CN109509354A - A kind of road running vehicle automatic Vehicle Recognition System - Google Patents
A kind of road running vehicle automatic Vehicle Recognition System Download PDFInfo
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- CN109509354A CN109509354A CN201811582184.1A CN201811582184A CN109509354A CN 109509354 A CN109509354 A CN 109509354A CN 201811582184 A CN201811582184 A CN 201811582184A CN 109509354 A CN109509354 A CN 109509354A
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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
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
Abstract
The invention discloses a kind of road running vehicle automatic Vehicle Recognition Systems, characterized in that including geomagnetism detecting cell array, coordinator, vehicle cab recognition server, communication module；The shallow embedding of geomagnetism detecting cell array is on road cross section, Magnetic Field is acquired according to same frequency same-phase with array element, the arrangement mode of geomagnetism detecting cell array be at least one geomagnetism detecting unit it is preceding, be arranged in lane center, several geomagnetism detecting units it is rear, be evenly distributed on the cross section of lane and perpendicular to vehicle forward direction, can guarantee to cross detector at least 3 that vehicle passes through.Advantage: solve due to vehicle driving trace at random caused by homogeneous system vehicle cab recognition type is few, accuracy of identification is low the problems such as；The vehicles such as car, middle-size and small-size car, motorbus, middle pickup truck, heavy goods vehicle can be accurately identified；It realizes uninterrupted automatic detection in round-the-clock 24 hours, provides real-time telecommunication flow information for traffic management department.
Description
Technical field
The present invention relates to a kind of road running vehicle automatic Vehicle Recognition Systems, belong to field of intelligent transportation technology.
Background technique
Current existing model recognition system is based primarily upon video image analysis, ultrasonic wave, electromagnetic induction coil, laser scanning
And geomagnetism detecting principle.Video image analysis system is easy to be influenced by weather condition, detects in the case where fog precipitation avenges weather condition
Accuracy of identification reduces.Ultrasonic wave detecting system is equally influenced vulnerable to the adverse weathers such as strong wind, heavy rain and occlusion.Electromagnetism
Induction coil system is easy to produce interfering with each other for fore-aft vehicle, influences to identify when road wagon flow is larger, vehicle spacing is smaller
Precision.It is higher that laser scanning system detects accuracy of identification, but is susceptible to the weather conditions influences such as dirt in air, fog precipitation snow,
Higher cost.
Earth magnetism recognition principle can generate magnetic field according to the ferrimagnet being distributed in vehicle structure, in different type vehicle
Ferrimagnet has different distributions feature, and the magnetic field conditions generated is caused to have differences.System based on geomagnetism detecting principle
Vehicle cab recognition is carried out by the magnetic field difference that analysis different vehicle generates, using stable earth magnetic field as benchmark, has and stablizes
The feature that property is strong, accuracy of identification is high.Use single geomagnetism detecting unit, Zhi Nengjian currently based on the system of geomagnetism detecting principle more
Measure the space localized variation in this kind of magnetic field.If it is driving vehicle by single acquisition unit top, then vehicle is only able to detect
The magnetic field that one longitudinal local vehicle body generates can not detect that the magnetic field that whole vehicle generates influences.Experiments have shown that vehicle with
Different driving paths are differed greatly by the magnetic field conditions obtained above geomagnetism detecting unit, it is therefore desirable to avoid driving vehicle with
The interference effect that identifying system relative position difference generates.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, a kind of road running vehicle vehicle is provided
Automatic recognition system overcomes the shortcomings of prior art construction, realizes vehicle headstock, the tailstock, three parts of vehicle frame, all cross sections
Ferromagnet generate magnetic field be scanned, solve road vehicle driving trace at random do not know cause vehicle cab recognition type it is few,
The problems such as accuracy of identification is low provides more information for vehicle cab recognition, the vehicle kind that improves vehicle cab recognition precision and can identify
Class.
In order to solve the above technical problems, the present invention provides a kind of road running vehicle automatic Vehicle Recognition System, feature
It is, including geomagnetism detecting cell array, coordinator, vehicle cab recognition server, communication module；
On road cross section, the arrangement mode of geomagnetism detecting cell array is extremely for the geomagnetism detecting cell array shallow embedding
Few 1 geomagnetism detecting unit it is preceding, be arranged in lane center, several geomagnetism detecting units it is rear, be evenly distributed on lane
On cross section and perpendicular to vehicle forward direction, guarantee to cross geomagnetism detecting unit at least 3 that vehicle passes through, with array list
Member acquires Magnetic Field according to same frequency same-phase, can be to vehicle headstock, the tailstock, three parts of vehicle frame, all cross section iron
It is detected in the magnetic field that magnet generates；
The coordinator is based on Zigbee protocol and constructs wireless sensor network, when for the more geomagnetism detecting units of synchronous configuration
Clock is controlled the geomagnetism detecting unit in geomagnetism detecting cell array and is worked with same frequency, same-phase data acquisition scheme, to crossing
The magnetic field that vehicle headstock, the tailstock, three parts of vehicle frame, more cross section ferromagnets generate is scanned；Coordinator is by wirelessly passing
Feel network real-time reception geomagnetism detecting cell array scanning magnetic field information；
The vehicle cab recognition server is laid by the road, and identifying system is disposed, the magnetic sent for real-time reception coordinator
Field information is simultaneously stored, is handled, is calculated, is identified, is counted, judge vehicle and count road traffic flow measure feature, vehicle cab recognition
Server is whole by the monitoring that magnitude of traffic flow feature, vehicle cab recognition result are sent to control of traffic and road center by communication module
The online recognition of road running vehicle vehicle is realized at end, is carried out traffic administration for traffic control department and is provided support.
Further, the arrangement mode of the geomagnetism detecting cell array, at least one geomagnetism detecting unit is in preceding, arrangement
In lane center, 4 geomagnetism detecting units it is rear, be evenly distributed on the cross section of lane and perpendicular to vehicle forward direction
On straight line；Outermost geomagnetism detecting cell distance curb or adjacent lane line are 0.2-0.4 meter, and it is same to be located at road
Distance is 0.2-1 meter between the adjacent geomagnetism detecting unit in cross section.
Further, the geomagnetism detecting unit has ZigBee wireless communication using embedded magnetic field detection collection plate
Function has 3 d-space field detectability using rubber seal at cylindrical shape；Wherein, x-axis detects vehicle forward direction
Magnetic field, y-axis detection are detected perpendicular to vehicle forward direction magnetic field, z-axis perpendicular to driveway surface upward direction magnetic field.
Further, the coordinator is based on Zigbee protocol and constructs wireless sensor network, coordinator and geomagnetism detecting list
Star-like Zigbee wireless sensor network, the point-to-point communication between coordinator and geomagnetism detecting unit, configuration are established between member
The Magnetic Field that geomagnetism detecting cell array is generated with same frequency same-phase acquisition vehicle ferromagnet.
Further, the vehicle cab recognition server includes computing unit, recognition unit and statistic unit；
The computing unit calculates speed, vehicle commander according to geomagnetism detecting array detection data, using adaptive thresholding algorithm
With vehicle width, the detection data for being more than specified value for speed is fitted interpolation；
The recognition unit differentiates that identification space is H={ h using D-S evidence theory to vehicle vehicle is crossed1,h2,
h3,h4,h5, { hi, i=1,2,3,4,5 } be evidence burnt metaset；Wherein h1={ car }, h2={ middle-size and small-size car }, h3=
{ middle pickup truck }, h4={ motorbus }, h5={ heavy goods vehicle }, speed that the recognition unit calculates computing unit, vehicle
Long, vehicle width and headstock, the tailstock, vehicle frame characteristic value are respectively as evidence E1、E2、E3、E4、E5、E6, comprehensive descision obtains crossing vehicle
The affiliated maximum vehicle of degree of belief；
The vehicle of speed, evaluation unit judgement that the statistic unit is calculated according to computing unit, counts on this road
Magnitude of traffic flow feature.
Further, the communication module uses 3/4G communication module.
Advantageous effects of the invention:
(1) earth magnetic field is relatively stable, and guarantee system is not easily susceptible to external environment variation when working influence.
(2) overcome the shortcomings of prior art construction, realize vehicle headstock, the tailstock, three parts of vehicle frame, all cross section iron
Magnet generate magnetic field be scanned, solve road vehicle driving trace at random do not know cause vehicle cab recognition type it is few, know
The problems such as other precision is low provides more information for vehicle cab recognition, the vehicle type that improves vehicle cab recognition precision and can identify.
(3) it is suitable for the vehicle cab recognition of bicycle road, two-way traffic and multilane running environment under real roads environment, has
Feature applied widely.
(4) modes such as laser, ultrasound examination equipment purchasing, system deployment are at high cost, and totle drilling cost is up to hundreds of thousands.This is
System uses the embedded detector of low cost, selects general server as vehicle cab recognition server, and the 3/4G of use is wireless
Communication module is also common apparatus, cheap, and overall construction cost is greatly reduced, and the non-maintaining service life of system reaches
5 years or more, resultant effect was significant.
Detailed description of the invention
Fig. 1 is geomagnetism detecting cell configuration and detection axis distribution schematic diagram；
Fig. 2 is geomagnetism detecting cell array layout diagram；
Fig. 3 is for present system structure chart.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1 geomagnetism detecting cell configuration and three detection axis distribution situations, using rubber seal at cylindrical shape,
With 3 d-space field detectability.Wherein, x-axis detects track direction magnetic field, and y-axis is detected perpendicular to track direction magnetic field, z
Shaft detection is perpendicular to driveway surface upward direction magnetic field.
As shown in Fig. 2, the shallow embedding of geomagnetism detecting cell array is on road cross section, the arrangement side of geomagnetism detecting cell array
Formula be 1 geomagnetism detecting unit it is preceding, be arranged in lane center, 4 geomagnetism detecting units it is rear, be evenly distributed on lane cross
On straight line on section and perpendicular to vehicle forward direction, it can guarantee to cross detector at least 3 that vehicle passes through,
Outermost detector distance curb or middle lane wiring are 0.2-0.4 meter, distance 0.2-1 between neighbouring detecting elements
Rice, can guarantee to cross detector at least 3 that vehicle passes through, can be to vehicle headstock, the tailstock, three parts of vehicle frame, institute
It is detected in the magnetic field for thering is cross section ferromagnet to generate.Geomagnetism detecting unit is laid and is installed, detection axis x-axis and track direction
In parallel, detection axis y-axis is vertical with track direction and is directed toward roadside, and detection axis z-axis is upward perpendicular to road surface.
System arrangement schematic diagram as shown in Figure 3, geomagnetism detecting unit and coordinator in geomagnetism detecting cell array construct
Wireless sensor network based on Zigbee protocol, coordinator and geomagnetism detecting unit point-to-point communication distance are greater than 100m, meet
Communication distance requirement in system application environment.Coordinator of the present invention and geomagnetism detecting cell array wireless sensor network use star
Type structure, geomagnetism detecting unit establish point-to-point communication as terminal node and coordinator.
Coordinator microprocessor of the present invention uses STM32F103, and radio frequency chip uses JN5168, carrier frequency 2.4GHz,
Transmission power 20dBm.Vehicle cab recognition server of the present invention uses and grinds magnificent IPC-610L/610H/IPC-610MB industrial personal computer.
(1) wireless sensor network is established
Monitor terminal of the present invention sends enabled instruction to vehicle cab recognition server by 3/4G mobile communications network, and vehicle is known
After other server obtains enabled instruction, a networking instruction, coordinator selection one are sent to coordinator by RS232 communication serial port
A idle channel, geomagnetism detecting unit use channel identical with coordinator as terminal node.Channel is carried out in coordinator to sweep
During retouching, geomagnetism detecting unit provides correct authentication information to coordinator, and wireless sensor network is added in request.When a ground
After network is added in Magnetic testi unit, coordinator dynamically provides a 16 bit mac network address for the geomagnetism detecting unit, coordinates
Device grasps the nodal information in wireless sensor network in real time, safeguards network information table, forms the wireless sensing of full communication link
Network.
(2) configuration wireless sensor network clock is synchronous
Wireless sensor network is hub-and-spoke configuration between coordinator and geomagnetism detecting unit of the present invention, and communication distance is shorter, and
Using the point-to-point communication between coordinator and geomagnetism detecting unit, multi-hop process is not present.Vehicle cab recognition server passes through
RS232 communication serial port sends a vehicle cab recognition server local time message to coordinator, and coordinator passes through this message
Geomagnetism detecting unit of the wireless sensor network into geomagnetism detecting cell array is broadcasted.
Because geomagnetism detecting unit receives the message simultaneously with the geomagnetism detecting unit in array at a distance of relatively closely.Earth magnetism
Detection unit calculates time migration and modifies the clock of oneself, realize according to the vehicle cab recognition server local time in message
All geomagnetism detecting unit clocks are synchronous in geomagnetism detecting cell array.
(3) online vehicle cab recognition
The present invention controls geomagnetism detecting cell array and is scanned to vehicle generation magnetic field is crossed, and relies on the clock of foundation same
Wireless sensor network is walked, scanning magnetic field is sent to coordinator, vehicle is sent to by RS232 serial communication interface by coordinator
Identify server.Vehicle cab recognition server includes three computing unit, recognition unit, statistic unit parts.
Computing unit crosses vehicle speed according to geomagnetism detecting array detection data, calculating.Computing unit extracts vehicle respectively
The magnetic field detection data of each detection unit during, gradually selected threshold automatically, until selected threshold value is as equal
It is worth the variance minimum calculated, which is denoted as k；The distance between geomagnetism detecting cell array front and rear row unit is denoted as s, selects respectively
Front two rows geomagnetism detecting unit is taken to occur the test point of threshold value k earliest, calculating two test point time differences is Δ t, then crosses
The speed of vehicle is v=s/ Δ t.Interpolation is fitted for the detection data that speed is more than specified value, and uses adaptive thresholding
Value-based algorithm calculates vehicle commander and vehicle width feature.
It is k and maximum two test points of detection time difference that computing unit, which chooses detection data in heel row geomagnetism detecting unit,
p1、p2, will test point p1、p2Time difference Δ t1As the time parameter for calculating vehicle commander, vehicle commander's L=v* Δ t1；Choose heel row detection
The geomagnetism detecting unit that any two detect threshold value k in unit calculates in all combinations as a pair of of combination relative to vehicle
Driving direction maximum normal distance is denoted as vehicle width W；According to different parts such as headstock, the tailstock, vehicle frames, acquisition data are divided into 3
Part, calculates separately the characteristic values such as mean value, the variance of each section detection data, headstock, the tailstock, vehicle frame characteristic value be denoted as respectively H,
T、S。
Recognition unit carries out vehicle differentiation to vehicle is crossed using D-S evidence theory, and identification space is H={ h1,h2,h3,
h4,h5, { hi, i=1,2,3,4,5 } be evidence burnt metaset；Wherein h1={ middle-size and small-size car }, h2={ middle-size and small-size car }, h3
={ middle pickup truck }, h4={ motorbus }, h5={ heavy goods vehicle }；Speed that recognition unit calculates computing unit, vehicle
Long, vehicle width and headstock, the tailstock, vehicle frame characteristic value are respectively as evidence E1、E2、E3、E4、E5、E6, estimate and cross vehicle degree of belief most
Big affiliated vehicle type.
Recognition unit utilizes D-S evidence theory, and speed, vehicle commander, vehicle width and headstock, the tailstock, vehicle frame characteristic value are melted
It closes, common to support same conclusion, in the unit, uncertainty knowledge is expressed as follows:
If E1Then H={ h1,h2,h3,h4,h5, CF={ a1,a2,a3,a4,a5}；
If E2Then H={ h1,h2,h3,h4,h5, CF={ b1,b2,b3,b4,b5}；
If E3Then H={ h1,h2,h3,h4,h5, CF={ c1,c2,c3,c4,c5}；
If E4Then H={ h1,h2,h3,h4,h5, CF={ d1,d2,d3,d4,d5}；
If E5Then H={ h1,h2,h3,h4,h5, CF={ e1,e2,e3,e4,e5}；
If E6Then H={ h1,h2,h3,h4,h5, CF={ f1,f2,f3,f4,f5}；
(1) condition premised on E, i.e. evidence, E1、E2、E3、E4、E5、E6Respectively represent speed, vehicle commander, vehicle width and headstock, vehicle
Tail, vehicle frame characteristic value；
(2) it is also identification space that H, which is conclusion, and h1, h2, h3, h4, h5 is the basic element of the subset；
(3) CF is confidence factor, is indicated with aggregate form, a in every knowledgei、bi、ci、di、ei、fiRespectively with hi
(i=1,2,3,4,5) is corresponding, it is indicated that hiConfidence level；
Wherein ∑ ci≤1, ci >=0, i=1,2,3,4,5；
Rule of thumb E known to spaceiProbability distribution function m1, m2, m3, m4, m5, the m6 of (i=1,2,3,4,5,6), benefit
The compound of evidence is carried out with D-S evidence theory, obtains the probability-distribution function m of compound evidence, obtains m (h1), m (h2), m later
(h3), m (h4), m (h5), m (H) may further obtain lower limit Bel (h1), the Bel (h2), Bel of section trusting degree
(h3), the upper limit Pl (h1) of Bel (h4), Bel (h5) and section trusting degree, Pl (h2), Pl (h3), Pl (h4), Pl
(h5), it can be obtained by this way and cross the trusting degree section that vehicle is distributed in five vehicle sections, process is more available
Degree of belief maximum section, by as the judgement vehicle for crossing vehicle.
The vehicle of speed, evaluation unit judgement that statistic unit is calculated according to computing unit, counts the friendship on this road
Through-flow measure feature.
Magnitude of traffic flow feature, vehicle cab recognition result are sent to road traffic pipe by communication module by vehicle cab recognition server
The monitor terminal at reason center realizes the online recognition of road running vehicle vehicle, carries out traffic administration for traffic control department and provides branch
Support.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of road running vehicle automatic Vehicle Recognition System, characterized in that including geomagnetism detecting cell array, coordinator,
Vehicle cab recognition server, communication module；
On road cross section, the arrangement mode of geomagnetism detecting cell array is at least 1 for the geomagnetism detecting cell array shallow embedding
A geomagnetism detecting unit it is preceding, be arranged in lane center, several geomagnetism detecting units it is rear, be evenly distributed on lane cross
On section and perpendicular to vehicle forward direction, guarantee to cross geomagnetism detecting unit at least 3 that vehicle passes through, same to array element
Magnetic Field is acquired according to same frequency same-phase, it can be ferromagnetic to vehicle headstock, the tailstock, three parts of vehicle frame, all cross sections
It is detected in the magnetic field that body generates；
The coordinator is based on Zigbee protocol and constructs wireless sensor network, configures more geomagnetism detecting unit clocks for synchronous,
It controls the geomagnetism detecting unit in geomagnetism detecting cell array to work with same frequency, same-phase data acquisition scheme, to crossing vehicle
The magnetic field that headstock, the tailstock, three parts of vehicle frame, more cross section ferromagnets generate is scanned；Coordinator passes through wireless sensing
Network real-time reception geomagnetism detecting cell array scanning magnetic field information；
The vehicle cab recognition server is laid by the road, and identifying system is disposed, the magnetic field letter sent for real-time reception coordinator
It ceases and is stored, handled, calculate, identify, count, judge vehicle and count road traffic flow measure feature, vehicle cab recognition service
Magnitude of traffic flow feature, vehicle cab recognition result are sent to the monitor terminal at control of traffic and road center by communication module by device.
2. road running vehicle automatic Vehicle Recognition System according to claim 1, which is characterized in that the earth magnetism inspection
Survey cell array arrangement mode, at least one geomagnetism detecting unit it is preceding, be arranged in lane center, 4 geomagnetism detecting lists
Member it is rear, be evenly distributed on the straight line on the cross section of lane and perpendicular to vehicle forward direction；Outermost earth magnetism inspection
Surveying cell distance curb or adjacent lane line is 0.2-0.4 meter, is located at road with cross section between adjacent geomagnetism detecting unit
Distance is 0.2-1 meter.
3. road running vehicle automatic Vehicle Recognition System according to claim 1, which is characterized in that the geomagnetism detecting
Unit has ZigBee wireless communication function using embedded magnetic field detection collection plate, using rubber seal at cylindrical shape,
With 3 d-space field detectability；Wherein, x-axis detects vehicle forward direction magnetic field, and y-axis is detected perpendicular to vehicle advance side
To magnetic field, z-axis is detected perpendicular to driveway surface upward direction magnetic field.
4. road running vehicle automatic Vehicle Recognition System according to claim 1, which is characterized in that the coordinator base
Wireless sensor network is constructed in Zigbee protocol, star-like Zigbee wireless sensing is established between coordinator and geomagnetism detecting unit
Network, the point-to-point communication between coordinator and geomagnetism detecting unit configure geomagnetism detecting cell array with same frequency same-phase
Acquire the Magnetic Field that vehicle ferromagnet generates.
5. road running vehicle automatic Vehicle Recognition System according to claim 1, which is characterized in that the vehicle cab recognition
Server includes computing unit, recognition unit and statistic unit；
The computing unit calculates speed, vehicle commander and vehicle according to geomagnetism detecting array detection data, using adaptive thresholding algorithm
Width, the detection data for being more than specified value for speed are fitted interpolation；
The recognition unit differentiates that identification space is H={ h using D-S evidence theory to vehicle vehicle is crossed1,h2,h3,h4,
h5, { hi, i=1,2,3,4,5 } be evidence burnt metaset；Wherein h1={ car }, h2={ middle-size and small-size car }, h3=in light-duty goods
Vehicle }, h4={ motorbus }, h5={ heavy goods vehicle }, speed, vehicle commander, vehicle width and the vehicle that the recognition unit calculates computing unit
Head, the tailstock, vehicle frame characteristic value are respectively as evidence E1、E2、E3、E4、E5、E6, comprehensive descision obtains crossing the affiliated degree of belief of vehicle
Maximum vehicle；
The vehicle of speed, evaluation unit judgement that the statistic unit is calculated according to computing unit, counts the friendship on this road
Through-flow measure feature.
6. a kind of road running vehicle automatic Vehicle Recognition System according to claim 1, the communication module uses 3/
4G communication module.
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| CN110310490A (en) * | 2019-04-23 | 2019-10-08 | 深圳市戴升智能科技有限公司 | Vehicle speed estimation method, apparatus, computer equipment and storage medium |
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