (x, y) | x ∈ L2, y ∈ d6 }, and overlapping region 4 represents For (x, y) | x ∈ L2, y ∈ d5 }.According to the behavioural habits of pedestrian, the width of overlapping region 3 is generally zebra stripes and stop line The distance between, between 100cm~300cm.
The position of pedestrian can be represented with the mode of being expressed as below：
pos1pedes=(x, y) | x ∈ L, y ∈ d1∪d2}∪{(x,y)|x∈L2,y∈d4∪d5∪d6}
L by research pavement region length,By research pavement region width, L2To study zebra The length in line region, d2For pavement region and the edge in bicycle region, but pedestrian and bicycle can all use, d4For spot The width in horse line region, d5For the distance between zebra stripes edges of regions and intersection center, d6Zebra stripes edges of regions with The distance between car lane start-finish line.
Wherein overlapping region meets that the condition of pedestrian is：
pos2pedes=(x, y, V) | x ∈ L, y ∈ d2, V={ v0,v1,...,v29}|vi＜ 6km/h | i=0,1 ..., 29}
V is the corresponding speed sampling set of this mobile phone signal in a period of time.
The location sets of pedestrian are:
pospedes=pos1pedes+pos2pedes
6 speed determination modules
Ride characteristic of the different road users within a period of time has obvious difference.For pedestrian, normal adult People's walking frequency is 1.5 steps/S, step pitch 60-75cm, speed of travel 5.32-5.43Km/h, and the elderly's speed of travel is 4.51-4.75Km/h the speed of i.e. pedestrian is generally 5Km/h.Bicycle speed is generally 16km/h.For bus, speed Up to 40km/h, is commonly 20km/h-30km/h, can slow down even when waiting traffic lights, traffic congestion, vehicle to arrive at a station Short time is static, and there are overlapping phenomenon with the velocity interval of pedestrian, bicycle.For private car, private car is in motor vehicle In shared ratio it is bigger and keep sustainable growth.Its speed is generally in 40-60Km/h.(how to the car under jam situation Distinguish, it is necessary to consider duration and the State Transferring problem of state)
viSpeed in the C-V2X mobile phone signals collected for a certain moment, the general values of N are 30, and the speed of pedestrian expires The following condition of foot：
vpedes∈[0km/h,6km/h]
The speed v of C-V2X mobile phone carrier by its type, present position, surrounding pedestrian, vehicle density and direction of advance Influence, can be expressed as
V=vinitial×q1type×q1pos×q1ρ×q1dire
Assuming that vinitial×q1typeThe mobile phone speed influenced when for C-V2X mobile phone carrier being certain type from any factor Degree, q1type、q1pos、q1ρ、q1direRespectively C-V2X mobile phones carrier type, position, density, influence of the direction to speed because Son, and there are relation：
q1type+q1pos+q1ρ+q1dire=1
Assume that the regional ensemble of studied city intersection is expressed as the collection of the pedestrian area such as S, pavement, zebra stripes It is combined into Spedes∪Szebra, cycle track regional ensemble is Sbicy, the collection in motor vehicle region is combined into Svehi, have：
S=Spedes∪Szebra∪Sbicy∪Svehi∪Scentre
Assuming that probability of the pedestrian in three above region is respectively P (pedes+zebra), P (bicy), P (vehi+ Centre), and
P (pedes+zebra)+P (bicy)+P (vehi)=1
So when C-V2X mobile phones carrier is pedestrian, the position factor of influence of its diverse location can be expressed as：
When C-V2X mobile phones carrier is pedestrian, if it is in pavement region, zebra stripes region, cycle track, motor-driven Track direction of advance has N respectivelypedes、Nzebra、Nbicy、Nvehi、NcentreKind situation, the direction factor of influence of regional can To be expressed as：
Work as vrealSpeed when for C-V2X mobile phone carrier being pedestrian, vinitial、q1pos、q1ρ、q1direRespectively pedestrian Velocity original value, pedestrian position factor of influence, C-V2X mobile phone carrier's ambient densities factor of influence, direction of advance influence The factor, it is assumed that the region value collection of the factor of influence of pedestrian is combined into T, it is assumed that mobile phone carrier is pedestrian, i.e. q1type∈ T, Assuming that [v1,v2] it is the pedestrian's velocity interval calculated, the probability that mobile phone carrier is pedestrian in the case is：
7 density determination modules
Within the specific limits, there are interactional between the pedestrian density of the speed of travel of pedestrian and pedestrian's local environment Phenomenon, table 2 shows the relation of the speed and density when pedestrian walks, when pedestrian density is less than 0.83 people/m2When can be with just Constant velocity is walked.
Pedestrian's traffic status statistical form under 5 different densities of table
The length of bicycle is usually 2 meters, cannot be less than 0.5 meter with left and right bicycle distance in ride, in safety Traveling process Midst density is no more than 0.5 people/m2.The judgement of bus can be according to the positional information for the passenger's mobile phone being collected into Current density is calculated, if density is more than 4 people/m2, and opposite position of these information data of mobile phone within a very long time Put distribution will not even change within the specific limits, meet features above it is determined that the carrier of these mobile phones is Passenger on public transport.The floor space of private car is generally 10m2, the density of passenger is generally 2 people/m on car2, mobile phone on car The relative displacement of position and mobile unit is remained unchanged or changed in the range of very little for a long time.
The density formula of C-V2X mobile phone carrier represents as follows
siFor the area of survey region i, PiTo can be determined that the quantity of the signal sent for mobile phone in survey region i.It is mobile The density range of pedestrian is in mobile phone carrier under state：
Correlation between the density p of C-V2X mobile phone carrier and direction is little, but has directly with type, present position pos Association is connect, and there is interaction with its speed v in the density of mobile phone carrier, when surrounding other mobile phones carrier is fewer Speed can than very fast, when more speed will be impacted and slow down, i.e. (C is constant to C=ρ v, represents that unit length is per second The quantity of the mobile phone carrier passed through), density expression formula is：
ρ=ρinitial×q2type×q2pos×q2v
Assuming that ρinitialDensity for the mobile phone signal of mobile phone carrier present position influenced from any factor, q2type、q2pos、q2vThe type of mobile phone carrier, present position, present speed are represented respectively to mobile phone carrier present position hand The factor of influence of machine signal density, and(CvFor constant coefficient)
Assuming that the density collection of pedestrian shares E=[ρ1,ρ2] represent, i.e.,
Assuming that mobile phone position current density is ρreal, then its carrier be expressed as the probability of pedestrian
8 direction determining modules
The direction of advance of road user generally can all change in intersection, in zebra stripes region, the direction of pedestrian It is consistent with zebra stripes direction or on the contrary, other road users are then vertical or near vertical.
As shown in figure 8, the pedestrian direction in zebra stripes region represents as follows：
dire1pedes∈[-α,α]∪[π-α,π+α](And)
For overlapping region 3 outside zebra stripes region and overlapping region 4, the direction representation of pedestrian is as follows：
dire2pedes∈[π-θ,π]∪[0,θ](And)
dire3pedes∈[-π,β-π]∪[β,0](And)
As shown in fig. 6, L2It is the length in zebra stripes region, d4For the width of zebra stripes, d6Risen for zebra stripes region and road Only the distance between line, d5For the distance between zebra stripes region and intersection central point therefore zebra stripes and its nearby Pedestrian direction represents as follows：
direpedes=dire1pedes+dire2pedes+dire3pedes
In pavement region, there are two classification substantially in the direction of pedestrian：
dire1pedes∈[-α,α]∪[π-α,π+α](And)
dire2pedes∈[π-θ,π]∪[0,θ](And)
The length in pavement region is studied in L expressions,By research pavement region width,
Therefore pavement region and its neighbouring pedestrian direction are：
direpedes=dire1pedes+dire2pedes
If C-V2X mobile phone carrier is presently in subject to the unit area of the band of position, the region of surrounding is before it Into direction neighborhood, different Neighbourhood sets represents next moment mobile phone carrier position, and the line between two positions is For the direction of advance of mobile phone carrier, as shown in Figure 7.As shown in figure 5, road direction is represented with region 1,3, work as road user When the next moment is in 1,3 region, represents it and advance along road or cross road by zebra stripes, if in region 2,4, then Represent that road user is crossing road or passing through zebra stripes.
The direction of C-V2X mobile phone carrier is related with its position and type, i.e.,
Dire=direinitial×q3type×q3pos
direinitialFor the positive direction of mobile phone carrier region, q3type、q3posMobile phone carrier's type is represented respectively Factor of influence with region to mobile phone carrier's direction of advance.Assuming that the collection of the patterns affect factor is combined into when type is pedestrian Tdire, position factor of influence value collection is combined into Edire, when mobile phone carrier is pedestrian, q3type∈TdireAnd q3pos∈Edire, this When different types of mobile phone carrier direction of advance can be in certain scope, it is assumed that the direction of advance scope geometry of pedestrian DirepedesRepresent, when mobile phone carrier and the vivid factor are set TdireIn element, the direction drawn meets dire ∈ DirepedesWhen, it can be determined that mobile phone carrier meets the condition of pedestrian on direction.
By taking zebra stripes region as an example, the division in its direction is as shown in Figure 8.The direction of pedestrian and zebra stripes side under normal circumstances To angle be not more than α, probability distribution shows greatly symmetrical, pedestrian direction centered on zebra stripes region positive direction, opposite direction Probability distribution graph is as shown in Figure 9, Ppedes(θ) represents relation when mobile phone carrier is the probability of pedestrian and zebra stripes angle is θ Function, the direction set of pedestrian is combined into [- α, α] ∪ [π-α, π+α], and there are following relation:
Calculating the probability that it is pedestrian according to the direction θ of mobile phone carrier at this time is:
The above embodiment is interpreted as being merely to illustrate the present invention rather than limits the scope of the invention. After the content for having read the record of the present invention, technical staff can make various changes or modifications the present invention, these equivalent changes Change and modification equally falls into the scope of the claims in the present invention.

Claims (8)

  1. A kind of 1. city intersection pedestrian detection identifying system based on C-V2X, it is characterised in that including：Multi-mode communication is believed Cease acquisition module (11), location determination module (12), speed determination module (13), density determination module (14) and direction determining mould Block (15)；Wherein, the multi-mode communication information acquisition module (11), for passing through the information gathering based on the C-V2X communication technologys Device gathers the essential information including vehicle on-board terminal, mobile phone, the position of roadside device, course angle, speed, height above sea level, For the system, other modules provide primary data information (pdi) to multi-mode communication information acquisition module；
    Location determination module (12), the C-V2X mobile phone position informations collected using multi-mode communication information acquisition module (11), are used In judging when the high accuracy positioning information of C-V2X mobile phones is a certain in intersection) region when C-V2X mobile phones carrier be pedestrian's Probability, is speed determination module (13), density determination module (14), direction determining module (15) the offer regional effect factor；
    Speed determination module (13), the mobile phone velocity information collected using multi-mode communication information acquisition module (11) and position letter Breath, believes factor of influence, the C-V2X mobile phones of speed by the different classes of initial velocity influenced from any factor, position Number to the factor of influence of speed, direction to the factor of influence of speed, the velocity interval of pedestrian is calculated, with reference to what is be an actually-received The velocity information of C-V2X mobile phones, C-V2X mobile phones carrier is the probability of pedestrian when calculating this speed；
    Density determination module (14), the C-V2X mobile phone position informations collected using multi-mode communication information acquisition module (11) and The information that roadside device receives, calculates the pedestrian density around C-V2X mobile phone carrier, and calculates under pedestrian density herein C-V2X mobile phones carrier is the probability of pedestrian, and density determination module (14) considers bus back yard scape, can reduce use The error of location determination module (12) and speed determination module (13) to pedestrian detection and identification；
    Direction determining module (15), considers the influence of the position, speed, density of C-V2X mobile phone carrier to direction, utilizes C-V2X mobile phones direction that multi-mode communication information acquisition module (11) collects, positional information, pass through current C-V2X mobile phones direction The probability that C-V2X mobile phones carrier is pedestrian is calculated with the information including C-V2X mobile phone locations.
  2. 2. the city intersection pedestrian detection identifying system according to claim 1 based on C-V2X, it is characterised in that The multi-mode communication information acquisition module (11) realizes inter-vehicular communication using V2V cars-driving skills art of C-V2X；Use C-V2X's V2I vehicles-infrastructure technique realizes the communication between vehicle and roadside device, the C-V2X mobile phones use of driver and passenger The P2I pedestrian of C-V2X-interacted between infrastructure technique and roadside unit, the board units and information service management of vehicle Platform carries out information exchange using the V2N cars-Internet technology communication technology of C-V2X, vehicle and pedestrian by board units with Mobile phone with C-V2X communication functions carries out information exchange using V2P cars-pedestrian's technology of C-V2X；Pedestrian is carried by it Mobile phone, realizes the communication between information service platform, pedestrian is carried by it by P2N pedestrian-Internet technology of C-V2X C-V2X mobile phones communicate with the P2I pedestrian between roadside unit using C-V2X-underlying device technologies；Roadside device takes with information Interacted between business management platform using I2N infrastructure devices-Internet technology of C-V2X.
  3. 3. the city intersection pedestrian detection identifying system according to claim 1 based on C-V2X, it is characterised in that The module that different functional areas is divided into according to the functional characteristic of city intersection is also wrapped, and uses section by its table Show to come, the road representation near intersection is as follows：
    (type, orientation, startPoint, endPoint, length, width, AddPoint) | type=0,1, 2,3,4},
    Orientation ∈ [0,2 π), AddPoint=point1, point2 ..., pointN }
    0 in type represents pavement, and 1 represents cycle track, and 2 represent car lane, and 3 represent zebra stripes, and 4 represent intersection Crossing center；N is positive integer.
  4. 4. the city intersection pedestrian detection identifying system according to claim 1 based on C-V2X, it is characterised in that The location determination module (12) judges that C-V2X mobile phone carrier specifically includes for pedestrian：By C-V2X mobile phone carrier according to not It is four classifications with traffic participant Type division：It is according to road user category division, pedestrian, bicycle, bus multiply Visitor, other automobile drivers；
    C-V2X mobile phones carrier represents as follows：
    (type, pos, v, orientation, acc, accOrien) | type={ 0,1,2,3 }, orientation ∈ [0,2 π),accO rien∈[0,2π)}
    1 in type represents C-V2X mobile phones carrier as pedestrian, and 2 represent the C-V2X mobile phone carrier vehicles as bicycle, and 3 Traffic participant is represented as automobile driver, 0 represents other situations.
  5. 5. the city intersection pedestrian detection identifying system according to claim 4 based on C-V2X, it is characterised in that The location determination module (12) is by the positions of current C-V2X mobile phones, with reference to city intersection function path region division, It is the probability of pedestrian at current location to determine C-V2X mobile phones carrier, and formula is as follows；
    <mrow> <mi>P</mi> <mo>=</mo> <mfrac> <msub> <mi>S</mi> <mi>k</mi> </msub> <mi>S</mi> </mfrac> <mo>&amp;times;</mo> <msub> <mi>P</mi> <msub> <mi>k</mi> <mrow> <mi>p</mi> <mi>e</mi> <mi>d</mi> <mi>e</mi> <mi>s</mi> </mrow> </msub> </msub> </mrow>
    Wherein k={ 0,1,2,3,4 },0-4 corresponds to people respectively Trade, zebra stripes, car lane, non-motorized lane, intersection central area；
    <mrow> <msub> <mi>P</mi> <msub> <mi>k</mi> <mrow> <mi>p</mi> <mi>e</mi> <mi>d</mi> <mi>e</mi> <mi>s</mi> </mrow> </msub> </msub> <mo>+</mo> <msub> <mi>P</mi> <msub> <mi>k</mi> <mrow> <mi>v</mi> <mi>e</mi> <mi>h</mi> <mi>i</mi> </mrow> </msub> </msub> <mo>+</mo> <msub> <mi>P</mi> <msub> <mi>k</mi> <mrow> <mi>b</mi> <mi>i</mi> <mi>c</mi> <mi>y</mi> </mrow> </msub> </msub> <mo>=</mo> <mn>1</mn> </mrow>
    WhereinRepresent that C-V2X mobile phones carrier is pedestrian in the range of the k of region, vehicle, bicycle respectively Probability.
  6. 6. the city intersection pedestrian detection identifying system according to claim 1 based on C-V2X, it is characterised in that The terminal for the certain area that the density determination module (14) is received using information service management platform is cellphone information situation The lower signal density for calculating this region, representation are as follows：
    <mrow> <mi>&amp;rho;</mi> <mo>=</mo> <mfrac> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </munderover> <msub> <mi>P</mi> <mi>i</mi> </msub> </mrow> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>N</mi> </munderover> <msub> <mi>s</mi> <mi>i</mi> </msub> </mrow> </mfrac> </mrow>
    siFor the area of survey region i, PiTo can be determined that the quantity of the signal sent for mobile phone in survey region i.
  7. 7. the city intersection pedestrian detection identifying system according to claim 5 based on C-V2X, it is characterised in that The speed determination module (13) is influenced using the speed of C-V2X mobile phone carrier, the factor of influence of present position, signal density The factor, direction factor of influence information draw speed at this time, are combined with the C-V2X mobile phone velocity informations received, calculate C-V2X As the probability of pedestrian when mobile phone carrier is moved using this speed, represent as follows；
    Assuming that vrealSpeed when for C-V2X mobile phone carrier being pedestrian, vinitial、q1pos、q1ρ、q1direRespectively pedestrian's speed Initial value, pedestrian position factor of influence, C-V2X mobile phone carrier's ambient densities factor of influence, direction of advance factor of influence, Assuming that the region value collection of the factor of influence of pedestrian is combined into T, it is assumed that C-V2X mobile phones carrier is pedestrian, i.e. q1type∈ T, Assuming that [v1,v2] it is the pedestrian's velocity interval calculated.
  8. 8. the city intersection pedestrian detection identifying system according to claim 5 based on C-V2X, it is characterised in that The direction determining module (15) represents direction of advance using the method for neighborhood, its representation is as follows：
    G (x, y, z) represents mobile phone location, G1(x1,y1,z1) represent the positions of C-V2X mobile phone subsequent times, and G1Region is G neighborhoods；It can show that C-V2X mobile phones are taken by the direction of advance of C-V2X mobile phone carrier, the classification of mobile phone carrier, position Direction with person, with reference to C-V2X mobile phone directional informations, it can be deduced that C-V2X mobile phones carrier is the probability of pedestrian.Assuming that Ppedes (θ) represents relation function when C-V2X mobile phone carrier is the probability of pedestrian and the region positive direction angle is θ, the side of pedestrian [- α, α] ∪ [π-α, π+α] is combined into collection, and there are following relation:
    <mrow> <msubsup> <mo>&amp;Integral;</mo> <mrow> <mi>&amp;theta;</mi> <mo>=</mo> <mo>-</mo> <mfrac> <mi>&amp;pi;</mi> <mn>2</mn> </mfrac> </mrow> <mfrac> <mrow> <mn>3</mn> <mi>&amp;pi;</mi> </mrow> <mn>2</mn> </mfrac> </msubsup> <msub> <mi>P</mi> <mrow> <mi>p</mi> <mi>e</mi> <mi>d</mi> <mi>e</mi> <mi>s</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>&amp;theta;</mi> <mo>)</mo> </mrow> <mo>=</mo> <mn>1</mn> </mrow>
    The probability that C-V2X mobile phones carrier is pedestrian at this time is:
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