CN110189424B - Multi-lane free flow vehicle detection method and system based on multi-target radar - Google Patents

Abstract

The invention provides a multi-target radar-based multi-lane free flow vehicle detection method and a multi-lane free flow vehicle detection system, wherein the method comprises the following steps: target detection information obtained by detecting a radar detection area by a multi-target radar module arranged on a road is obtained, wherein the target detection information is used for representing information corresponding to a first vehicle detected by the multi-target radar module; the method comprises the steps that an antenna transaction module arranged on a lane where a first vehicle is located in a multi-lane of a road is obtained to detect an antenna transaction area to obtain a vehicle-mounted unit (OBU) detection information set, and the OBU information is used for representing the OBU information which is detected by the antenna transaction module and transacts with the antenna transaction module in the antenna transaction area; matching the target detection information with an OBU detection information set; and under the condition that the target detection information is not matched with all the OBU detection information in the OBU detection information set, performing charging exception processing on the first vehicle.

Description

Multi-lane free flow vehicle detection method and system based on multi-target radar

Technical Field

The invention relates to the field of communication, in particular to a multi-lane free flow vehicle detection method and system based on multi-target radar.

Background

At present, the problem of road traffic jam can be solved by adopting a multi-lane free flow technology, which is a non-stop toll collection technology without speed limitation and lane limitation.

For the multi-lane free flow technology, the RSU antenna and the OBU (On Board Unit) are generally used for interaction, so as to realize charging for the vehicle. One key point of the multilane free flow technology is to ensure correct billing of the vehicle: on the one hand, the charging information normally completed by the vehicle-mounted OBU can be provided, and on the other hand, the condition that the vehicle-mounted OBU transaction is abnormal or the vehicle without the vehicle-mounted OBU escapes is provided.

In a multilane free flow vehicle detection scheme in the related art, transaction information and snapshot information of an RSU antenna and an OBU are generally matched to determine the charging condition of a vehicle. However, since the matching result is affected by the sharpness of the snap image or the like, the vehicle passing through the road cannot be accurately detected, resulting in inaccuracy in charging for the vehicle.

Therefore, there is a problem in the related art in that the billing for the vehicle is not accurate due to the inability to accurately detect the vehicle passing through the road.

Disclosure of Invention

The embodiment of the invention provides a multi-target radar-based multi-lane free flow vehicle detection method and system, which at least solve the problem of inaccurate vehicle charging caused by the fact that vehicles passing through a road cannot be accurately detected in the related technology.

According to one embodiment of the invention, a multi-target radar-based multi-lane free flow vehicle detection method is provided, which comprises the following steps: target detection information obtained by detecting a radar detection area by a multi-target radar module arranged on a road is obtained, wherein the target detection information is used for representing detection information corresponding to a first vehicle, which is detected by the multi-target radar module; the method comprises the steps of obtaining an OBU detection information set obtained by detecting an antenna transaction area by an antenna transaction module arranged on a lane where a first vehicle is located in a multi-lane of a road, wherein the OBU information is used for representing the OBU information which is detected by the antenna transaction module and transacts with the antenna transaction module in the antenna transaction area; matching the target detection information with an OBU detection information set; and under the condition that the target detection information is not matched with all the OBU detection information in the OBU detection information set, performing charging exception processing on the first vehicle.

Optionally, the obtaining target detection information obtained by detecting the radar detection area by the multi-target radar module arranged on the road includes: extracting vehicle track information of a first vehicle passing through a radar detection area from operation data information of the first vehicle, collected by a multi-target radar module, starting to enter the radar detection area and leaving the radar detection area, wherein the vehicle track information is used for representing the corresponding relation between the passing time of the first vehicle passing through the radar detection area and the position of the first vehicle; matching the target detection information with the OBU detection information set comprises: and matching the vehicle track information with OBU position information in each OBU detection information in the OBU detection information set.

Optionally, before matching the target detection information with the OBU detection information set, vehicle snapshot information of a snapshot module arranged on a road is acquired, wherein the vehicle snapshot information includes first license plate information of a first vehicle, and the vehicle snapshot information is obtained by enabling the multi-target radar module to repeatedly trigger the snapshot module to snapshot the snapshot area in the process that the first vehicle passes through the radar detection area; and after matching the target detection information with the OBU detection information set, if target OBU detection information matched with the target detection information exists in the OBU detection information set, and if the first license plate information is inconsistent with the second license plate information in the target OBU detection information, performing charging exception processing on the first vehicle.

Optionally, before vehicle snapshot information of the snapshot module arranged on the road is acquired, when at least one of the following is detected, the multi-target radar module triggers the snapshot module to snapshot the snapshot area: a first vehicle beginning to pass through a radar detection zone; the first vehicle is in an intermediate position of the antenna transaction area; a first vehicle lane change; the distance between the head of the first vehicle and the first position of the antenna transaction area is smaller than or equal to a first distance threshold value; the distance between the head of the first vehicle and the second position of the radar detection area is smaller than or equal to a second distance threshold value.

Optionally, under the condition that the snapshot module comprises a plurality of snapshot cameras, the multi-target radar module triggers the snapshot camera on the lane where the first vehicle is located to take a snapshot according to the position of the first vehicle; under the condition that the multi-target radar module comprises a plurality of multi-target radars, when a first vehicle passes through different radar detection areas, the multi-target radars corresponding to the current radar detection area of the first vehicle trigger the snapshot module to snapshot.

Optionally, before target detection information obtained by detecting a radar detection area by a multi-target radar module arranged on a road is acquired, the multi-target radar module collects vehicle data of a first vehicle passing through the radar detection area, calculates vehicle characteristic information used for representing the first vehicle, and generates target detection information, where the target detection information includes: vehicle numbering, vehicle type identification, lane identification, speed identification, high vehicle head entering time and vehicle head leaving time; the snapshot module of setting on the road takes a candid photograph the vehicle picture of first vehicle and discerns the license plate of first vehicle, generates vehicle snapshot information, and wherein, vehicle snapshot information includes: vehicle number, license plate set, picture set and snapshot time set; wherein, each OBU detection information in the OBU detection information set includes OBU transaction information, and wherein, OBU transaction information includes: OBUID, trading vehicle type, trading time, trading license plate and trading success identification; wherein, the vehicle information that obtains after matching target detection information and OBU detection information set includes: the method comprises the steps of vehicle number, OBUID, transaction vehicle type, transaction time, transaction license plate, successful transaction identification, vehicle type identification, lane, speed, vehicle head entering time, vehicle head leaving time, snapshot license plate, picture collection and snapshot time collection.

Optionally, the obtaining target detection information obtained by detecting the radar detection area by the multi-target radar module arranged on the road includes: in a first detection period, determining the moving speed of a first vehicle according to first detection information obtained by detecting the first vehicle by a multi-target radar; in a second detection period, second detection information of a second vehicle detected by the multi-target radar in the radar detection area is obtained, wherein the second detection period is the next detection period of the first detection period; determining that the second vehicle and the first vehicle are the same vehicle according to the duration and the moving speed of the first detection period, wherein the target detection information comprises first detection information and second detection information; or in a third detection period, determining a first transverse boundary coordinate range of the first vehicle according to third detection information obtained by detecting the first vehicle by the multi-target radar; in a fourth detection period, determining a second transverse boundary coordinate range of a third vehicle according to fourth detection information of the third vehicle detected by the multi-target radar in the radar detection area; and under the condition that the first transverse boundary coordinate range and the second transverse boundary coordinate range are overlapped or partially overlapped, determining that the third vehicle and the first vehicle are the same vehicle, wherein the target detection information comprises third detection information and fourth detection information.

Optionally, the obtaining target detection information obtained by detecting the radar detection area by the multi-target radar module arranged on the road includes: under the condition that the absolute value of the difference between left and right boundary coordinates in partial or all transverse coordinates in first vehicle data detected by a multi-target radar module is larger than a preset vehicle width threshold value, determining that the first vehicle and other vehicles except the first vehicle exist in a parallel operation mode, wherein the first vehicle data comprise vehicle data detected by the multi-target radar module in a plurality of continuous detection periods; according to the transverse coordinates in the first vehicle data and the transverse coordinates of the first vehicle when the vehicles are not merged, dividing second vehicle data corresponding to the first vehicle from the first vehicle data; or, according to the width change of the lateral coordinate in the first vehicle data, dividing second vehicle data corresponding to the first vehicle from the first vehicle data; alternatively, the second vehicle data corresponding to the first vehicle is divided from the first vehicle data according to a change in the height value in the first vehicle data.

According to still another embodiment of the present invention, there is provided a multi-target radar-based multi-lane free-flow vehicle detection system including: the system comprises a multi-target radar module, an antenna transaction module and a comprehensive control module, wherein a radar detection area of the multi-target radar module covers all lanes on a road and projects to the road in the driving direction of a vehicle, and the multi-target radar module is arranged above a portal in the middle of the road or is arranged on a road-side upright post; the multi-target radar module is connected with the snapshot module and used for acquiring data information of vehicles passing through a radar detection area to obtain target detection information; triggering the snapshot module for multiple times to perform snapshot; the snapshot module is used for snapshotting a snapshot area of the snapshot module according to the triggering of the multi-target radar module to obtain vehicle snapshot information; the antenna transaction module is used for performing transaction with an OBU (on-board unit) arranged on a vehicle in an antenna transaction area passing through the antenna transaction module and acquiring OBU detection information of the OBU, wherein the antenna transaction area is not smaller than a snapshot area, the antenna transaction area covers the snapshot area, and the nearest area range of the antenna transaction area is not smaller than the nearest area range of a radar detection area; and the comprehensive control module is respectively connected with the multi-target radar module, the snapshot module and the antenna transaction module and is used for acquiring target detection information, vehicle snapshot information and OBU detection information, matching the target detection information, the vehicle snapshot information and the OBU detection information and executing abnormal charging processing on the abnormal charging vehicles corresponding to the abnormal matching target detection information.

Optionally, the multi-target radar module comprises one or more multi-target radars, the snapshot module comprises one or more snapshot cameras, and each multi-target radar in the one or more multi-target radars is connected with each snapshot camera in the one or more snapshot cameras; the snapshot module at least comprises a head snapshot camera and/or a tail snapshot camera, the head snapshot camera comprises one or more snapshot cameras, and the tail snapshot camera comprises one or more snapshot cameras.

According to the invention, whether the OBU detection information matched with the target detection information exists or not is determined by matching the target detection information of the first vehicle acquired by the multi-target radar module and the OBU detection information set acquired by the antenna transaction module on the lane where the first vehicle is located, and the first vehicle is subjected to charging exception processing when the matching fails.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a block diagram of a hardware structure of a processing device of a multi-target radar-based multi-lane free-flow vehicle detection method according to an embodiment of the invention;

FIG. 2 is a flow chart of an alternative multi-target radar-based multi-lane free-flow vehicle detection method according to an embodiment of the present invention;

FIG. 3 is a flow chart of another alternative multi-target radar-based multi-lane free-flow vehicle detection method according to an embodiment of the present invention;

FIG. 4 is a flow chart of yet another alternative multi-target radar-based multi-lane free-flow vehicle detection method in accordance with an embodiment of the present invention;

FIG. 5 is a schematic diagram of an alternative multi-target radar-based multi-lane free-flow vehicle detection system, according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of an alternative multi-target radar-based multi-lane free-flow vehicle detection system, according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another alternative multi-target radar-based multi-lane free-flow vehicle detection system according to an embodiment of the invention.

Detailed Description

The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. While certain embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and the embodiments of the present invention are illustrative only and are not intended to limit the scope of the present invention.

It should be noted that the terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

The method embodiment provided in embodiment 1 of the present application may be executed in a processing device, a computer terminal, or a similar operation device. Taking the example of operation on a processing device, fig. 1 is a hardware structure block diagram of a processing device of a multi-target radar-based multi-lane free-flow vehicle detection method according to an embodiment of the present invention. As shown in fig. 1, the processing device 10 may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), and a memory 104 for storing data, and optionally a transmission device 106 and an input-output device 108 for communication functions. It will be understood by those skilled in the art that the structure shown in fig. 1 is merely illustrative and is not intended to limit the structure of the electronic device processing apparatus described above. For example, the processing device 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

The memory 104 may be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to the multi-target radar-based multi-lane free-flow vehicle detection method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory located remotely from processor 102, which may be connected to processing device 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of such networks may include wireless networks provided by the communication provider of the processing device 10. In one example, the transmission device 106 includes a NIC (Network Interface Controller) that can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be an RF (Radio Frequency) module, which is used for communicating with the internet in a wireless manner.

In the embodiment, a multi-target radar-based multi-lane free-flow vehicle detection method operating in the processing device is provided, and fig. 2 is a flowchart of an alternative multi-target radar-based multi-lane free-flow vehicle detection method according to an embodiment of the invention, as shown in fig. 2, the flowchart includes the following steps:

s202, target detection information obtained by detecting a radar detection area by a multi-target radar module arranged on a road is obtained, wherein the target detection information is used for representing detection information corresponding to a first vehicle, which is detected by the multi-target radar module;

s204, an OBU detection information set obtained by detecting an antenna transaction area by an antenna transaction module arranged on a lane where a first vehicle is located in a multi-lane of a road is obtained, wherein the OBU information is used for representing the information of the OBU which is detected by the antenna transaction module and transacts with the antenna transaction module in the antenna transaction area;

s206, matching the target detection information with the OBU detection information set;

and S208, under the condition that the target detection information is not matched with all the OBU detection information in the OBU detection information set, performing charging abnormity processing on the first vehicle.

Through the steps, whether OBU detection information matched with the target detection information exists or not is determined by matching the target detection information of the first vehicle acquired by the multi-target radar module and the OBU detection information set acquired by the antenna transaction module on the lane where the first vehicle is located, and the first vehicle is subjected to charging exception processing when the matching fails, so that the problem that the vehicle charging is inaccurate due to the fact that the vehicle passing through the road cannot be accurately detected in the related technology is solved, the accuracy of road vehicle detection is improved, and the accuracy of vehicle charging is further improved.

The multi-target radar-based multi-lane free-flow vehicle detection method can be applied to a multi-target radar-based multi-lane free-flow vehicle detection system, and the system can comprise a multi-target radar module, an antenna transaction module and a processing module (comprehensive control module), wherein,

the multi-target radar module can comprise one or more multi-target radars and also comprises a first data processing unit for generating target detection information according to the scanning results of the one or more multi-target radars;

the antenna transaction module may include: the RSU antenna can further comprise a second processing unit which is used for charging the vehicle according to the scanning result of the RSU antenna and generating an OBU detection information set;

and the processing module is used for matching the target detection information with the OBU detection information set, determining the vehicles which are not normally charged, and performing abnormal charging processing on the vehicles which are not normally charged.

The first processing unit, the second processing unit, and the processing module may be located on one processing device, or may be located on different devices, and a specific setting manner may be set according to needs, which is not specifically limited in this embodiment.

The multi-target radar-based multi-lane free-flow vehicle detection method is described below with reference to fig. 2.

In step S202, target detection information obtained by detecting a radar detection area by a multi-target radar module disposed on a road is obtained, where the target detection information is used to indicate detection information corresponding to a first vehicle detected by the multi-target radar module.

The multi-target radar module can collect the collected data of the vehicles (including the first vehicle) passing through the radar detection area in real time, and determine the target detection information of the vehicles (which can comprise vehicle detection information for representing the vehicles and vehicle track information for representing the running tracks of the vehicles in the radar detection area) according to the collected data.

It should be noted that the detection of the detection area on the road by the multi-target radar module is completed at a certain time or within a very short time, and for convenience of description, this is defined as the time in this embodiment; the detection period of the multi-target radar refers to the time when the multi-target radar sends all beams to a detection area and receives all returned beams.

The multi-target radar module collects data information of a vehicle from entering a radar detection area to leaving the radar detection area, and extracts target detection information of the vehicle passing through the detection area, wherein the target detection information can comprise at least one of the following information: vehicle detection information, vehicle trajectory information.

Optionally, the multi-target radar module receives vehicle data information acquired by the multi-target radar once, the vehicle data information is acquired by the multi-target radar within one detection period, or the vehicle data information is partially acquired within one detection period, and the multi-target radar module processes the data after receiving the vehicle data information or partial vehicle data information within one detection period.

It can be understood that, after receiving all or part of the data in a detection period of the multi-target radar, the multi-target radar module may perform at least one of the following processing on the received data: exception processing and coordinate transformation processing.

Optionally, the multi-target radar module performs triangular coordinate transformation on the acquired vehicle data information, converts the vehicle data information into a transverse coordinate perpendicular to the driving direction, a longitudinal coordinate parallel to the driving direction and a coordinate in the height direction, and calculates the speed of the vehicle at the moment. Wherein the lateral coordinate (denoted by X) refers to the coordinate perpendicular to the road traffic direction, the longitudinal coordinate (denoted by Y) refers to the coordinate along the road traffic direction, and the height coordinate (denoted by Z) refers to the coordinate perpendicular to the road surface.

The multi-target radar module can extract the three-dimensional outline information of the vehicle from the data after coordinate transformation to form a transverse coordinate set, a longitudinal coordinate set and a height value set of the vehicle.

It can be understood that in a detection period of the multi-target radar, one or more beams or all beams of the multi-target radar detect the vehicle, each beam of the detected vehicle is point data for acquiring the external profile of the vehicle, the points acquired by each beam form a transverse coordinate set, a longitudinal coordinate set and a height value set of the vehicle, one or more transverse coordinate sets, longitudinal coordinate sets and height value sets exist in the detection period of the multi-target radar, wherein data in the transverse coordinate set, the longitudinal coordinate set and the height value set have corresponding relations, and the three-dimensional profile information of the vehicle can be represented through the corresponding relations.

And the multi-target radar module is used for matching the vehicle data acquired in two adjacent complete detection periods through the transverse coordinate value and/or matching the longitudinal coordinate of the vehicle with the real-time speed of the vehicle. And after the vehicle passes through the multi-target radar module detection area, acquiring a data set of the vehicle.

After the vehicle passes through the multi-target radar detection area, the multi-target radar module acquires all three-dimensional contour data and all instantaneous speeds of the vehicle, extracts data from the data, and generates a vehicle track information set of the vehicle.

Alternatively, the multi-target radar module may acquire complete vehicle data information (target detection information) when the vehicle passes through the detection area. The multi-target radar module may acquire vehicle detection information of the vehicle at different detection periods (corresponding to different times).

Multiple targets at time tThe radar module collects data of the vehicle in a detection period, converts the data into three-dimensional profile data of the vehicle after coordinate conversion

Wherein, X_ti (i ═ 1.. n) denotes an ordered set of lateral coordinates of the vehicle detected by the i-th beam of the multi-target radar at time t (this detection period),

represents an ordered set of longitudinal coordinates of the vehicle detected by the ith beam of the multi-target radar at time t (the detection period),

indicating the detection of the ith beam of the multi-target radar at time t (the detection period)

A set of height values for the corresponding vehicle.

For the detection data of the adjacent detection periods, the detection data of the same vehicle may be determined in various ways.

As an optional implementation mode, the multi-target radar module collects data information of the vehicle in adjacent detection periods, converts the data information into three-dimensional contour data, and can match the three-dimensional contour data through a transverse coordinate ordered set of the vehicle. Ordered set of transverse coordinates within a current detection period

Left and right boundary coordinates of

Range and horizontal coordinate ordered set of previous detection period

Left and right boundary coordinates of

If the ranges are overlapped, the data of the two detection periods are judged to be the data of the same vehicle; otherwise, it is determined to be data of a different vehicle.

Optionally, in a third detection period, determining a first transverse boundary coordinate range of the first vehicle according to third detection information obtained by detecting the first vehicle by the multi-target radar; in a fourth detection period, determining a second transverse boundary coordinate range of a third vehicle according to fourth detection information of the third vehicle detected by the multi-target radar in the radar detection area; and under the condition that the first transverse boundary coordinate range and the second transverse boundary coordinate range are overlapped or partially overlapped, determining that the third vehicle and the first vehicle are the same vehicle, wherein the target detection information comprises third detection information and fourth detection information.

As another alternative, the multi-target radar module calculates the speed of the detected vehicle (detected vehicle) in real time, according to the interval time of adjacent detection periods of the multi-target radar module and the position change Y of the detected vehicle in the longitudinal coordinate_tAnd judging that the vehicles detected by the multi-target radar module in the adjacent detection periods are the same vehicle.

The multi-target radar module calculates the advancing distance of the vehicle in the period according to the speed and the period of the vehicle through the matching of the vehicle longitudinal coordinate ordered set and the speed set, performs detection data matching of the vehicle front and rear detection periods through the longitudinal coordinate set in the current detection period, the longitudinal coordinate set in the previous detection period and the advancing distance, and judges whether the vehicles are the same vehicle.

Optionally, in a first detection period, determining the moving speed of the first vehicle according to first detection information obtained by detecting the first vehicle by the multi-target radar; in a second detection period, second detection information of a second vehicle detected by the multi-target radar in the radar detection area is obtained, wherein the second detection period is the next detection period of the first detection period; and determining that the second vehicle and the first vehicle are the same vehicle according to the duration and the moving speed of the first detection period, wherein the target detection information comprises first detection information and second detection information.

According to the technical scheme of the embodiment of the invention, the detection information of the same vehicle is determined from the detection information of the multi-target radar detection model in the adjacent detection periods in different modes, so that the accuracy of determining the running track of the vehicle can be ensured, and the matching accuracy and success rate are further improved.

During the operation of the vehicle, the trajectory of the vehicle is uncertain. Therefore, there is a case where the vehicles are parallel. A determination may be made that the vehicles are merging. For example, when the multi-target radar module detects that the absolute value of the difference between the left and right boundary coordinates in some or all of the lateral coordinates in the vehicle data is greater than a preset vehicle width threshold value, it is determined that the parallel operation exists.

When the three-dimensional profile data of the vehicle has part or all of the transverse coordinate ordered set

Left and right boundary coordinates of

Absolute difference of (2)

And if the vehicle width is larger than the preset vehicle width threshold value, judging that the vehicle combination exists.

Optionally, in the case that the absolute value of the difference between the left and right boundary coordinates in some or all of the transverse coordinates in the first vehicle data detected by the multi-target radar module is greater than a preset vehicle width threshold, it is determined that the first vehicle and another vehicle other than the first vehicle exist in a parallel operation, where the first vehicle data includes vehicle data detected by the multi-target radar module in a plurality of consecutive detection periods.

When merging occurs, the vehicle needs to enter and be separated. The split treatment can be performed in various ways.

As an alternative embodiment, the cars can be separated from the lateral coordinate of the merge according to the comparison analysis of the lateral coordinate of the non-merge car and the lateral coordinate of the merge car in the vehicle data.

According to the comparison and analysis of the non-parallel-operation abscissa ordered set and the parallel-operation abscissa ordered set in the three-dimensional contour data, the vehicle can be separated from the parallel-operation abscissa ordered set.

For example, the second vehicle data corresponding to the first vehicle is divided from the first vehicle data on the basis of the lateral coordinates in the first vehicle data and the lateral coordinates of the first vehicle when there is no merging.

As another alternative, the separation may be performed based on a comparison analysis of the width change in the lateral coordinate of the merge and/or the height change in the vehicle height value.

The cars may be separated by comparative analysis of width changes in the ordered set of abscissas of the merge, and/or height changes in the set of vehicle height values.

For example, the second vehicle data corresponding to the first vehicle may be divided from the first vehicle data in accordance with a width change of the lateral coordinate in the first vehicle data; alternatively, the second vehicle data corresponding to the first vehicle is divided from the first vehicle data according to a change in the height value in the first vehicle data.

By the technical scheme of the embodiment of the invention, the vehicle separation processing is carried out under the condition of the existence of the parallel operation, so that the accuracy of vehicle data acquisition can be improved.

By respectively carrying out track analysis on all vehicles passing through the detection area, the multi-target radar module can acquire the vehicle track information of all vehicles passing through the detection area, wherein the vehicle track information is orderly.

After obtaining the target detection information, the multi-target radar module may transmit the target detection information (the set of detected vehicle trajectory information and the vehicle data information) to the processing module (the integrated control module).

Optionally, the multi-target radar module can trigger the snapshot module to snapshot the snapshot area for multiple times in the process that the vehicle passes through the multi-target radar detection area, so as to obtain vehicle snapshot information. The vehicle snapshot information may include: and (4) snapping a vehicle picture and the identified license plate number. The snapshot module can transmit the obtained vehicle snapshot information to the close control module.

Optionally, in this embodiment, the multi-target radar module triggers the snapshot module to snapshot the vehicle, and triggering the snapshot module to snapshot may include at least one of:

the multi-target radar module triggers when detecting that the vehicle starts to pass through the detection area;

triggering by multi-target radar module when detecting that vehicle starts to enter antenna transaction area

The multi-target radar module is triggered when detecting that the vehicle is in the middle position of a transaction area;

the multi-target radar module is triggered when detecting that the vehicle changes lanes;

the multi-target radar module triggers when detecting that the locomotive is about to leave a transaction area;

and the multi-target radar module triggers when detecting that the vehicle head is about to leave the detection area.

It may be determined that the vehicle head is about to leave the transaction area by the vehicle head being less than or equal to a first distance threshold from a first location of the antenna transaction area (e.g., a boundary line of the vehicle leaving the antenna transaction area).

It may be determined that the vehicle head is about to leave the detection area by the vehicle head being less than or equal to a second distance threshold from a second location of the radar detection area (e.g., a boundary line where the vehicle leaves the radar detection area).

According to the technical scheme of the embodiment of the invention, the multi-target radar module triggers the snapshot module to snapshot the snapshot area, so that the accuracy of vehicle information matching can be improved, and the matching success rate is improved.

Optionally, the snapping module may comprise one or more cameras. When the snapshot module comprises a plurality of cameras, the multi-target radar module triggers the snapshot camera of the lane where the vehicle is located to take a snapshot according to the vehicle position of the vehicle (for example, the first vehicle).

Optionally, the multi-target radar module may include one or more multi-target radars. When the multi-target radar module comprises a plurality of multi-target radars, when a vehicle (for example, a first vehicle) passes through detection areas of different multi-target radars, the snapshot module is triggered to take a snapshot respectively.

In the detection process or the capturing process, one multi-target radar can trigger one or more capturing cameras to capture the same vehicle, or a plurality of multi-target radars trigger one or more capturing cameras to capture the same vehicle; the above-described capturing process may be plural for the same vehicle, or other capturing processes may be included.

According to the technical scheme of the embodiment of the invention, different multi-target radars trigger the snapshot module to snapshot or trigger different snapshot cameras to snapshot, so that the accuracy of vehicle information acquisition can be ensured, the accuracy of vehicle information matching is improved, and the matching success rate is increased.

The snapshot module can transmit vehicle snapshot information (e.g., snapshot vehicle picture information and recognized license plate information) to the processing module (integrated control module).

In step S204, an OBU detection information set obtained by detecting an antenna transaction area by an antenna transaction module disposed on a lane where a first vehicle is located in a multi-lane of a road is obtained, where the OBU information is used to indicate information of an OBU that is detected by the antenna transaction module to perform a transaction with the antenna transaction module in the antenna transaction area.

The antenna transaction module may include one or more RSU antennas, and in a plurality of lanes of a road, each lane may be provided with one RSU antenna, and each RSU antenna may correspond to one antenna transaction region, and is configured to perform a transaction on a vehicle passing through the corresponding antenna transaction region, complete a toll, and acquire OBU detection information corresponding to an OBU of the transaction.

The antenna transaction module may send the OBU detection information to the integrated control module after performing a transaction, or may send a plurality of OBU detection information to the integrated control module after performing a plurality of transactions (e.g., the antenna transaction module may periodically send the OBU detection information).

Optionally, the antenna transaction module may communicate with the vehicle-mounted OBU, acquire the location information and the transaction information of the vehicle-mounted OBU, and transmit the location information and the transaction information of the OBU to the integrated control module.

The comprehensive control module can obtain an OBU detection information set after obtaining OBU detection information transmitted by the antenna transaction module of the lane where the first vehicle is located for one time or multiple times.

In step S206, the target detection information is matched with the OBU detection information set.

The integrated control module may match the target detection information with the OBU detection information set after receiving the target detection information.

Optionally, the comprehensive control module may receive a vehicle track information set transmitted by the multi-target radar module, a vehicle snapshot information set snapshot by the snapshot module, and a vehicle-mounted OBU position information set and transaction information acquired by the antenna transaction module, and perform matching combination on the information.

In step S208, if the target detection information does not match any of the OBU detection information in the OBU detection information set, the first vehicle is subjected to abnormal billing processing.

The integrated control module may obtain vehicle information of the first vehicle after matching the target detection information and the OBU detection information set.

And under the condition that the target detection information is not matched with all the OBU detection information in the OBU detection information set, the first vehicle is not correctly charged, and abnormal charging processing can be carried out on the first vehicle.

Optionally, matching the target detection information with the OBU detection information set includes: and matching the vehicle track information with OBU position information in each OBU detection information in the OBU detection information set.

According to the technical scheme of the embodiment of the invention, the matching is carried out according to the vehicle track information and the OBU position information, so that the matching accuracy can be improved.

After the target detection information is matched with the OBU detection information set, first license plate information in vehicle snapshot information corresponding to the target detection information can be matched with second license plate information of all OBU detection information in the OBU detection information set.

As an optional implementation manner, in the case that the target detection information does not match with each OBU detection information in the OBU detection information set, the first license plate information may be compared with the second license plate information in each OBU detection information in the OBU detection information set; if the first license plate information is consistent with the second license plate information in the first OBU detection information in the OBU detection information set, determining that the first vehicle is normally charged (or marking, and marking possibly having abnormal charging); and if the first license plate information is not consistent with the second license plate information in each OBU detection information in the OBU detection information set, determining that the first vehicle is not normally charged, and performing abnormal charging processing on the first vehicle.

In the case that the target detection information matches second OBU detection information in the set of OBU detection information, the first license plate information may be compared with second license plate information in the second OBU detection information; if the charging rate is consistent with the charging rate, determining that the first vehicle is normally charged (marking can be carried out, and charging abnormality may exist in the marking); and if the first license plate information is not consistent with the second license plate information in each OBU detection information in the OBU detection information set, determining that the first vehicle is not normally charged, and performing abnormal charging processing on the first vehicle.

Under the condition that the target detection information is successfully matched with the target OBU detection information in the OBU detection information set, whether first license plate information in vehicle snapshot information corresponding to the target detection information is consistent with second license plate information in the OBU detection information or not can be further judged, if yes, normal charging of the first vehicle is determined, otherwise, normal charging of the first vehicle is determined, and abnormal charging processing is carried out on the first vehicle.

According to the technical scheme of the embodiment of the invention, the license plate information in the vehicle snapshot information and the license plate information in the OBU detection information are matched, so that the matching accuracy can be improved.

The method for processing the abnormal charging of the first vehicle may be as follows: uploading the vehicle information to a background server or a data center; or outputting prompt information for prompting that the first vehicle is not normally charged.

The following describes the multi-lane free-flow vehicle detection method based on multi-target radar in combination with an optional embodiment.

Alternative embodiment 1

The optional embodiment provides an optional multi-target radar-based multi-lane free-flow vehicle detection method. FIG. 3 is a flow chart of another alternative multi-target radar-based multi-lane free-flow vehicle detection method according to an embodiment of the invention, as shown in FIG. 3, the flow chart comprises the following steps:

and S302, the multi-target radar module collects vehicle data and track information passing through a radar detection area in real time and/or triggers the snapshot module to snapshot the vehicle information, and the vehicle detection information, the vehicle track information and the vehicle snapshot information are transmitted to the comprehensive control module.

And S304, acquiring the transaction information of the antenna transaction module and/or the position information of the vehicle-mounted OBU, and transmitting the transaction information and/or the position information to the comprehensive control module.

And S306, the comprehensive control module matches and processes the vehicle track information, the OBU position information and the vehicle snapshot information and uploads the information to a background server or a data center.

Optionally, S302 further includes: the multi-target radar module collects data information of a vehicle from entering a radar detection area to leaving the area, and extracts track information of the vehicle passing through the detection area; and the multi-target radar module triggers the snapshot module to snapshot the vehicle picture and identify the license plate number for many times in the process that the vehicle passes through the radar detection area.

Optionally, the multi-target radar module calculates the speed of the detected vehicle in real time, and then detects the position change Y of the vehicle in the longitudinal coordinate according to the interval time of adjacent detection periods of the multi-target radar module and the position change Y of the detected vehicle_tJudging that the vehicles detected by the multi-target radar module in the adjacent detection periods are the same vehicle; or the multi-target radar module judges that the detected vehicles are the same vehicle according to the fact that the detected vehicles have overlapped areas in the transverse left and right boundary coordinate ranges in the adjacent detection periods; the multi-target radar module acquires track information of all vehicles passing through the detection area,and the vehicle trajectory information is orderly.

Optionally, when the multi-target radar module detects that the absolute value of the difference between the left and right boundary coordinates in part or all of the transverse coordinates in the vehicle data is greater than a preset vehicle width threshold value, determining that the parallel operation exists; performing comparison and analysis on the transverse coordinates of the parallel operation and the transverse coordinates of the parallel operation according to the transverse coordinates of the parallel operation and the transverse coordinates of the parallel operation in the vehicle data, and separating the parallel operation from the transverse coordinates of the parallel operation; or separating the cars according to the width change in the transverse coordinate of the merging and/or the height change comparative analysis of the vehicle height value.

Optionally, the multi-target radar module triggers the snapshot module to snapshot the vehicle, including one or more of the following processes: the multi-target radar module triggers when detecting that the vehicle starts to pass through the detection area; the multi-target radar module is triggered when detecting that the vehicle starts to enter an antenna transaction area; the multi-target radar module is triggered when detecting that the vehicle is in the middle position of a transaction area; the multi-target radar module is triggered when detecting that the vehicle changes lanes; the multi-target radar module triggers when detecting that the locomotive is about to leave a transaction area; and the multi-target radar module triggers when detecting that the vehicle head is about to leave the detection area.

Optionally, when the snapshot module comprises a plurality of cameras, the multi-target radar detection module triggers the snapshot camera of the lane where the vehicle is located to take a snapshot according to the position of the vehicle; when the multi-target radar module comprises a plurality of multi-target radars and the vehicle passes through detection areas of different multi-target radars, triggering the snapshot module to take a snapshot respectively; different snapshot cameras snapshot the picture information of the same vehicle, and the picture information is combined into a vehicle snapshot information set according to the matching of the snapshot time, the snapshot position and/or the vehicle number.

Optionally, the multi-target radar module collects vehicle data passing through the detection area, calculates vehicle characteristic information, forms vehicle detection information and at least comprises (vehicle number, vehicle type identification, lane, speed, high, vehicle head entering time and vehicle head leaving time) information; the method comprises the following steps that a snapshot module arranged on a road snapshots a vehicle picture and identifies a license plate to form vehicle snapshot information, wherein the vehicle snapshot information at least comprises information (vehicle number, license plate set, picture set and snapshot time set); the antenna transaction module and the vehicle-mounted OBU perform transaction to meet the international transaction protocol and at least comprise OBU transaction information consisting of (OBUID, transaction vehicle type, transaction time, transaction license plate and successful transaction identifier); the comprehensive control module performs logic processing and matching on the received vehicle detection information, vehicle snapshot information and OBU transaction information to form vehicle information which at least comprises (vehicle number, OBUID, transaction vehicle type, transaction time, transaction license plate, successful transaction identification, vehicle type identification, lane, speed, vehicle head entering time, vehicle head leaving time, snapshot license plate, picture set and snapshot time set) information.

Alternative embodiment 2

The optional embodiment provides an optional multi-target radar-based multi-lane free-flow vehicle detection method. Fig. 4 is a flow chart of yet another alternative multi-target radar-based multi-lane free-flow vehicle detection method according to an embodiment of the present invention, as shown in fig. 4, the flow chart includes the following steps:

s402, the multi-target radar module detects vehicle track information in real time and obtains a vehicle track information set and vehicle detection information of a vehicle passing through a detection area.

Optionally, the multi-target radar module detects the vehicle running track information in real time, and the position information of the vehicle at the moment t is (N, t, L)_t，XL_t，XR_t，Y_t) Where N denotes a vehicle number detected by the multi-target radar module, L_tXL, which indicates the lane in which the vehicle is located at time t_tLeft boundary lateral coordinates, XR, representing the vehicle position at time t_tRight boundary lateral coordinate, Y, representing the vehicle position at time t_tA set of vehicle trajectory information (N, T, L) representing the longitudinal coordinates of the vehicle position at time T and the vehicle passing through the detection area of the multi-target radar module_T，XL_T，XR_T，Y_T) Where T represents an ordered set of times T at which the vehicle's position is detected during the time that the vehicle passes through the detection zone, and L_TRepresenting a set of lanes, XL_TRepresenting the left boundary set of transverse coordinates, XR_TRepresenting the right boundary set of transverse coordinates, Y_TRespectively represent L_t、XL_t、XR_t、U_tAn ordered set of vertical coordinates.

The position information of the vehicle at the moment t is the track information of the vehicle passing through the radar detection area of the multi-target radar module when the vehicle enters the radar detection area at the moment; the lateral coordinates of the left and right boundaries are obtained from the lateral coordinates in the three-dimensional profile data of the vehicle, and the longitudinal coordinates are obtained from the longitudinal coordinates in the three-dimensional profile data of the vehicle.

Position information (N, t, L) of the vehicle_t，XL_t，XR_t，Y_t) Is vehicle position information that may be detected by the multi-target radar in one or more beams or all beams.

Alternatively, the longitudinal coordinate in the vehicle position information selects a center position coordinate value of the longitudinal coordinate in the three-dimensional profile data of the vehicle.

Set of vehicle trajectory information (N, T, L)_T，XL_T，XR_T，Y_T) The vehicle enters the multi-target radar detection area to leaves the multi-target radar detection area, and the multi-target radar detects the position information of the vehicle in the process of time ordered set.

The multi-target radar module identifies the vehicle type of the vehicle (identified vehicle type) according to the characteristic information (such as three-dimensional profile information, length, height and the like) of the vehicle, constitutes vehicle detection information, and transmits the vehicle track information set and the vehicle detection information (the target detection information comprises the vehicle track information set and the vehicle detection information) to the comprehensive control module.

And S404, the multi-target radar module triggers the snapshot module to snapshot the vehicle to form a vehicle snapshot information set, and the vehicle snapshot information set is matched with the vehicle detection information.

The multi-target radar module can trigger the snapshot module to snapshot the vehicle to obtain the vehicle picture and the license plate to form a vehicle snapshot information set (N, L)_t′PT, P), where N denotes the vehicle number, provided by the multi-target radar module, L_t′Indicating a vehicle lane is L_TPT represents the license plate set of the vehicle, P represents the picture set of the vehicle, and the snapshot moduleAnd the vehicle information acquired by the block is accurately matched with the vehicle information detected by the multi-target radar module through the vehicle number N.

It can be understood that the vehicle snapshot information set is an information set for identifying multiple snapshots of the same vehicle, and the multiple snapshots are multiple snapshots of one snapshot camera or are one or multiple snapshots of different snapshot cameras.

Optionally, the license plate numbers of the multiple snapshot recognition in the license plate set may be the same or different, or no license plate may be recognized.

Optionally, when the vehicle changes lanes and the snapshot module has a plurality of snapshot cameras, the multi-target radar module triggers the snapshot cameras of the lanes where the vehicle is located to take snapshots, and vehicle snapshot information captured by different cameras is combined into a vehicle snapshot information set through the vehicle serial number.

The snapshot module transmits the snapshot vehicle information set to the comprehensive processing module, or the snapshot module takes place a snapshot, just transmits the snapshot vehicle information to the comprehensive processing module, constitutes the vehicle snapshot information set by the comprehensive processing module with all the snapshot information of this vehicle, and the comprehensive control module matches vehicle detection information and vehicle snapshot information set according to the vehicle number.

When the snapshot module comprises a plurality of cameras, the multi-target radar detection module triggers the snapshot camera of the lane where the vehicle is located to take a snapshot according to the position of the vehicle.

When the multi-target radar module comprises a plurality of multi-target radars and the vehicle passes through detection areas of different multi-target radars, the snapshot module is triggered to take a snapshot respectively.

Different snapshot cameras snapshot the picture information of the same vehicle, and the picture information is combined into a vehicle snapshot information set according to the matching of the snapshot time, the snapshot position and/or the vehicle number.

When the vehicle tail camera is captured, the capturing camera triggers according to the multi-target radar or calculates the vehicle tail capturing range of the vehicle according to the vehicle speed, then vehicle tail capturing is carried out, vehicle serial numbers and/or positions and/or capturing time are/is combined and matched with vehicle capturing information captured by the vehicle head capturing.

S406, the antenna transaction module acquires the position information set and the transaction information of the vehicle-mounted OBU, and matches the position information set and the transaction information with vehicle track information or snapshot information.

The antenna transaction module acquires a position information set and transaction information of a vehicle-mounted OBU passing through a transaction area, the position information set of the OBU is calculated and matched with a vehicle track information set, and/or license plate information in the transaction information is matched with license plate information in vehicle snapshot information, and a vehicle transacted by the antenna transaction module and a vehicle detected by the multi-target radar module are judged to be the same vehicle.

Optionally, the antenna transaction module interacts with a vehicle-mounted OBU, and each frame of interaction has one OBU position information (t', OBUID, X)_t′，Y_t′) OBUID represents on-board OBUID, X_t′Representing the lateral position coordinate, Y, of the OBU at time t' or instant_t′Representing the longitudinal position coordinates of the OBU at time T 'or instant, forming a set of OBU position information (T', OBUID, X) throughout the transaction_T′，Y_T′)，T′、X_T′、Y_TRespectively represent t' and X_t′、Y_t′The antenna transaction module sends the position information set and the transaction information of the vehicle-mounted OBU to the comprehensive control module,

the integrated control module collects (T', OBUID, X) OBU position information_T′，Y_T′) And a vehicle track information set (N, T, L)_T，XL_T，XR_T，Y_T) Calculating and matching, and judging that the vehicle transacted by the antenna transaction module and the vehicle detected by the multi-target radar module are the same vehicle; or the comprehensive control module judges that the vehicle in the current transaction is the same as the vehicle captured by the capturing module according to the matching of the license plate information in the transaction information and the license plate set in the vehicle capturing information set.

Optionally, a vehicle track information set acquired by the multi-target radar module, a vehicle snapshot information set snapshot by the snapshot module, and a vehicle-mounted OBU position information set and transaction information acquired by the antenna transaction module are all transmitted to the comprehensive control module, and the comprehensive control module performs matching combination on the information.

Optionally, an OBU location information set (T', OBUID, X)_T′，Y_T′) And a vehicle track information set (N, T, L)_T，XL_T，XR_T，Y_T) The following matching may be used:

the time set T' in the OBU position information set and the time set T in the vehicle track information set have intersection of time or time periods, and in the same time or time period, the longitudinal position coordinate set Y in the OBU position information set_T′And a vehicle track information longitudinal coordinate set Y_TThe transverse position coordinate set X in the OBU position information set has intersection or the longitudinal coordinate section has intersection_T′The coordinate point in (1) is a transverse coordinate set XL positioned at the left side boundary of the vehicle track information_TAnd right side boundary lateral coordinate set XR_TComposed set of sequences of transverse coordinate segments (XL)_T，XR_T) If so, judging that the vehicle transacted by the antenna transaction module and the vehicle detected by the multi-target radar module are the same vehicle, and judging that the vehicle transacted by the antenna transaction module and the vehicle snapshot by the snapshot module are the same vehicle;

the license plate number acquired by the antenna transaction module from the vehicle-mounted OBU is the same as the license plate number identified by the snapshot module, and the vehicle transacted by the antenna transaction module and the vehicle snapshot by the snapshot module are judged to be the same vehicle, so that the vehicle transacted by the antenna transaction module and the vehicle detected by the multi-target radar vehicle detection module are judged to be the same vehicle.

Optionally, the multi-target radar module collects data information of vehicles passing through the detection area, calculates vehicle characteristic information, at least comprises length, height and speed, identifies vehicle types, forms vehicle detection information, and at least comprises (vehicle number, identified vehicle type, lane, speed, length, height, vehicle head entering time and vehicle head leaving time) information.

Optionally, the snapshot module arranged on the road is used for snapshot of the vehicle picture and recognition of the license plate, so as to form a vehicle snapshot information set, which at least comprises (vehicle number, license plate set, picture set, snapshot time set) information.

Optionally, the antenna module and the vehicle-mounted OBU perform transaction to meet a national standard transaction protocol, and at least comprise OBU transaction information consisting of (OBUID, transaction vehicle type, transaction time, transaction license plate, and successful transaction identifier).

The comprehensive control module performs logic processing and matching on the received vehicle detection information, vehicle snapshot information and OBU transaction information to form vehicle information which at least comprises (vehicle number, OBUID, transaction vehicle type, transaction time, transaction license plate, successful transaction identification, vehicle type identification, lane, speed, length, height, vehicle head entering time, vehicle head leaving time, snapshot license plate, picture set and snapshot time set) information, and uploads the vehicle information to a background or a service center.

It can be understood that vehicle detection information, and/or vehicle snapshot information, and/or OBU transaction information is abnormal and/or inconsistent, and/or has no partial information, and the formed vehicle information is also uploaded to a background or a service center; the uploaded vehicle information protocol meets the requirements of the relevant national standard protocol.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

Example 2

The embodiment also provides a multi-target radar-based multi-lane free flow vehicle detection system, which is used for implementing the above embodiments and preferred embodiments, and the description of the system is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the system described in the embodiments below is preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

Fig. 5 is a schematic structural diagram of an alternative multi-target radar-based multi-lane free-flow vehicle detection system according to an embodiment of the present invention, as shown in fig. 5, the system includes: the method comprises the following steps: a multi-target radar module 1, an antenna transaction module 2 (the antenna transaction module 2 may be one or more RSU antennas), and a comprehensive control module 3, wherein,

a radar detection area 7 (a multi-target radar detection area) of the multi-target radar module 1 covers all lanes on the road and projects to the road in the driving direction of the vehicle, and the multi-target radar module 1 is arranged above a portal frame in the middle of the road (and can also be arranged on a vertical rod on the road side);

the multi-target radar module 1 is connected with the snapshot module 3 (the snapshot module 3 can be one or more snapshot cameras) and is used for acquiring data information of vehicles passing through the radar detection area 2 to obtain target detection information; triggering the snapshot module 3 for multiple times to take a snapshot;

the snapshot module 3 is used for snapshotting the snapshot area 8 of the snapshot module 1 according to the triggering of the multi-target radar module 1 to obtain vehicle snapshot information;

the antenna transaction module 2 is used for performing transaction with an OBU (on-board unit) arranged on a vehicle passing through an antenna transaction area 6 of the antenna transaction module 2 and acquiring OBU detection information of the OBU, wherein the antenna transaction area 6 is not smaller than the snapshot area 3, the antenna transaction area 6 covers the snapshot area 3, and the nearest area range of the antenna transaction area 6 is not smaller than the nearest area range of the radar detection area 7;

and the comprehensive control module 4 is respectively connected with the multi-target radar module 1, the snapshot module 3 and the antenna transaction module 2, and is used for acquiring target detection information, vehicle snapshot information and OBU detection information, matching the target detection information, the vehicle snapshot information and the OBU detection information, and executing abnormal charging processing on the abnormal charging vehicles corresponding to the abnormal matching target detection information.

Alternatively, the multi-target radar module 1 may include one or more multi-target radars (as shown in fig. 5 and 6), and the capturing module 3 includes one or more capturing cameras, and each multi-target radar of the one or more multi-target radars is connected to each capturing camera of the one or more capturing cameras.

Optionally, the capturing module 3 at least comprises a head capturing camera and/or a tail capturing camera, wherein the head capturing camera comprises one or more capturing cameras, and the tail capturing camera comprises one or more capturing cameras.

Alternatively, the multi-target radar module 1 may be mounted on a roadside pole (as shown in fig. 7).

As shown in fig. 5, the multi-target radar-based multi-lane free-flow vehicle detection system may include: the system comprises a multi-target radar module 1, an antenna transaction module 2, a snapshot module 3 and a comprehensive control module 4; the multi-target radar module 1 is arranged on a portal or a vertical rod above a road and connected with the snapshot module 3, the snapshot module 3 is triggered to snapshot vehicle information, the snapshot module 3 is arranged on the portal or the vertical rod, a snapshot camera unit is arranged above each lane, and each snapshot camera unit is connected with the comprehensive control module 4; the antenna transaction module 2 is arranged on a portal frame or a vertical rod and comprises one or more RSU units, one RSU unit is arranged above each vehicle, and each RSU unit is connected with the comprehensive control module 4; the comprehensive control module 4 is connected with the multi-target radar module 1 to acquire a vehicle track information set and vehicle detection information; the vehicle snapshot module 3 is connected to acquire vehicle snapshot information; and the antenna transaction module 2 is connected to acquire vehicle-mounted OBU track information and transaction information, and the information is logically matched and combined to form vehicle information meeting national standards and is uploaded to a background or a service center.

Optionally, the multi-target radar module 1 is installed on a gantry or a vertical rod, and the multi-target radar module 1 is optionally installed in the center of a road or on the side of the road. Preferably, the multi-target radar module 1 is located above the road center. The multi-target radar module 1 at least comprises a multi-target radar, and the multi-target radar module 1 is used for collecting vehicle data information on a road in real time and sending a processing result to the comprehensive control module 4.

The detection area 7 of the multi-target radar module 1 covers all lanes on the road and projects to the road in the driving direction of the vehicle, the minimum distance range of the detection area 7 of the multi-target radar from the position right below the multi-target radar module 1 can be 3-8 meters, and the maximum distance range can be 100-150 meters.

When one multi-target radar unit cannot cover all lanes, one or more multi-target radar units are required to be added to completely cover the detected lanes. As shown in fig. 6, when one multi-target radar cannot cover the detection area, a plurality of multi-target radars having a predetermined angle with the driving direction of the vehicle are required. Optionally, when the multi-target radar cannot completely cover the inspection range except the vehicle driving direction or the road width direction, at least two multi-target radars need to be installed, and a vehicle which cannot normally pass through the inspection range can be avoided.

As shown in fig. 7, in the multi-target radar-based multi-lane free-flow vehicle detection system, a multi-target radar is mounted on a roadside pole.

The multi-target radar module 1 is connected with the snapshot module 3 and used for triggering the snapshot module to snapshot vehicle information; the multi-target radar module 1 is connected with the comprehensive control module 4 and used for transmitting the vehicle track information set and the vehicle detection information to the comprehensive control module 4.

Optionally, the snapshot module at least comprises a snapshot camera unit and a light supplement lamp, the snapshot area 8 of the snapshot module 3 is not larger than the detection area 7 of the multi-target radar module 1, the snapshot area 8 is overlapped with the detection area 7, the snapshot module 3 is used for snapshot of the vehicle, and vehicle pictures and license plate information are transmitted to the comprehensive control module 4.

Optionally, the multi-target radar unit is connected to the snapshot camera, and when the multi-target radar module 1 includes a plurality of multi-target radars or the snapshot module 3 includes a plurality of snapshot cameras, each multi-target radar is connected to each snapshot camera respectively.

The snapshot module 3 at least comprises a head snapshot camera and/or a tail snapshot camera, the head snapshot camera comprises one or more snapshot cameras, and the tail snapshot camera comprises one or more snapshot cameras.

When will take a candid photograph locomotive and rear of a vehicle, then take a candid photograph the module and contain two sets of candid photograph cameras and light filling lamp at least, be used for taking a candid photograph locomotive and rear of a vehicle respectively, the mode of rear of a vehicle candid photograph can adopt the trigger mode, perhaps adopts the time delay candid photograph mode.

The antenna transaction module 2 is composed of one or more RSU units and used for performing transaction with a vehicle-mounted OBU and acquiring position information of the vehicle OBU, a transaction area 6 of the antenna transaction module 2 is not smaller than a snapshot area 8, the transaction area 6 covers the snapshot area 8, and the nearest area range of the transaction area 6 is not smaller than the nearest area range of the detection area 7.

The comprehensive control module 4 is connected with the multi-target radar module 1 to acquire a vehicle track information set and vehicle detection information; the vehicle snapshot module 3 is connected to acquire vehicle snapshot information; and the antenna transaction module 2 is connected to acquire vehicle-mounted OBU track information and transaction information, and the information is logically matched and combined to form vehicle information meeting national standards and is uploaded to a background or a service center.

It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.

Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.

It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A multi-target radar-based multi-lane free-flow vehicle detection method is characterized by comprising the following steps:

the method comprises the steps of obtaining target detection information obtained by detecting a radar detection area by a multi-target radar module arranged on a road, wherein the target detection information is used for representing information corresponding to a first vehicle detected by the multi-target radar module, the target detection information comprises a vehicle track information set, and the vehicle track information is an ordered set of position information of the first vehicle detected by the multi-target radar in the process from entering the radar detection area to leaving the radar detection area;

acquiring an OBU detection information set of an OBU, which is obtained by detecting an antenna transaction area by an antenna transaction module arranged on a lane where a first vehicle is located in a multi-lane of the road, wherein the OBU detection information is used for representing information of the OBU which is detected by the antenna transaction module and transacts with the antenna transaction module in the antenna transaction area, and the OBU detection information comprises an OBU position information set;

matching the target detection information with the OBU detection information set;

under the condition that the target detection information is not matched with all OBU detection information in the OBU detection information set, performing charging abnormity processing on the first vehicle;

matching the set of OBU location information with the set of vehicle trajectory information comprises: if the time set in the OBU position information set and the time set in the vehicle track information set have an intersection of time or time periods, and in the same time or time period, the longitudinal position coordinate set in the OBU position information set and the longitudinal coordinate set in the vehicle track information set have an intersection or a longitudinal coordinate section has an intersection, and a coordinate point in the transverse position coordinate set in the OBU position information set has a transverse coordinate section sequence set formed by a left side boundary transverse coordinate set and a right side boundary transverse coordinate set in the vehicle track information set, it is determined that the vehicle transacted by the antenna transaction module and the first vehicle are the same vehicle.

2. The method of claim 1,

the target detection information obtained by detecting the radar detection area by the multi-target radar module arranged on the road comprises: extracting vehicle track information of the first vehicle passing through the radar detection area from operation data information, collected by the multi-target radar module, of the first vehicle from entering the radar detection area to leaving the radar detection area, wherein the vehicle track information is used for representing a corresponding relation between the passing time of the first vehicle passing through the radar detection area and the vehicle position;

matching the target detection information with the OBU detection information set comprises: and matching the vehicle track information with OBU position information in each OBU detection information in the OBU detection information set.

3. The method of claim 1,

before matching the target detection information with the set of OBU detection information, the method further comprises: acquiring vehicle snapshot information of a snapshot module arranged on the road, wherein the vehicle snapshot information comprises first license plate information of the first vehicle, and the vehicle snapshot information is obtained by triggering the snapshot module to snapshot a snapshot area for multiple times by the multi-target radar module in the process that the first vehicle passes through the radar detection area;

after matching the target detection information with the set of OBU detection information, the method further comprises: and when the first license plate information is inconsistent with the second license plate information of each OBU detection information in the OBU detection information set, carrying out charging exception processing on the first vehicle.

4. The method according to claim 3, characterized in that before acquiring the vehicle snapshot information of the snapshot module disposed on the road, the method further comprises:

when at least one of the following is detected, the multi-target radar module triggers the snapshot module to snapshot the snapshot area:

the first vehicle begins to pass through the radar detection area;

the first vehicle is in an intermediate position of the antenna transaction area;

the first vehicle lane change;

the distance between the head of the first vehicle and the first position of the antenna transaction area is smaller than or equal to a first distance threshold value;

the distance between the head of the first vehicle and the second position of the radar detection area is smaller than or equal to a second distance threshold value.

5. The method of claim 3,

under the condition that the snapshot module comprises a plurality of snapshot cameras, the multi-target radar module triggers the snapshot camera on the lane where the first vehicle is located to take a snapshot according to the position of the first vehicle;

under the condition that the multi-target radar module comprises a plurality of multi-target radars, when the first vehicle passes through different radar detection areas, the multi-target radars corresponding to the radar detection area where the first vehicle is located trigger the snapshot module to take a snapshot.

6. The method according to claim 1, wherein before acquiring the target detection information obtained by detecting the radar detection area by the multi-target radar module disposed on the road, the method further comprises:

the multi-target radar module collects vehicle data of the first vehicle passing through the radar detection area, calculates vehicle characteristic information used for representing the first vehicle, and generates the target detection information, wherein the target detection information comprises: vehicle numbering, vehicle type identification, lane identification, speed identification, high vehicle head entering time and vehicle head leaving time;

the snapshot module arranged on the road snapshots the vehicle picture of the first vehicle and identifies the license plate of the first vehicle, and vehicle snapshot information is generated, wherein the vehicle snapshot information comprises: vehicle number, license plate set, picture set and snapshot time set;

wherein, each OBU detection information in the OBU detection information set includes OBU transaction information, wherein, OBU transaction information includes: OBUID, trading vehicle type, trading time, trading license plate and trading success identification;

wherein the vehicle information obtained after matching the target detection information with the OBU detection information set comprises: the method comprises the steps of vehicle number, OBUID, transaction vehicle type, transaction time, transaction license plate, successful transaction identification, vehicle type identification, lane, speed, vehicle head entering time, vehicle head leaving time, snapshot license plate, picture collection and snapshot time collection.

7. The method according to any one of claims 1 to 6, wherein determining that the multi-target radar module adjacent detection periods detect the same vehicle according to the interval time of the multi-target radar module adjacent detection periods and the moving speed of the vehicle comprises:

in a first detection period, determining the moving speed of the first vehicle according to first detection information obtained by detecting the first vehicle by the multi-target radar;

in a second detection period, second detection information of a second vehicle detected by the multi-target radar in the radar detection area is obtained, wherein the second detection period is the next detection period of the first detection period;

and determining that the second vehicle and the first vehicle are the same vehicle according to the duration of the first detection period and the moving speed, wherein the target detection information comprises the first detection information and the second detection information.

8. The method according to any one of claims 1 to 6, wherein acquiring the target detection information obtained by the multi-target radar module arranged on the road detecting the radar detection area comprises:

under the condition that the absolute value of the difference between left and right boundary coordinates in partial or all transverse coordinates in first vehicle data detected by the multi-target radar module is larger than a preset vehicle width threshold value, determining that the first vehicle and other vehicles except the first vehicle exist in a parallel operation mode, wherein the first vehicle data comprises vehicle data detected by the multi-target radar module in a plurality of continuous detection periods;

dividing second vehicle data corresponding to the first vehicle from the first vehicle data according to the transverse coordinates in the first vehicle data and the transverse coordinates of the first vehicle when the vehicles are not merged; alternatively, the first and second electrodes may be,

dividing second vehicle data corresponding to the first vehicle from the first vehicle data according to a width change of a lateral coordinate in the first vehicle data; alternatively, the first and second electrodes may be,

according to the change of the height value in the first vehicle data, second vehicle data corresponding to the first vehicle is divided from the first vehicle data.

9. A multilane free-flow vehicle detection system based on multi-target radar, comprising: a multi-target radar module, an antenna transaction module, and a comprehensive control module, wherein,

the radar detection area of the multi-target radar module covers all lanes on a road and projects the lanes onto the road in the driving direction of a vehicle, and the multi-target radar module is arranged above a portal frame in the middle of the road or is arranged on a vertical rod on the roadside;

the multi-target radar module is connected with the snapshot module and used for collecting data information of vehicles passing through the radar detection area to obtain target detection information; triggering the snapshot module for multiple times to snapshot, wherein the target detection information comprises a vehicle track information set, and the vehicle track information is an ordered set of position information of a first vehicle detected by the multi-target radar in the time from the first vehicle entering the radar detection area to the first vehicle leaving the radar detection area;

the snapshot module is used for snapshotting a snapshot area of the snapshot module according to the triggering of the multi-target radar module to obtain vehicle snapshot information;

the antenna transaction module is used for performing transaction with an OBU (on-board unit) arranged on a vehicle passing through an antenna transaction area of the antenna transaction module and acquiring OBU detection information of the OBU, wherein the antenna transaction area is not smaller than the snapshot area, the antenna transaction area covers the snapshot area, the nearest area range of the antenna transaction area is not smaller than the nearest area range of the radar detection area, and the OBU detection information comprises an OBU position information set;

the comprehensive control module is respectively connected with the multi-target radar module, the snapshot module and the antenna transaction module, and is used for acquiring the target detection information, the vehicle snapshot information and the OBU detection information, matching the target detection information, the vehicle snapshot information and the OBU detection information, and executing charging exception processing on the abnormal charging vehicles corresponding to the abnormal matching target detection information;

the integrated control module is further configured to determine that the vehicle transacted by the antenna transaction module is the same vehicle as the first vehicle if a time set in the OBU position information set and a time set in the vehicle track information set have an intersection of time or a time period, and a longitudinal position coordinate set in the OBU position information set and a longitudinal coordinate set in the vehicle track information set have an intersection or a longitudinal coordinate section has an intersection within the same time or time period, and a coordinate point in a transverse position coordinate set in the OBU position information set has a transverse coordinate section sequence set composed of a left-side boundary transverse coordinate set and a right-side boundary transverse coordinate set in the vehicle track information set.

10. The system of claim 9,

the multi-target radar module comprises one or more multi-target radars, the snapshot module comprises one or more snapshot cameras, and each multi-target radar in the one or more multi-target radars

The radar is connected with each of the one or more snapshot cameras;

the snapshot module at least comprises a head snapshot camera and/or a tail snapshot camera, the head snapshot camera comprises one or more snapshot cameras, and the tail snapshot camera comprises one or more snapshot cameras.

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