CN109166314A - Road conditions awareness apparatus and bus or train route cooperative system based on omnidirectional tracking detection radar - Google Patents
Road conditions awareness apparatus and bus or train route cooperative system based on omnidirectional tracking detection radar Download PDFInfo
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
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- 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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- 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
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/01—Detecting movement of traffic to be counted or controlled
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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Abstract
The embodiment of the invention discloses a kind of road conditions awareness apparatus and bus or train route cooperative system based on omnidirectional tracking detection radar.The road conditions awareness apparatus based on omnidirectional tracking detection radar includes the more detection of element omnidirectional tracking radar sensor device, data analysis processor；More element omnidirectional tracking detection radar sensor devices are for acquiring information on target object all on road in preset range；The preset range is to detect the detection radius of radar sensor device according to more element omnidirectional trackings and set；The data analysis processor is used to handle the information on target object on the road according to preset parameter and rule, obtains real-time traffic states information, road status messages, the climatic data information of the road.The road conditions awareness apparatus based on omnidirectional tracking detection radar of the embodiment of the present invention can obtain the information on target object on road in real time, so that the automobile of automatic Pilot or user grasp road conditions in real time.
Description
Technical field
The present invention relates to road conditions perception, detections of radar, road monitoring, automatic Pilot technical fields, and in particular to Yi Zhongji
In the road conditions awareness apparatus and bus or train route cooperative system of omnidirectional tracking detection radar.
Background technique
The raising of car mass and the improvement of road traffic are so that automatic Pilot is more and more closer from people's lives, simultaneously
The safety of automatic Pilot also increasingly attracts people's attention.
In order to improve the safety of automatic Pilot, related technical personnel develop a variety of Data Detections based on different technologies
Equipment, but different defects is individually present in these detection devices.If conventional video data acquisition equipment detecting distance is on 100 meters of left sides
The right side, and be easy to be illuminated by the light all kinds of weather influences.For another example the detection zone of microwave vehicle detector is at 50 meters or so, and section
Detection cannot achieve big region detection, can not detect the mobile object that speed is lower than 5km/h.For another example multi-target tracking radar senses
The detecting distance of device only has 200 meters or so, and blind area is big, tracking destination number is few and cost is high.More elements are meteorological
Detection device is substantially 100 meters or so detection ranges, and the laying spacing on highway is 10-20 kilometers at present, is covered
Lid range is small.Importantly, the output of these detection device data is all in seconds or even tens second datas can give birth to
At above data drop and time drop lead to not quickly form efficient message and carry out data biography with automatic driving vehicle
It passs, and then automatic driving vehicle is caused not to be available these data at all, even if sending these data to automatic driving vehicle,
Also it can make bus or train route that the application on automation road, investment value and significance be cooperateed with to have a greatly reduced quality.
GPS+IMU (calling inertial navigation in the following text) the combined ground base station of current certain autonomous driving vehicle manufacturers with high precision
Mode is navigated, but in order to solve the problems, such as GPS accuracy deficiency, is needed to build a large amount of ground base station, led to inertial navigation
The mode of combined ground base station is with high costs.
In addition, total factor weather station follows the design of International Meteorological Organization (WMO) meteorological observation standard and standardizes to 20
Data target is tested and analyzed, and majority installation or portion are located at important area and obtain various important numbers with unattended mode
According to.Since Professional Meteorological station is all to be pinpointed the position for being laid in a certain fixation and cannot at will moved, acquired data
It can only be the meteorological data of single-point, rather than continuum and a wide range of accurate data.Although we can pass through meteorological observatory
Come obtain following several days or the same day some areas weather condition, but in same city or the same area " under this side
It is rain, fine over there " situation happen occasionally.Such case is even more to make to road operation management person and other important mechanisms or department
At very big influence, the danger of unnecessary economic loss either life is even caused.Such as winter highway or
Urban transportation major trunk roads will cause icy on road after snowing, and icing place is uncertain, brings pole to traffic safety
Big hidden danger.
Summary of the invention
The embodiment of the present invention be designed to provide based on omnidirectional tracking detection radar road conditions awareness apparatus and including
The bus or train route cooperative system of the road conditions awareness apparatus based on omnidirectional tracking detection radar, to solve existing information processing delay
Seriously, the problem of road conditions can not be grasped in real time.
To achieve the above object, first aspect of the embodiment of the present invention provides a kind of based on omnidirectional tracking detection radar
Road conditions awareness apparatus, including more element omnidirectional trackings detect radar sensor device, data analysis processor, communication equipment；
More element omnidirectional tracking detection radar sensor devices are used to acquire the information on target object in preset range on road；
The preset range is to detect the detection radius of radar sensor device according to more element omnidirectional trackings and set；Institute
Data analysis processor is stated for handling according to preset parameter and rule the information on target object on the road, is obtained
To one of the real-time traffic states information of the road, road status messages, climatic data information or a variety of.
In one possible implementation, more element omnidirectional tracking detection radar sensor devices include: more
Element meteorology detection sensor, more element meteorology detection sensors are for detecting more element meteorological datas；More elements
Meteorological data include data of the Temperature and Humidity module, illumination light intensity data, wind direction data, air speed data, rainfall data, sulfur dioxide data,
One of carbon dioxide data, carbon monoxide data, methane data, formaldehyde data, Natural gas data, liquefied gas data are more
Kind；The data analysis processor is used to handle more element meteorological datas according to preset parameter and rule, obtains
To traffic information and Weather information.
In one possible implementation, the target object on road is following any one or more:
Vehicle, pedestrian, animal, barrier；
Information on target object on the road includes the shape information of the object on road, location information, displacement information；Institute
State the size that shape information includes object；The location information includes longitude and latitude, range information, place lane information；The displacement
Information includes instantaneous velocity, the direction of motion, deflection.
In one possible implementation, the preset parameter and rule for by communication equipment from central server
The information received.
In one possible implementation, road conditions awareness apparatus and communication equipment based on omnidirectional tracking detection radar
Communication connection, and be used for by the communication equipment by the real-time traffic states information of the road, road status messages, weather
Data information, Weather information and traffic information are sent to central server and/or the first car-mounted terminal.
In one possible implementation, the communication equipment is wireless telecom equipment or wire communication facility；It is described
Wireless telecom equipment is used to handle real-time traffic states information, the road status messages, gas of the road according to V2X communication standard
Wait data information and traffic information, and by the real-time traffic states information of treated the road, road status messages, weather
It is one or more in data information, Weather information and traffic information to be sent to the central server and/or the first car-mounted terminal；
The central server and user equipment communicate to connect, and the user equipment includes following any one or more:
Second car-mounted terminal, mobile terminal, bus or train route coordinated management work station.
In one possible implementation, more element omnidirectional tracking detection radar sensor devices further include taking the photograph
Camera, for acquiring video image data.
In one possible implementation, more element omnidirectional tracking detection radar sensor devices are for using
Object in 360 ° of scanning mode pair radius, 500 meters of entire areas carries out continuing tracking and positioning.
Second aspect of the embodiment of the present invention provides a kind of bus or train route cooperative system, which is characterized in that including multiple first party
Road conditions awareness apparatus based on omnidirectional tracking detection radar described in face；Based on omnidirectional tracking detection radar described in multiple
Road conditions awareness apparatus is arranged according to pre-determined distance；The pre-determined distance is to detect radar based on omnidirectional tracking according to described
Road conditions awareness apparatus more element omnidirectional trackings detection radar sensor device detection radius and set.
In one possible implementation, the bus or train route cooperative system further includes being detected with described based on omnidirectional tracking
The central server and/or the first car-mounted terminal of the road conditions awareness apparatus communication connection of radar；The central server and user
Equipment communication connection, the user equipment includes following any one or more:
Second car-mounted terminal, mobile terminal, bus or train route coordinated management work station.
The embodiment of the present invention has the advantages that the road provided in an embodiment of the present invention based on omnidirectional tracking detection radar
Condition awareness apparatus can obtain the information on target object on road in real time, obtain road reality according to the information on target object on road
When traffic state information, traffic information, weather conditions information, abnormal events information etc., information processing drives nobody in time
It sails vehicle, automatic driving vehicle, semi-automatic driving vehicle and can quickly change oneself motion state and reach safety trip peace
The purpose travelled entirely, this provides significant data basic guarantee also to grasp road conditions in real time for mobile terminal or other users.
Detailed description of the invention
Fig. 1 is that the structure for the road conditions awareness apparatus for detecting radar based on omnidirectional tracking that the embodiment of the present invention 1 provides is shown
It is intended to.
Fig. 2 is the structural schematic diagram for the bus or train route cooperative system that the embodiment of the present invention 2 provides.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper", "lower", " left side ", the right side in this specification ", the term of " centre ", be merely convenient to chat
That states is illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and is changing skill without essence
It is held in art, when being also considered as the enforceable scope of the present invention.
Check that the road conditions awareness apparatus of radar can be to road based on omnidirectional tracking the embodiment of the invention provides a kind of
Vehicle, row human or animal and the barrier of upper traveling carry out a wide range of comprehensive perception and quickly real-time tracking positioning, and
And can determine in several hundred rice or several kilometer ranges, the real time kinematics state of each moving target, including place lane, i.e.,
Shi Sudu, vehicle, the direction of motion, longitude and latitude, distance, state even entire road traffic conditions, load conditions, weather feelings
Condition；And do not need other ancillary equipments and largely put into, can by so many timeliness information 30-100 milliseconds when
In, be sent to the car-mounted terminal of automatic driving vehicle, automatic driving vehicle, car-mounted terminal according to acquired data information and
When adjust automatic driving vehicle motion state, in addition should based on omnidirectional tracking check radar road conditions awareness apparatus be acquired
The data information of lasting tracking and positioning not will receive all kinds of weather include: rainy day, snowy day, greasy weather, haze day and light (daytime
Or at night) variation influence and smog influence.
Embodiment 1
In the present embodiment, the road conditions awareness apparatus based on omnidirectional tracking detection radar is carried out specifically in conjunction with Fig. 1
It is bright.
Road conditions awareness apparatus based on omnidirectional tracking detection radar includes more element omnidirectional tracking detection radar sensings
Device equipment, data analysis processor, communication interface.
Road conditions awareness apparatus based on omnidirectional tracking detection radar may be mounted at beside road or beside lane.This
Embodiment to the installation site of the road conditions awareness apparatus based on omnidirectional tracking detection radar without limitation, as long as being able to detect big
Information on target object, traffic state information, traffic information in range, the road conditions perception based on omnidirectional tracking detection radar are set
It is standby that any position can be installed.
More element omnidirectional tracking detection radar sensor devices are the road conditions based on omnidirectional tracking detection radar
The core component of awareness apparatus.More element omnidirectional tracking detection radar sensor devices are by 360 ° of comprehensive thunders
It is quickly scanned up to high-frequency signal to obtain all target object radar high-frequency signal primary data information (pdi)s within the scope of detection zone, is led to
It crosses internal waveform shaping and mathematical model operation generates the digital signal that can be utilized, then pass through the preliminary treatment of the data
Come generate the lasting tracking information of all targets (including jamming target, effective target), location information, distance detection radar away from
From information, motion track information, direction angle information, place lane information, instantaneous velocity information etc..The initial data is sent to data
Collection analysis processor carries out secondary data processing, forms utilizable valid data and externally sends or be sent to central server
Further data processing is done again generates other data informations for different personnel, equipment, system use from processing.Followed by
It introduces respectively.
More element omnidirectional tracking detection radar sensor devices are used to acquire the target in preset range on road
Object information；The preset range be detected according to the more element omnidirectional trackings radar sensor devices detection radius and
Setting.More element omnidirectional tracking detection radar sensor devices can use 360 ° of scanning mode pair radius for 500
Object in rice entire area carries out continuing tracking and positioning.
More element omnidirectional tracking detection radar sensor devices can detecte vehicle on road, pedestrian, animal, barrier
Hinder the objects such as object.To obtain shape information, the location information, displacement information of the object on road.The shape information includes object
Size；The location information includes longitude and latitude, range information, place lane information；Institute's displacement information include instantaneous velocity,
The direction of motion, deflection.
More element omnidirectional tracking detection radar sensor devices are externally sent with 30-250 milliseconds of time interval
Data, less than 17.5 centimetres, (accurately map distance divides target following positioning accuracy error used in automatic driving vehicle
Resolution is 20cm, therefore the long distance positioning target resolution of more element omnidirectional tracking detection radar sensor devices is complete
The use demand of full up foot automatic driving vehicle).In addition the radar is capable of providing every displacement when speed is 120Km/h speed
90 centimetres of offers, one location information fully meets the positioning requirements that vehicle realizes full speed intelligent driving, and furthermore the radar may be used also
To provide each vehicles or pedestrians and the instantaneous velocity of animal, the direction of motion, longitude and latitude, target size, institute in one kilometer
In important informations such as lane, ID number, deflections.More element omnidirectional tracking detection radar sensor devices can pass through
The mode of virtual coil is set to obtain the approximate shape and vehicle of vehicle.This kind of positioning method (is defended with other positioning devices
Star positioning (Beidou/GPS/ Galileo etc.), base station location, still has WiFiAP positioning, bluetooth positioning at inertial positioning
(iBeacon) etc.) positioning method is different, and this positioning method positioning accuracy error belongs to active positioning less than 17.5 centimetres
It is very high to continue track positioning accuracy for mode, and this positioning and tracking mode do not need vehicles or pedestrians and animal peace
Any location aid device is filled, and these data may be implemented completely to open to the outside world.It does not need to make existing have been put into
Any recondition expense is put into vehicle, in addition this positioning method does not need to be bound with personal information or information of vehicles,
Therefore ensure personal privacy right not by any infringement completely.
It is raw information that more element omnidirectional tracking detection radar sensor devices, which obtain information,.More elements are complete
Orientation tracing detection radar sensor device includes central data processor, and raw information can be comprehensive by more elements
The central data processor of tracing detection radar sensor device itself carries out preliminary treatment, then transfers to Data Analysis Services again
Device processing.
In one example, more element omnidirectional tracking detection radar sensor devices include: more element meteorology inspections
Sensor is surveyed, more element meteorology detection sensors are for detecting more element meteorological datas；More element meteorological data packets
Include data of the Temperature and Humidity module, illumination light intensity data, wind direction data, air speed data, rainfall data, sulfur dioxide data, titanium dioxide carbon number
According to, one of carbon monoxide data, methane data, formaldehyde data, Natural gas data, liquefied gas data or a variety of.More elements
The information that meteorological detection sensor obtains also is raw information, needs to give data analysis processor and is further processed.
In one example, more element omnidirectional tracking detection radar sensor devices further include video camera, video
Image data.Video camera is specifically as follows 8,000,000 pixel high-speed dome monitor cameras, for obtaining the video image number of high definition
According to.
More element omnidirectional tracking detection radar sensor devices and data analysis processor communication connection.The data point
Analysis processor is used to handle the information on target object on the road according to preset parameter and rule, obtains the road
Real-time traffic states information, road status messages, the climatic data information on road.
Preset parameter and rule can be to detect the road conditions awareness apparatus of radar based on omnidirectional tracking from central service
The information that device receives.
Data analysis processor can be handled the information on target object on road according to preset parameter and rule
Real-time traffic states information, road status messages, climatic data information.
Real-time traffic states information, road status messages, climatic data information have included whether vehicle lay-off, traffic thing
Therefore the critical events such as vehicle congestion, vehicle queue, vehicle drive in the wrong direction, Slow Down, pedestrian.
The data analysis processor can be set according to central server is first passed through in advance and the parameter sended over and rule
Real-time analysis processing then is carried out to initial data, various interference is filtered out and forms effective target information, the Data Analysis Services
Device can be no less than 1000 target objects in tracking and positioning trace detection region using multithreading high speed processor simultaneously.
The data analysis processor can also be handled more element meteorological datas according to preset parameter and rule,
Obtain traffic information, Weather information.
Traffic information specifically includes that temperature and humidity, illumination light intensity, wind direction and wind velocity, rainfall, sulfur dioxide, carbon dioxide, an oxygen
Change pernicious gases such as the gas of carbon, methane, formaldehyde, natural gas, liquefied gas etc..
The data analysis processor can also receive the data for the sensor detection device that other are mounted on trackside, in conjunction with
Radar initial data, the more element meteorological datas, video image of more element omnidirectional tracking detection radar sensor devices
Data carry out comprehensive analysis, summarize, operation, screen, filter out, condition judgement, the setting of detections of radar region, accident detection,
Track following etc..And different results is sent respectively to the first car-mounted terminal and central server by communication equipment.
Specifically, the data analysis processor is mainly the radar number sended over to more element radar sensor devices
It is believed that the data information that sends over of breath, more element meteorological data information, video image data and third party's communications platform into
Row analysis summary forms radar to the motion profile of vehicle scan, location information and presets simultaneously according in central server
Under send event accident vehicle, violation vehicle and dangerous pedestrian determination condition and parameter are measured in real time, once expire
The data are reported central server immediately to be handled in time by sufficient decision condition.
Secondly, significant data information or control information, vehicle that data analysis processor sends over central server
Induction information, traffic information and weather information are by more element omnidirectional tracking radar sensor self communication ports and lead to
Letter equipment is sent, and plays information transmitting and the services of intermediary after data processing is processed, can be entirely square in more elements
(unidirectional multilane, two-way multilane, intercommunication intersect vehicle in the detection zone that position tracing detection radar sensor device is covered
Road) carry out all kinds of event accident detections and alert determines the detail location of event accident, detecting event accident
Type include: vehicle lay-off, traffic accident, vehicle congestion, barrier, vehicle queue, vehicle drive in the wrong direction, Slow Down, pedestrian, taboo
The only critical events such as current.
More specifically, data analysis processor is mainly integrated with multiple functional modules.Each module has oneself corresponding
Function or completion function.Functional module includes:
Trace analysis module: the module original number of all targets in its scanning range is obtained from radar sensor it is believed that
Breath, is handled, and the data after analysis are transferred to central management module.
Central management module: the module is the center of whole system, includes multiple functions: firstly, all modules will
It is communicated by the module, it assures that all information acquired from module and the information for being transferred to module are reliably effective；Secondly,
The module storing data and the details of setting.In addition, the detected rule that the resume module is defined, latent detecting
Event when make a policy.
Alarm module: the module is used to send external system for alarm command；It can convert XML for warning message
Format simultaneously sends it to any third party system being applicable in therewith.It is to one or more that the module can also provide switching signal
A relay directly controls external equipment, such as DVR, alarm, voice broadcast service device.
Camera control module: the module checks the event detected for controlling PTZ camera.Work as detection
To when violating the regular event defined, which obtains relevant information from central management module, and direct according to these information
Control video camera checks the position that event occurs.The video camera that the module can control all installations carries out mobile and zoom behaviour
Make.
Graph visualization module: this module provides a very friendly graphical user operation interfaces.At this interface
In settable relevant parameter, display testing result and execute relevant operation.
As shown in Fig. 2, the road conditions awareness apparatus based on omnidirectional tracking detection radar passes through communication interface and communication equipment
Communication connection.
Communication equipment can be wire communication facility, or wireless telecom equipment.
In one example, when the communication equipment is wireless telecom equipment, wireless telecom equipment according to V2X for communicating
Standard handles real-time traffic states information, road status messages, climatic data information, Weather information and the road conditions letter of the road
Breath, and by real-time traffic states information, road status messages, climatic data information and the traffic information of treated the road
It is sent to the central server and/or the first car-mounted terminal；The central server and user equipment communicate to connect, the use
Family equipment can be the second car-mounted terminal, or mobile terminal, or bus or train route coordinated management work station.
V2X communication is to communicating (Vehicle to Vehicle, V2V), vehicle and roadside equipment between vehicle and vehicle
Between communicate and communicate (Vehicle between (Vehicle to Infranstructure, V2I) and vehicle and pedestrian
Pedestrian, V2P) general designation.
According to the communication standard between V2X bus or train route communication for coordination equipment and require to carry out data encryption, agreement establishment, data
Format conversion, transmission rate, transmission bandwidth carry out data processing, and by treated, data pass through private communication channel progress data
It transmits, the major function of the equipment is to carry out data interaction with the first car-mounted terminal, central server respectively and communicate.Based on complete
The road conditions awareness apparatus of orientation tracing detection radar by real-time traffic states information, road status messages, climatic data information and
Traffic information is interacted by communication equipment and the first car-mounted terminal central server.
In the present embodiment, communication equipment is specifically as follows V2X bus or train route collaboration trackside communication equipment, is that a trackside is special
With short range communication (DSRC) equipment, 5.850~5.925GHz microwave frequency band is worked in, supports IEEE 802.11p, IEEE
The standards such as 1609.x and SAE J2735.
In the present embodiment, V2X bus or train route collaboration trackside communication equipment is directly real-time by having between means of transportation and automobile
" dialogue " ability supports extensive interconnection automobile (Connected Vehicles, abbreviation CV), cooperating type intelligent transportation
The application of (Cooperative ITS, abbreviation C-ITS) and autonomous driving vehicle (Autonomous Vehicles, abbreviation AV), such as
Collaborative intelligent traffic lamp, intelligent transportation facility etc..V2X can realize the intelligence of means of transportation, and traffic peace is substantially improved
Complete and efficiency.
In the present embodiment, V2X bus or train route collaboration trackside communication equipment uses high-performance processor, built-in GNSS (or Beidou/
GPS) positioning function.V 2X bus or train route cooperate with trackside communication equipment except DSRC communication in addition to, be also equipped with 3G/4G/5G cellular communication,
The wireless communication functions such as WiFi and bluetooth (Bluetooth)；And provide CAN, RS485,1000M Ethernet interface.So as to complete
Face meets various communication requirements, supports direct current supply and POE power supply both of which.All kinds of comprehensive bus or train route collaborations can be constructed based on it
Using.
The data that first car-mounted terminal will acquire are parsed to obtain the valid data needed for self according to protocol format,
And valid data are sent to central processing unit and carry out working process again, to form the control instruction of vehicle, warning information, lead
Boat information, prompt information etc..
Central server sends real-time traffic states information, road status messages, climatic data information and traffic information
To the second car-mounted terminal and/or mobile terminal, data that the second car-mounted terminal or mobile terminal will acquire according to protocol format into
Valid data are sent to central processing unit progress working process again to obtain the valid data needed for self by row parsing, from
And form control instruction, warning information, navigation information, the prompt information of vehicle etc..
Central server can also believe real-time traffic states information, road status messages, climatic data information and road conditions
Breath is sent to bus or train route coordinated management work station.So as to manage as a whole and according to the actual situation adjust equipment working state, system
Determine prediction scheme or implements road control, information publication and remote command scheduling.
It should be noted that above-mentioned each component, which is all selected, uses low power dissipation design and device, and be embedded with Beidou/
GPS positioning module.
It is provided in this embodiment based on it is comprehensive according to check radar road conditions awareness apparatus can be under the conditions of most evil bad
It works normally, including rain, snow, mist, cigarette, dust etc., higher detection can be kept within even completely black environment lower 24 hours
Precision is constant always.Based on it is comprehensive according to check radar road conditions awareness apparatus can detection zone cover in the range of edge
Each target object, including vehicle, pedestrian, animal are tracked in way, and inform the target object in real time by embedded GIS map
Present position, the direction of motion, instantaneous velocity, place lane, vehicle, id number, longitude and latitude, road condition, traffic behavior, day
The important informations such as gaseity, the Various types of data information that furthermore data processor sends over more element omnidirectional tracking sensors
Analysis summary and judgement are carried out, anomalous weather has been checked whether and has sent a warning message, all data difference after treatment
Be sent to: 1) car-mounted terminal is unmanned for automobile, automatic Pilot, semi-automatic driving, path planning, path navigation, information mention
Show use；2) mobile terminal provide path planning, trip navigation, information alert be using；3) central server processing server
There is provided road network control for administrative staff, traffic behavior check preview, road condition check preview, emergency plan implement and it is specified,
Command scheduling uses.
Embodiment 2
Present embodiments provide a kind of bus or train route cooperative system.As shown in Fig. 2, including one or more described in embodiment 1
Based on the omnidirectional tracking detection road conditions awareness apparatus of radar, communication equipment described in embodiment 1, other sensors equipment, the
One car-mounted terminal, central server, the second car-mounted terminal, mobile terminal.
Road conditions awareness apparatus based on omnidirectional tracking detection radar can be with the first vehicle-mounted end by the communication equipment
End, central server network connection；Central server can be connected with the second car-mounted terminal with mobile terminal network；Central service
Device can also be connected with bus or train route coordinated management network of workstations；To form bus or train route cooperative system.
Other sensors equipment and the road conditions awareness apparatus communication connection that radar is detected based on omnidirectional tracking, so as to
The initial data acquired gives the data analysis processor in the road conditions awareness apparatus based on omnidirectional tracking detection radar
Processing.
Bus or train route cooperative system may include multiple road conditions awareness apparatus based on omnidirectional tracking detection radar according to
Pre-determined distance is arranged；The pre-determined distance is according to the road conditions awareness apparatus for detecting radar based on omnidirectional tracking
More element omnidirectional trackings detect the detection radius of radar sensor devices and set.For example, being detected based on omnidirectional tracking
The road conditions awareness apparatus detection radius of radar is 500 meters, then can along road, every 1 km be arranged one based on it is comprehensive with
The road conditions awareness apparatus of track detection radar.
First car-mounted terminal is the car-mounted terminal of automatic Pilot, or is unpiloted car-mounted terminal, or drive for queue
The car-mounted terminal of vehicle.Traffic information, the real-time traffic that road conditions awareness apparatus based on omnidirectional tracking detection radar checks
Status information, road status messages, climatic data information can be sent to the first car-mounted terminal, allow vehicle according to road conditions
Information, real-time traffic states information, road status messages, climatic data information are travelled.
Central server can be set in central machine room, and main to complete following work: data exchange, is at store function
System communication, maintenance, concentrated alarm, scheme forming, linkage scheme executes, the load of three-dimension GIS figure is called with reading, figure accelerates
Engine, the operation of big data macroscopic view, traffic abnormal accident event detection and alarm, navigation data generate, image stores, data
Storage, alert event video recording are filed for reference, report produces, the instruction that links with third party is sent, device systems parameter setting, communication format
Setting, the control of equipment remote opening/closing, all access devices and the adjustment of maintenance/parameter and setting, transmission presupposed solution,
Regular job man-machine interface centralized alarm.
Traffic information, the real-time traffic states letter detected based on the road conditions awareness apparatus that omnidirectional tracking detects radar
Breath, road status messages, climatic data information, traffic information, Weather information can also be sent to central clothes by communication equipment
Business device, central server believe traffic information, real-time traffic states information, road status messages, climatic data information, road conditions
Breath, Weather information are handled, and combine third party's data, send navigation information to the second car-mounted terminal and mobile terminal.
Second car-mounted terminal is that auto-navigation systems, second car-mounted terminals such as automobile navigation instrument are receiving navigation information
Afterwards, navigation information can be shown on the electronic map.Mobile terminal can be the terminals such as mobile phone, tablet computer, mobile
Terminal can on the electronic map show navigation information after receiving navigation information.
Central server can by traffic information, real-time traffic states information, road status messages, climatic data information,
Traffic information, Weather information carry out processing and third party's data send vehicle coordinated management work station.
Vehicle coordinated management work station can be set on the operation bench of center, and main to complete following work: data exchange is
System communication, concentrated alarm, scheme forming, linkage scheme issue execution, image call/display/upload, big data macroscopic view are shown,
Alarm event data record look into, report production, with third party link instruction send, send presupposed solution, the man-machine boundary of regular job
Face centralized alarm, road network control, traffic behavior monitoring, road condition monitoring, command scheduling, rescue scenario issue.
Since more element omnidirectional trackings detection radar sensor is not interfered by all kinds of environmental disturbances and light because of this
Bus or train route cooperative system can provide entirely for automatic driving vehicle, automatic driving vehicle, queue driving vehicle, pedestrian, road management person
Year 24 hours 365 days highly reliable information of vehicles, traffic information, Weather information, real-time traffic states information, road condition letter
Breath, climatic data information, traffic information, Weather information etc., this is that existing bus or train route cooperative system is such as taken the photograph based on other awareness apparatus
Camera, microwave vehicle detector, multi-target detection device, weather detector etc. are incomparable；
By detecting more element meteorologies sensing in radar sensor in more element omnidirectional trackings that roadside gathers
The collected a large amount of climate change data of device, integrated gas data, sunshine (brightness light intensity) data etc. and binding time node
Change (such as: 24 hours time changes, seasonal variations etc.), so that it may effectively solve common weather station bring " it is rainy here,
It is fine over there " predicament, these data are sent in central server, so that it may bus or train route cooperative system be allowed to pass through big data point
Analysis can continue to deduce according to existing traffic environment to emulate the following day to obtain more true and reliable meteorological condition
Influence significance level of the vaporous condition to traffic, more can allow end user user that can make trip thorough in further detail
Scheme；
A large amount of numbers that central server sends N number of front end based on the road conditions awareness apparatus of omnidirectional tracking detection radar
According to or by the large amount of data information that is obtained in internet, after studying in depth and analyzing, can to certain point, a certain region, certain
One road, a certain city, a certain province carry out really and accurately real-time environmental simulation emulation, and provide congestion in road, traffic
Accident, boundary defence, natural calamity, rescue and relief work, emergency accident treatment, command scheduling, pre-alarm and prevention, fire-fighting and rescue etc.
It is automatic driving vehicle, automatic driving vehicle, queue driving vehicle, pedestrian, correlation Deng offer basic data, image information etc.
Administrative staff, which provides, out more accurately travels trip decision-making scheme, reduces the generation of " danger trip " event.
This bus or train route cooperative system, which has, detects positioning function to anomalous event accident vehicle and pedestrian tracking, and not by each
Class environmental disturbances and light interference drive the preferred road that vehicle automatically generates for automatic driving vehicle, automatic driving vehicle, queue
Diameter, which is avoided risk, brings very big help.
This bus or train route cooperative system, which has, carries out real-time tracking detection and localization, and base to anomalous event accident vehicle and pedestrian
It is not interfered by all kinds of environmental disturbances and light in the road conditions awareness apparatus of omnidirectional tracking detection radar, therefore this bus or train route collaboration system
System can effectively solve conventional video event detection system and microwave vehicle detector and multiple target radar detector wrong report height, fail to report
The more, problems such as detection accuracy is low.
This bus or train route cooperative system itself has the function of traffic data collection and detection accuracy is high, can effectively detect speed
The vehicle and pedestrian mobile lower than 5Km/h, or even vehicles or pedestrians (microwave vehicle detector and other common more mesh for being off
Mark radar detector can not be accomplished)；The collaboration of this bus or train route can be clearly seen that on road in the GIS map that itself is integrated
Vehicle real-time distribution situation, traffic condition, the function can effectively solve the problem that conventional truck detector can only detect section traffic number
According to and the shortcomings that entire road real-time traffic condition lacks macro-management can not be reacted, be automatic driving vehicle, automatic Pilot vehicle
, queue drive vehicle important Data safeguard is provided.
This bus or train route cooperative system can provide within 1 kilometer each on even entire road ready position simultaneously, and
It includes: timely speed, driving direction, longitude and latitude, direction of motion angle, size, vehicle that each vehicle real time status information, which can be provided,
The important informations such as type can subtract to realize that vehicle high-precision automatic Pilot, unmanned, queue driving provide significant data support
Lack because other awareness apparatus detecting distances are close, detection content is few, are influenced by installation environment and weather environment and largely thrown
Enter unnecessary fund.
This bus or train route cooperative system is capable of providing under special weather (rain, snow, mist, haze, sand and dust, cigarette) situation and gauge without light source
In the case where (night), the accurate navigation of no dangerous traveling can evade danger when encountering special circumstances with advance notice user
Danger or obstacle.
This bus or train route cooperative system itself has the function of traffic incidents detection and traffic data collection, therefore can directly substitute biography
The Video Events detection device of system and traditional wagon detector equipment.
This bus or train route cooperative system to vehicle/pedestrian in vehicle/pedestrian of stopping or high-speed motion, can either mention
For the superhigh precision positioning strategy that precision is less than 17.5 centimetres, automatic Pilot, unmanned, queue driving data are fully met
Use demand.
The data processor of the road conditions awareness apparatus based on omnidirectional tracking detection radar in this bus or train route cooperative system is adopted
It being capable of no less than 1000 target objects in tracking and positioning trace detection region simultaneously with multithreading high speed processor；Its more element
Omnidirectional tracking detection radar sensor device uses 360 ° of high speed scanning modes can be to centered on radar, radius 500
Target object continue tracking and positioning in rice entire area, and more element omnidirectional trackings detection radar sensor devices can be with
30-250 milliseconds of time interval externally sends data, less than 17.5 centimetres (automatic Pilots of target following positioning accuracy error
Accurately map distance High Resolution is 20cm used in vehicle, therefore more element omnidirectional trackings detect radar sensor device
Long distance positioning target resolution fully meet the use demand of automatic driving vehicle)；In addition, more element omnidirectional tracking inspections
It surveys radar sensor device to be capable of providing when speed is 120Km/h speed, every displacement 90 centimetres of offers, one location information is complete
Full up foot vehicle realizes the positioning requirements of full speed intelligent driving, and these are also not available for existing trackside awareness apparatus.
Since this bus or train route cooperative system can carry out real-time tracking positioning and four-dimensional real scene simulation and vehicle three to vehicle
Tie up real scene simulation function, this bus or train route cooperative system, can be with according to important informations such as the timely speed of each vehicle and motion profiles
It realizes whole overspeed of vehicle tracing detection warning function, and can export in overspeed of vehicle initial time, end time, traveling
The important informations such as journey, driving path.
Since this bus or train route cooperative system can carry out real-time tracking positioning to vehicle, according to the movement rail of each vehicle
The important informations such as lane where mark and vehicle may be implemented the whole express lane tracing detection that occupies for a long time to truck and alarm
Function, and initial time, end time, mileage travelled, driving path that can export truck occupancy express lane etc. is important
Information, and point-to-point warning is carried out to corresponding vehicle.
Since this bus or train route cooperative system can carry out real-time tracking positioning to vehicle, according to the movement rail of each vehicle
The important informations such as mark and place lane may be implemented whole process and occupy Emergency Vehicle Lane traveling tracing detection warning function to vehicle, and
Vehicle can be exported and occupy the important informations such as initial time, end time, mileage travelled, the driving path in emergency car lane, and
Point-to-point warning is carried out to corresponding vehicle.
Since this bus or train route cooperative system can carry out real-time tracking positioning and four-dimensional real scene simulation and vehicle three to vehicle
Real scene simulation function is tieed up, by determining setting to " two visitors one endanger " vehicle identification, may be implemented whole to " two visitors one endanger " vehicle
All-the-way tracking detects positioning function, and according to the external alert of dangerous situation.
It is very ignorant, master for monitoring management person in sleet sky, dust and sand weather, haze weather, driving at night
If common monitor camera, by blinding, can not continue to play the effect for monitoring and controlling in the case where this condition
, it is even more impossible to realize to play active inducing action to road vehicle.Due to more element omnidirectional trackings detection radar sensing
Device equipment itself not by weather and light influenced, passing through three-dimensional high-precision GIS map and dynamic three-dimensional vehicle Model Fusion
Four-dimensional outdoor scene macroscopic view monitored picture is formed, the video camera " buried " on road can be come out to reproduction completely, traffic administration is given
Person realizes that active induction and anomalous event accident are quickly handled and quick search provides very big help, is driver and conductor's safety
Trip escorts.
This bus or train route cooperative system can provide within 1 kilometer each accurate location on even entire road, and can mention
For important informations such as each vehicle real time kinematics state, roading density, vehicle distributing position, the traffic events scenes of the accident.This vehicle
Road cooperative system can be by vehicle timely multidate information and Baidu's electronic three-dimensional map, high moral electronic three-dimensional map and other tools
There is the equipment of electronic three-dimensional map producer to be merged, when 5G communication era arrive when, it can be achieved that three-dimensional live auto navigation and
Mobile phone three-dimensional live navigation feature, be driver and conductor's trip, path planning, navigation, dangerous obstacles are evaded, hazardous vehicles are evaded,
Path selection etc. provides a strong guarantee.
When bus or train route cooperative system detect on road have anomalous event accident vehicle, pedestrian, congestion in road, dangerous road conditions,
When the important messages such as hazardous weather, hazardous vehicles, hazardous act, system can with short message, video, figure, advices plate information publication,
The diversified forms such as cell phone application inform driver and conductor, allow it to adopt right measures and are avoided.
Road conditions awareness apparatus provided in an embodiment of the present invention based on omnidirectional tracking detection radar can obtain in real time
The information on target object of road obtains the traffic information of road according to the information on target object on road, and information processing is timely, makes
The automobile or user for obtaining automatic Pilot grasp road conditions in real time.
Embodiment 3
In the present embodiment, it is situated between to more element omnidirectional tracking detection radar sensor devices described in embodiment 1
It continues.
More element omnidirectional tracking detection radar sensor devices include that radar scanning sensor, high speed tracking are taken the photograph
Camera group and mounting base, the radar scanning sensor include installing to radar control mainboard, the radar on the mounting base top
Rotate angle monitoring assembly, radar signal and receiving antenna, radar supports, radar rotary drive assembly, the radar control
Mainboard processed is rotated to radar rotation angle monitoring assembly, the radar signal and receiving antenna and the radar respectively
Send instructions under driving assembly and receive radar signal data, the radar supports support the radar signal and receive day
Line, the radar rotary drive assembly driving radar supports and the radar signal and receiving antenna rotate, the radar
Rotation angle monitoring assembly is used to monitor the rotation angle of the radar signal and receiving antenna, the radar scanning sensing
Radar protection cover is equipped with outside device, the high speed tracking camera group includes installing to the camera shooting control master of the mounting base lower part
Plate, video camera, camera mount, camera rotation driving assembly and video camera pitching driving assembly, the camera shooting control mainboard
Respectively to sending instructions under the video camera, the camera rotation driving assembly and the video camera pitching driving assembly and receive
Image pickup signal data.
The radar rotary drive assembly includes radar rotating electric machine, conveyer belt and big synchronizing wheel, the radar electric rotating
Machine is installed to the mounting base top, and the radar rotating electric machine output shaft drives the big synchronizing wheel to revolve by the conveyer belt
Turn, the big synchronizing wheel upper end is installed to the radar supports.
The radar rotation angle monitoring assembly includes that angle reads dial-up dish, encoder clamping rings disk and laser code
Device, the angle reading dial-up dish are evenly arranged scale by the big synchronizing wheel on the outside of upper end and are formed, and the encoder is fixed
Circle ring disk is mounted on the radar supports bottom and covers and reads outside dial-up dish in the angle, and the laser encoder is mounted on volume
It is on code device clamping rings disk and opposite with the scale in angle reading dial-up dish, it is provided on the encoder clamping rings disk
Motor hole accommodates the radar rotating electric machine in the motor hole.
The radar supports include that support arm, inner support and fixed bracket, the support arm are stood in the mounting base
Portion, the inner support covers in the support arm and radar signal and receiving antenna described in inclined shore, the fixed frame
The back side of the inner support and the radar signal and receiving antenna is installed to the support arm outside and is located at, it is described interior
Bracket is installed by rotary shaft in the middle part of the support arm cant beam, and the support arm lower part is provided with angle adjustment holes, described interior
Frame bottom is inserted by pin shaft into the angle adjustment holes, described interior when the pin shaft inserts different angle adjustment holes
Bracket and the radar signal have different pitch angles from receiving antenna.
The radar control mainboard, which is integrated with radar central processing unit, high-frequency signal transmitting and receiving unit, high frequency, to be believed
Number production unit, radar RJ45 interface, radar CAN interface and camera shooting control mainboard interface, the radar central processing list
Member be respectively connected to the high-frequency signal production unit, the high-frequency signal transmitting with receiving unit, the radar rotating electric machine,
The laser encoder, the radar RJ45 interface, the radar CAN interface and the camera shooting control mainboard interface, institute
It states high-frequency signal transmitting and is connected to the radar signal and receiving antenna, the radar central processing unit with receiving unit
Data interaction is externally carried out by the radar CAN interface, the radar central processing unit passes through the radar RJ45
Interface and the local interlocking equipment of wired connection carry out data interaction, and the radar central processing unit is controlled by the camera shooting
Mainboard interface issues control instruction to the camera shooting control mainboard and links.
The camera mount includes installing to the pedestal of the mounting base lower part and clamping to be mounted on the video camera two
The vertical plate of side, the camera rotation driving assembly include the level rotation of camera rotation motor and rotation installation to the pedestal
Turn transmission gear, the camera rotation motor is installed to the vertical plate of the video camera side, the camera rotation electricity
Machine drives the horizontal rotation transmission gear to rotate by motor driving shaft gear, described in the horizontal rotation transmission gear drive
Video camera and the vertical plate rotate together；The video camera pitching driving assembly includes video camera pitching motor and pitch angle tune
Gear is saved, the video camera pitching motor is installed to outside the vertical plate of the video camera side far from the camera rotation motor
Face, the pitch angle adjustment gear are arranged between the vertical plate and video camera for being equipped with camera rotation motor, the camera shooting
Machine pitching motor drives the pitch angle adjustment gear forward or reverse by motor driving shaft gear, the pitch angle tune
Section gear drives the pitch attitude for adjusting the video camera forward or reverse.
The camera shooting control mainboard is integrated with camera shooting central processing unit, mechanical control unit, power supply unit, camera shooting RJ45
Interface, camera shooting CAN interface and radar control mainboard interface, the camera shooting central processing unit are respectively connected to the camera shooting
Machine, the mechanical control unit, said supply unit, the camera shooting RJ45 interface, the camera shooting CAN interface and the thunder
Up to control mainboard interface, the mechanical control unit is respectively connected to the camera rotation motor and video camera pitching electricity
Machine, the camera shooting central processing unit externally carry out data interaction, the camera shooting centre by the camera shooting CAN interface
It manages unit and data interaction, the camera shooting centre is carried out by the local interlocking equipment of the camera shooting RJ45 interface and wired connection
Reason unit receives control instruction from the radar control mainboard by the radar control mainboard interface and links.
Video camera protective shell and video camera PVC shield are cased with outside the video camera, the video camera PVC protection is provide with
Set outside the video camera protective shell, the camera shooting control mainboard, the pedestal, the video camera protective shell by bolt from
It is interior to successively being installed outside to the fixed bolt hole of the mounting base lower part, the video camera PVC shield passes through external screw thread and installs
To the fastening thread of the mounting base lower inside, sealing is provided between the video camera PVC shield and the mounting base
Circle.
A kind of more element omnidirectional tracking detection radar sensor devices further include more elements meteorologies, gas detection biography
Sensor, more elements are meteorological, gas detection sensor includes Temperature Humidity Sensor, integrated gas sensor, brightness light intensity biography
Sensor, precipitation rain fall sensor, wind speed wind direction sensor, the Temperature Humidity Sensor, the integrated gas sensor and the brightness
Light intensity sensor is arranged in video camera PVC shield bottom outer periphery and is communicatively connected to the camera shooting central processing unit, institute
State camera shooting control mainboard be also integrated be connected to it is described camera shooting central processing unit RS485 interface, the precipitation rain fall sensor and
The wind speed wind direction sensor accesses to the camera shooting central processing unit by the RS485 interface and carries out data communication and biography
It is defeated.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. it is a kind of based on omnidirectional tracking detection radar road conditions awareness apparatus, which is characterized in that including more elements it is comprehensive with
Track detects radar sensor device, data analysis processor；
More element omnidirectional tracking detection radar sensor devices are used to acquire the target object in preset range on road
Information；The preset range is to detect the detection radius of radar sensor device according to more element omnidirectional trackings and set
's；
The data analysis processor is used to carry out the information on target object on the road according to preset parameter and rule
Processing obtains one of the real-time traffic states information of the road, road status messages, climatic data information or a variety of.
2. the road conditions awareness apparatus according to claim 1 based on omnidirectional tracking detection radar, which is characterized in that described
More element omnidirectional tracking detection radar sensor devices include: more element meteorology detection sensors, more element meteorology inspections
Sensor is surveyed for detecting more element meteorological datas；
More element meteorological datas include data of the Temperature and Humidity module, illumination light intensity data, wind direction data, air speed data, rainfall data,
Sulfur dioxide data, carbon dioxide data, carbon monoxide data, methane data, formaldehyde data, Natural gas data, liquefaction destiny
According to one of or it is a variety of；
The data analysis processor is used to handle more element meteorological datas according to preset parameter and rule, obtains
To traffic information and Weather information.
3. the road conditions awareness apparatus according to claim 1 based on omnidirectional tracking detection radar, which is characterized in that road
On target object be it is following any one or more:
Vehicle, pedestrian, animal, barrier；
Information on target object on the road includes the shape information of the object on road, location information, displacement information；
The shape information includes the size of object；
The location information includes longitude and latitude, range information, place lane information；
Institute's displacement information includes instantaneous velocity, the direction of motion, deflection.
4. the road conditions awareness apparatus according to claim 1 based on omnidirectional tracking detection radar, which is characterized in that described
Preset parameter and rule are the information received by communication equipment from central server.
5. the road conditions awareness apparatus according to claim 2 based on omnidirectional tracking detection radar, which is characterized in that be based on
The road conditions awareness apparatus of omnidirectional tracking detection radar is connected with communication apparatus communication, and passes through the communication equipment for the road
One of real-time traffic states information, road status messages, climatic data information, Weather information and the traffic information on road are more
Kind is sent to central server and/or the first car-mounted terminal.
6. the road conditions awareness apparatus according to claim 5 based on omnidirectional tracking detection radar, which is characterized in that described
Communication equipment is wireless telecom equipment or wire communication facility；
The wireless telecom equipment is used to handle real-time traffic states information, the road conditions shape of the road according to V2X communication standard
One of state information, climatic data information, the Weather information and described traffic information are a variety of, and will that treated is described
It is a kind of or more in the real-time traffic states information of road, road status messages, climatic data information, Weather information and traffic information
Kind is sent to the central server and/or the first car-mounted terminal；
The central server and user equipment communicate to connect, and the user equipment includes following any one or more:
Second car-mounted terminal, mobile terminal, bus or train route coordinated management work station.
7. the road conditions awareness apparatus according to claim 1 based on omnidirectional tracking detection radar, which is characterized in that described
More element omnidirectional tracking detection radar sensor devices further include video camera, for acquiring video image data.
8. the road conditions awareness apparatus according to claim 1 based on omnidirectional tracking detection radar, which is characterized in that described
More element omnidirectional tracking detection radar sensor devices are for using 360 ° of scanning mode pair radius in 500 meters of entire areas
Object carries out continuing tracking and positioning.
9. a kind of bus or train route cooperative system, which is characterized in that including described in any one of multiple claim 1-8 claim based on
The road conditions awareness apparatus of omnidirectional tracking detection radar；Multiple road conditions awareness apparatus based on omnidirectional tracking detection radar
It is arranged according to pre-determined distance；
The pre-determined distance is comprehensive according to more elements of the road conditions awareness apparatus for detecting radar based on omnidirectional tracking
The detection radius of tracing detection radar sensor device and set.
10. bus or train route cooperative system according to claim 9, which is characterized in that further include with described based on omnidirectional tracking
Detect the central server and/or the first car-mounted terminal of the road conditions awareness apparatus communication connection of radar；
The central server and user equipment communicate to connect, and the user equipment includes following any one or more:
Second car-mounted terminal, mobile terminal, bus or train route coordinated management work station.
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