CN110363995B - Vehicle existence comprehensive detection system and detection method thereof - Google Patents
Vehicle existence comprehensive detection system and detection method thereof Download PDFInfo
- Publication number
- CN110363995B CN110363995B CN201910637935.3A CN201910637935A CN110363995B CN 110363995 B CN110363995 B CN 110363995B CN 201910637935 A CN201910637935 A CN 201910637935A CN 110363995 B CN110363995 B CN 110363995B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- detection
- range
- detected
- state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a vehicle existence comprehensive detection system and a detection method thereof, wherein the system comprises: the system comprises a microwave pulse frequency modulation radar sensor, a microprocessor and a power management and power supply module, wherein the power management and power supply module is respectively connected with the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module and supplies power to the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module; and the microwave pulse frequency modulation radar sensor is used for detecting whether a vehicle exists in the detection range of the sensor and transmitting the detection data to the microprocessor. The invention can effectively reduce the false alarm rate, the missing report rate and the systematic error rate of the vehicle presence detection, and improves the environmental adaptability and the stability of the vehicle presence detection system.
Description
The technical field is as follows:
the invention relates to the technical field of vehicle detection, in particular to a vehicle existence comprehensive detection system and a detection method thereof.
Background art:
at present, with the rapid increase of the quantity of urban automobile reserves, the problem of vehicle parking management becomes an important factor influencing the urban traffic order, including: parking everywhere, random parking and random placing, illegal occupation of fire fighting channels or emergency channels, etc. The conventional manual parking management requires a large amount of manpower and is not effective, and the vehicle presence detecting device can effectively monitor the presence state of the vehicle on the parking space and the important passage.
In the prior art, a wireless vehicle presence detection technology mainly adopts a geomagnetic detection mode, wherein the geomagnetic detection is a detection mode for detecting the vehicle presence state by utilizing the influence of a ferromagnetic object on the earth magnetic field, and when the state (position, moving speed and the like) of the ferromagnetic object changes, the change of the earth magnetic field nearby the ferromagnetic object is caused. The vehicle detection device using the geomagnetic sensor as a key device has the advantages of small volume, low power consumption, convenience in installation, capability of working for a long time and low maintenance cost.
However, the earth magnetic field is greatly influenced by external environments, such as: in many industrial cities, underground cables and water pipes are close to the ground and distributed densely, so that the influence on the geomagnetic field is great, and the measurement accuracy of the geomagnetic sensor is greatly influenced; in addition, large-scale secondary power transformation equipment often exists near a roadside parking lot or a centralized parking lot, which can affect the nearby geomagnetic field, so that the dynamic range of the measurement result of the geomagnetic sensor is large; at present, the Chinese infrastructure still has the characteristics of wide range and large quantity, and large-scale building equipment on a construction site can generate non-negligible influence on a nearby geomagnetic field. Meanwhile, the measurement of the geomagnetic sensor is also affected by slight ground vibration caused by road load-carrying vehicles.
The geomagnetic field intensity changes greatly with the latitude, but the Chinese members are wide, the latitude span is large, and the geomagnetic field intensity changes greatly, which brings about difficulties in the calibration of geomagnetic sensors and the realization of algorithms. The geomagnetic field is also affected by solar activity, climate and seasonal changes, and the geomagnetic field changes in a complex manner, so that the geomagnetic reference value detected by the vehicle cannot be accurately estimated.
In addition, the geomagnetic sensor belongs to passive detection, and the detection range cannot be effectively controlled. For parking detection, vehicles in adjacent parking spaces easily generate certain interference to the current parking space, and it is difficult to distinguish whether the current parking space has a vehicle or does not have a vehicle from the detection result.
Therefore, the requirement of detection accuracy cannot be met by singly adopting the geomagnetic sensor to monitor the existing state of the vehicle. In order to solve the above problems, detection devices based on other types of sensors and solutions for multi-sensor fusion are continuously proposed.
In order to solve the above problems, in the prior art, a plurality of geomagnetic sensors are provided, and it is ensured that two geomagnetic sensors are not failed or magnetized at the same time by ensuring that the two geomagnetic sensors are spaced by at least 5 cm, so that the detection precision and the anti-interference performance are improved; or based on the principle that the magnetic field change values detected by the multiple sensors for the same geomagnetic change event have different values under the condition that a certain distance exists between the multiple geomagnetic sensors, the detector distinguishes the magnetic field change caused by the earth magnetic field influenced by the vehicle and the magnetic field change caused by other environmental changes by calculating the difference value of the magnetic field change values detected by at least two sensors in the multiple sensors, and the anti-interference performance of the detection device is improved; or a plurality of methods, such as measuring an environmental interference signal by a geomagnetic sensor disposed at a position near the vehicle detector where no vehicle exists, using a magnetic field signal thereof as a correction signal, and comparing the magnetic field data of the geomagnetic sensor located at the position of the vehicle detector with the correction signal to obtain a more accurate result of the presence or absence of the vehicle.
The method adopts a plurality of geomagnetic sensors and improves the precision and the anti-interference performance of vehicle detection through different deployment modes and detection algorithms, however, because the geomagnetic sensors detect the earth magnetic field as a detection means and a large amount of ferromagnetic substances contained in the vehicle are used as detection targets, but because the factors influencing the earth magnetic field in the environment are many and complex, the method using a single detection means as a detection standard has limitations all the time, and a more ideal method for distinguishing the vehicle from background interference is to introduce a new detection sensor and use other characteristics of the vehicle as a detection object.
Some common object presence detection means currently include: infrared detection techniques, ultrasonic detection techniques, and electromagnetic wave detection techniques. The infrared detection technology is that infrared rays are emitted through an infrared emitting device, when the infrared rays meet an object and are reflected, the infrared receiving device receives the reflected infrared rays, and then the emitted infrared rays and the reflected infrared rays are compared through filtering so as to determine the existence of the object. But infrared ray is sheltered from easily, at first need set up infrared window on the detection device of deployment in parking stall below to infrared ray can launch and receive, is unfavorable for whole detection device's pressure resistance, has debris, fallen leaves etc. simultaneously on ground, or when launching and receiving window wearing and tearing or have the attachment, infrared detection means will lose the effect. In addition, when the infrared receiving device is exposed to strong light, the infrared receiving device cannot distinguish the received infrared rays, and the infrared detection means is also disabled. Therefore, infrared detection techniques are not suitable for use outdoors, or in environments that are not very clean.
The ultrasonic detection technology is similar to the infrared detection technology, and is also provided with a transmitting module for generating ultrasonic waves, when the ultrasonic waves encounter an object in the propagation process, the object is reflected, the reflected ultrasonic waves are received by a detection device, and the distance between the object and the detection device is obtained through calculation, so that the existence state of the object in a certain range is judged. However, ultrasonic waves are different from photoelectric signals, ultrasonic waves are substance waves, the conduction of the ultrasonic waves needs a substance as a medium, the scattering and reflection of the ultrasonic waves are obvious when the ultrasonic waves pass through different media, and when the ultrasonic waves are used as a vehicle detection means, the shell of a detector is thick and hard, and the ultrasonic waves are difficult to penetrate. In addition, the ultrasonic sensor is easily affected by external vibration and rain and snow weather. Therefore, ultrasonic waves are not suitable for use as a vehicle detection means in complicated environments such as outdoors.
The electromagnetic wave detection technology judges the existence of an object by emitting electromagnetic waves and detecting the electromagnetic waves reflected by the object, and is different from infrared detection and ultrasonic detection in that the penetration capacity of the electromagnetic waves is far stronger than that of infrared rays and ultrasonic waves, and the interference from the environment and the outside is small, particularly a microwave radar has the characteristics of small volume and high spatial resolution, and is very suitable for vehicle detection. The conventional radar technology is an electromagnetic wave radar based on the doppler effect.
In the prior art, one of the radar detection schemes is a parking detection scheme based on a doppler radar, a radar for detecting the position and relative movement speed of a moving target by using a doppler effect, and a doppler radar is used for vehicle detection to capture a signal when a vehicle enters or exits a parking space, so that the existence state of the vehicle is judged. However, the vehicles often only have dozens of seconds or dozens of seconds when entering or exiting the parking space, so that frequent detection is required by the sensors, and the energy consumption of the radar is very high due to the fact that the process of the vehicles entering the parking space needs to be captured and the coverage area of the sensors is large; the other method is to use an FMCW (frequency modulated continuous wave) radar to detect the existence state of the vehicle, the FMCW radar transmits continuous waves with variable frequencies in a scanning frequency period, an echo reflected by an object has a certain frequency difference with a transmitted signal, distance information between a target and the radar can be obtained by measuring the frequency difference, and the FMCW radar transmits and receives signals, and the average power of the transmitted signal is equal to the peak power, so only a device with low power is needed.
The current multi-sensor fusion vehicle detection method uses geomagnetism as a disturbance detection means (namely background monitoring), and is matched with other detectors to judge the existing state of the vehicle (namely vehicle existence detection), and the main problems of the vehicle detection sensor are as follows:
the geomagnetic sensor is very easily influenced by the environment, and the geomagnetic sensor is inaccurate in judgment and possibly interferes the environment, so that the geomagnetic sensor is mistakenly judged to be a vehicle existing signal; alternatively, in a complex interference situation, the vehicle presence signal cannot be discerned. The geomagnetic sensor, as a single detection means, is prone to false triggering of vehicle presence detection for multiple times, resulting in large power consumption, or is not triggered, resulting in a possibility of systematic error due to undetected vehicle detector when the vehicle presence changes.
Except for a geomagnetic sensor, the existing detection means of traditional objects such as infrared and ultrasonic waves are not suitable for complex outdoor environments; the power consumption of the infrared sensor, the ultrasonic sensor, the electromagnetic wave Doppler radar sensor and the frequency modulation continuous wave radar is very high, so that the opening times of the sensors are required to be reduced as much as possible when the sensors are applied;
in the current scheme of multi-sensor fusion, due to the limitations of the power consumption and detection technology of the second sensor and the like, the geomagnetic sensor is used for detecting the interference signal as a trigger condition, and then the second sensor is used for judging. Therefore, if the trigger sensitivity of the geomagnetic sensor is too high, the second sensor is frequently started, resulting in too high power consumption; if the triggering sensitivity of the geomagnetic sensor is too low, a signal to be triggered is missed, and misjudgment is caused. Meanwhile, the detection method basically depends on the detection accuracy of the second sensor to the vehicle, and the sensor fusion is not really realized;
in addition, the vehicle presence detection technology often determines the presence or absence of a vehicle using a signal generated by capturing the movement of the vehicle as a main determination criterion or using a characteristic signal generated when the vehicle changes from a moving state to a stationary state. However, the time from moving to stationary or getting into or out of the parking space is only a few seconds to a few tens of seconds, if the frequency of the interference detection is too low, the interference signal may be missed, and if the time of moving the vehicle is continuously detected, the detection power consumption is high.
Therefore, it is desirable to provide a more practical vehicle presence comprehensive detection system and a detection method thereof, which solve the above problems.
The invention content is as follows:
the invention aims to overcome the defects and provides the vehicle existence comprehensive detection system and the vehicle existence comprehensive detection method with low equipment power consumption, high detection accuracy and high equipment stability.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a vehicle existence comprehensive detection system, which comprises:
the microwave pulse frequency modulation radar sensor is used for detecting whether a vehicle exists in the detection range of the sensor and transmitting the detection data to the microprocessor;
the microprocessor is connected with the microwave pulse frequency modulation radar sensor and is used for controlling the detection duration and the detection frequency of the microwave pulse frequency modulation radar sensor and calculating the existing state of the vehicle in the detection range according to the detection data of the microwave pulse frequency modulation radar sensor;
and the power management and power supply module is respectively connected with the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module to supply power for the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module.
The waveform of the electromagnetic wave used by the microwave pulse frequency modulation radar sensor is sawtooth wave or triangular wave, and the scanning bandwidth of the electromagnetic wave is more than or equal to 0.75 GHz.
The frequency of the electromagnetic wave used by the microwave pulse frequency modulation radar sensor is between 10GHz and 100 GHz.
The microwave pulse frequency modulation radar sensor has a single measurement scanning pulse width lasting for at least one complete scanning period.
The detection system further comprises a wireless data transmission module, wherein the wireless data transmission module is connected with the microprocessor and is used for carrying out data communication between the vehicle existence comprehensive detection system and a data platform or a gateway.
Preferably, the detection system further comprises at least one geomagnetic sensor.
The detection method based on the vehicle presence comprehensive detection system comprises the following steps:
the microprocessor drives a microwave pulse frequency modulation radar sensor in the vehicle existence comprehensive detection system to perform background detection on a range to be detected in a background monitoring mode to obtain a first background monitoring result;
when the first background monitoring result is inconsistent with the current vehicle existing state in the range to be detected, the microprocessor adjusts the vehicle existing comprehensive detection system to stop the background monitoring mode and enter a vehicle detection mode to obtain a first vehicle detection result;
determining the vehicle existence state in the range to be detected according to the first vehicle detection result;
and the microprocessor adjusts the vehicle existence comprehensive detection system to stop the vehicle detection mode, switches to a background monitoring mode and continues background detection.
The microprocessor drives a geomagnetic sensor in the vehicle existence comprehensive detection system to perform background detection on a range to be detected in a background monitoring mode to obtain a second background monitoring result;
determining the validity of the second background monitoring result according to the existing state of the current vehicle in the range to be detected and the second background monitoring result;
and when the second background monitoring result is inconsistent with the current vehicle existence state in the range to be detected, the microprocessor adjusts the vehicle existence comprehensive detection system to stop the background monitoring mode and enter the vehicle detection mode.
The background monitoring mode is that the microprocessor starts the microwave pulse frequency modulation radar sensor or the geomagnetic sensor at preset time intervals to perform background detection on the range to be detected.
The vehicle detection mode is that the microprocessor controls the microwave pulse frequency modulation radar sensor and/or the geomagnetic sensor to continuously detect the range to be detected for a plurality of times according to preset detection times.
The invention discloses a vehicle existence comprehensive detection system and a detection method thereof, which have the beneficial effects that:
the microwave radar sensor is adopted as a background monitoring means, so that the interference of the environment is small, and the false alarm rate, the missing report rate and the system stability are very high;
a microwave radar sensor and a geomagnetic sensor are adopted to form a double-background monitoring means, so that the interference caused by environmental change is further reduced, the system stability is enhanced through two unrelated background monitoring means, and a system self-adaptive calibration means is provided;
by adopting the pulse frequency modulation radar sensor, the power consumption of radar detection is greatly reduced, and the service cycle of equipment is effectively prolonged.
Description of the drawings:
fig. 1 is a block diagram showing a configuration of a vehicle presence integrated detection system according to a first embodiment;
fig. 2 is a block diagram showing the configuration of a vehicle presence integrated detection system according to a second embodiment;
FIG. 3 is a flowchart of a detection method of the integrated vehicle presence detection system according to the first embodiment;
FIG. 4 is a flowchart showing a first case and a second case in the second embodiment;
FIG. 5 is a flowchart showing a third case and a fourth case in the second embodiment;
FIG. 6 is a flowchart showing a first vehicle detection mode according to the second embodiment;
fig. 7 is a flowchart of a second vehicle detection mode in the second embodiment;
FIG. 8 is a flowchart showing a third vehicle detection mode according to the second embodiment;
fig. 9 is a flowchart of a fourth vehicle detection mode in the second embodiment.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a vehicle existence comprehensive detection system, which comprises: the system comprises a microwave pulse frequency modulation radar sensor, a microprocessor and a power management and power supply module, wherein the power management and power supply module is respectively connected with the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module to supply power to the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module;
the microwave pulse frequency modulation radar sensor is used for detecting whether a vehicle exists in the detection range of the microwave pulse frequency modulation radar sensor and transmitting the detection data to the microprocessor;
and the microprocessor is connected with the microwave pulse frequency modulation radar sensor and is used for controlling the detection duration and the detection frequency of the microwave pulse frequency modulation radar sensor and calculating the existence state of the vehicle in the detection range according to the detection data of the microwave pulse frequency modulation radar sensor.
Specifically, in this embodiment, the waveform of the electromagnetic wave used by the microwave pulse frequency modulation radar sensor is a sawtooth wave or a triangular wave, and the scanning bandwidth of the electromagnetic wave is greater than or equal to 0.75 GHz; the frequency of the electromagnetic wave used by the microwave pulse frequency modulation radar sensor is between 10GHz and 100 GHz.
Specifically, in this embodiment, the microwave-pulsed fm radar sensor has a single measurement scan pulse width that lasts at least one full scan cycle.
Specifically, in this embodiment, the detection system further includes a wireless data transmission module, where the wireless data transmission module is connected to the microprocessor, and is used for data communication between the vehicle presence integrated detection system and the data platform or the gateway.
Specifically, in this embodiment, the detection system further includes at least one geomagnetic sensor.
Specifically, in an embodiment, the detection method based on the vehicle presence integrated detection system includes:
the microprocessor drives a microwave pulse frequency modulation radar sensor in the vehicle existence comprehensive detection system to perform background detection on a range to be detected in a background monitoring mode, namely the microprocessor starts the microwave pulse frequency modulation radar sensor at preset time intervals to perform background detection on the range to be detected to obtain a first background monitoring result;
when the first background monitoring result is inconsistent with the current vehicle existing state in the range to be detected, the microprocessor adjusts the vehicle existing comprehensive detection system to stop the background monitoring mode and enter a vehicle detection mode, namely the microprocessor controls the microwave pulse frequency modulation radar sensor and continuously detects the range to be detected for multiple times by preset detection times to obtain a first vehicle detection result;
determining the vehicle existence state in the range to be detected according to the first vehicle detection result;
and the microprocessor adjusts the vehicle existence comprehensive detection system to stop the vehicle detection mode, switches to a background monitoring mode and continues background monitoring.
Specifically, in another embodiment, a detection method based on the above vehicle presence integrated detection system includes:
the microprocessor drives a geomagnetic sensor in the vehicle existence comprehensive detection system to perform background detection on a range to be detected in a background monitoring mode, namely, the microprocessor starts the geomagnetic sensor at preset time intervals to perform background detection on the range to be detected to obtain a second background monitoring result;
determining the validity of the second background monitoring result according to the existing state of the current vehicle in the range to be detected and the second background monitoring result;
and when the second background monitoring result is inconsistent with the current vehicle existing state in the range to be detected, the microprocessor adjusts the vehicle existing comprehensive detection system to stop the background monitoring mode and enter a vehicle detection mode, namely the microprocessor controls the microwave pulse frequency modulation radar sensor and/or the geomagnetic sensor to continuously detect the range to be detected for multiple times by preset detection times.
The first embodiment is as follows:
the present invention provides a vehicle presence integrated detection system, as shown in fig. 1, including: the system comprises a microwave pulse frequency modulation radar sensor, a microprocessor and a power management and power supply module, wherein the power management and power supply module is respectively connected with the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module to supply power to the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module; and the microwave pulse frequency modulation radar sensor is used for detecting whether a vehicle exists in the detection range of the sensor and transmitting the detection data to the microprocessor.
As shown in fig. 3, when the current vehicle presence state is no vehicle (S1):
the microprocessor drives a microwave pulse frequency modulation radar sensor in the vehicle existence comprehensive detection system to perform background detection on a range to be detected in a background monitoring mode, namely the microwave pulse frequency modulation radar sensor performs background detection at a preset interval delta t1Carrying out single detection to obtain a first background monitoring result, and judging whether a vehicle exists in a range to be detected or not according to the first background monitoring result;
when the vehicle is not detected in the range to be detected (S1) and the current vehicle existence state in the range to be detected is consistent with the vehicle absence state (S1) according to the first background monitoring result, the microprocessor maintains the background monitoring mode unchanged, and the current vehicle existence state in the range to be detected is unchanged and is still vehicle absent (S1);
when the vehicle is judged to be in the range to be detected according to the first background monitoring result (S2), and the current vehicle existence state in the range to be detected is inconsistent with the current vehicle existence state in the range to be detected (S1), the microprocessor adjusts the vehicle existence comprehensive detection system to stop the background monitoring mode and enter a vehicle detection mode, namely the microprocessor controls the microwave pulse frequency modulation radar sensor and continuously detects the range to be detected for multiple times according to preset detection times to obtain a first vehicle detection result, and whether the vehicle exists in the range to be detected is judged according to the first vehicle detection result;
if the vehicle is detected in the detection range according to the first vehicle detection result (S2), and the current vehicle existence state in the detection range is inconsistent with the vehicle absence state (S1), changing the vehicle existence state in the detection range, changing the vehicle existence state from the vehicle absence state (S1) to the vehicle presence state (S2), adjusting the vehicle detector by the microprocessor to stop the vehicle detection mode, and entering a background monitoring mode, namely, the microwave pulse frequency modulation radar sensor performs the detection at a preset interval delta t2Carrying out single detection;
if the vehicle is not detected in the range to be detected (S1) according to the first vehicle detection result and the current vehicle existence state in the detection range is consistent with the vehicle absence state (S1), the vehicle existence state in the range to be detected is maintained unchanged and is still vehicle absent (S1), the microprocessor adjusts the vehicle detector to stop the vehicle detection mode and enters a background monitoring mode, namely the microwave pulse frequency modulation radar sensor stops at a preset interval delta t1A single test was performed.
As shown in fig. 3, when the current vehicle presence state is a vehicle (S2):
the microprocessor drives a microwave pulse frequency modulation radar sensor in the vehicle presence comprehensive detection system to a background monitoring modeIn the formula, the background detection is carried out on the range to be detected, namely the microwave pulse frequency modulation radar sensor carries out the background detection at the preset interval delta t2Carrying out single detection to obtain a first background monitoring result, and judging whether a vehicle exists in a range to be detected or not according to the first background monitoring result;
when the vehicle is judged to be present in the range to be detected according to the first background monitoring result (S2), and the existing state of the vehicle is consistent with the existing state of the current vehicle in the range to be detected (S2), the microprocessor maintains the background monitoring mode unchanged, and the existing state of the current vehicle in the range to be detected is unchanged and is still the vehicle (S2);
when the vehicle is not detected in the range to be detected (S1) according to the first background monitoring result and the current vehicle existence state in the range to be detected is inconsistent with the vehicle existence state (S2), the microprocessor adjusts the vehicle existence comprehensive detection system to stop the background monitoring mode and enter a vehicle detection mode, namely the microprocessor controls the microwave pulse frequency modulation radar sensor and continuously detects the range to be detected for multiple times according to preset detection times to obtain a first vehicle detection result, and whether the vehicle exists in the range to be detected is judged according to the first vehicle detection result;
if the vehicle is not detected in the detection range (S1) according to the first vehicle detection result and the current vehicle existence state in the detection range is inconsistent with the vehicle existence state (S2), the vehicle existence state in the detection range is changed, the vehicle existence state is changed from the vehicle existence state (S2) to the vehicle absence state (S1), the microprocessor adjusts the vehicle detector to stop the vehicle detection mode and enters a background monitoring mode, namely the microwave pulse frequency modulation radar sensor stops at a preset interval delta t1Carrying out single detection;
if a vehicle is judged to be present in the range to be detected according to the first vehicle detection result (S2) and the current vehicle presence state in the range to be detected is consistent with the vehicle presence state (S2), the vehicle presence state in the range to be detected is maintained unchanged and the vehicle is still present (S2), the microprocessor adjusts the vehicle detector to stop the vehicle detection mode and enters a background monitoring mode, namely the microwave pulse frequency modulation radar sensor presets to be in a preset modeInterval delta t2A single test was performed.
Specifically, a detailed description is made of one example of actual operations:
the millimeter wave pulse frequency modulation radar sensor can use a 60GHz ISM frequency band, the frequency modulation scanning bandwidth is 4GHz, and the single measurement pulse width is 10 microseconds. The detection radius of the millimeter wave pulse frequency modulation radar sensor is set to be 0.1-0.8 m. The millimeter wave pulse frequency modulation radar is connected with the microprocessor and transmits the detected data to the microprocessor for processing; the power management and control module comprises a battery, a capacitor and a power control circuit, can be purchased from the market directly, supplies power for the vehicle presence comprehensive detection system, and is expanded as a function.
In one embodiment, the vehicle presence integrated detection system is disposed in the center of a parking space, and if the vehicle presence state is determined to be vehicle-free within the detected parking space range (S1), the microprocessor starts the millimeter wave pulse frequency modulation radar sensor every 30 seconds to perform pulse measurement, performs background detection on the range to be detected, and sends detection data to the microprocessor, and when the microprocessor determines that an object is present within the detection range, the millimeter wave pulse frequency modulation radar sensor is started to perform 10 consecutive measurements, and determines whether a vehicle is present. When the presence of the vehicle is confirmed in the detection range, the vehicle presence state is changed from the absence (S1) to the presence (S2), and when the presence of the vehicle is confirmed in the detection range, the vehicle presence state is maintained (S1).
If the vehicle existence comprehensive detection system confirms that the vehicle exists in the detection range, the current vehicle existence state is confirmed to be the vehicle (S2), at the moment, the microprocessor starts the millimeter wave pulse frequency modulation radar sensor for pulse measurement every 30 seconds, the detection data is sent to the microprocessor, when the microprocessor judges that the object in the detection range disappears, the millimeter wave pulse frequency modulation radar sensor is started for continuous measurement, and the existence state of the object in the detection range is calculated. When it is confirmed that the vehicle still exists within the detection range, the vehicle presence state is maintained (S2), and when it is confirmed that the vehicle leaves within the detection range, the vehicle presence state is changed to no vehicle (S1).
Example two:
the present invention provides a vehicle presence integrated detection system, as shown in fig. 2, including: the system comprises a microwave pulse frequency modulation radar sensor, a microprocessor, a power management and power supply module and at least one geomagnetic sensor, wherein the power management and power supply module is respectively connected with the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module and supplies power to the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module; and the microwave pulse frequency modulation radar sensor is used for detecting whether a vehicle exists in the detection range of the sensor and transmitting the detection data to the microprocessor.
When the current vehicle presence state is no vehicle (S1):
the microprocessor controls the microwave pulse frequency modulation radar sensor and the geomagnetic sensor to perform background detection on a to-be-detected range in a background monitoring mode, namely the microwave pulse frequency modulation radar sensor and the geomagnetic sensor perform single detection at mutually independent time intervals respectively, specifically, the time interval of detection of the microwave pulse frequency modulation radar sensor is delta t3The time interval detected by the geomagnetic sensor is delta t4；
The first case, as shown in fig. 4:
if the vehicle is not detected in the range to be detected (S1) according to the first background monitoring result of the microwave pulse frequency modulation radar sensor, and the current vehicle existence state in the range to be detected is consistent with the vehicle absence state (S1), the microprocessor maintains the background monitoring mode unchanged, and the current vehicle existence state in the range to be detected is unchanged and is still vehicle absence (S1);
if a vehicle is detected in the range to be detected according to the first background monitoring result of the microwave pulse frequency modulation radar sensor (S2), and the current vehicle existence state in the range to be detected is not consistent with the vehicle (S1), the microprocessor adjusts the vehicle existence comprehensive detection system to stop the background monitoring mode, enters a first vehicle detection mode, performs confirmatory detection on the vehicle existence state in the range to be detected, and marks the system state as (S11);
as shown in fig. 6, in the first vehicle detection mode, after the existence state of the vehicle in the range to be detected is detected affirmatively, and the system state is marked as (S11), the geomagnetic sensor is turned on, the range to be detected is continuously detected for a plurality of times by the preset detection times, whether the vehicle exists in the range to be detected is determined according to the continuous detection result, if the vehicle exists, the existence state of the vehicle is changed to be the vehicle existence (S2), if the vehicle does not exist, the microwave pulse frequency modulation radar sensor is turned on, the range to be detected is continuously detected for a plurality of times by the preset detection times, whether the vehicle exists in the range to be detected is determined according to the continuous detection result, if the vehicle exists, the existence state of the vehicle is changed to be the vehicle existence (S2), and if the vehicle does not exist, the existence state of the vehicle is maintained to be the vehicle absence (S1).
The second case, as shown in fig. 4:
if the vehicle is not detected in the range to be detected (S1) according to the first background monitoring result of the geomagnetic sensor, and the current vehicle existence state in the range to be detected is consistent with the vehicle absence state (S1), the microprocessor maintains the background monitoring mode unchanged, and the current vehicle existence state in the range to be detected is unchanged and is still vehicle absence (S1);
if the vehicle is detected to be in the range to be detected according to the first background monitoring result of the geomagnetic sensor (S2), and the current vehicle presence state in the range to be detected is inconsistent with the current vehicle presence state in the range to be detected (S1), the microprocessor adjusts the vehicle presence comprehensive detection system to stop the background monitoring mode, enters a second vehicle detection mode, performs confirmatory detection on the vehicle presence state in the range to be detected, and marks the system state as (S12);
the second vehicle detection mode, as shown in fig. 7, is to perform confirmatory detection on the vehicle existing state in the range to be detected, and mark the system state as (S11), then start the microwave pulse frequency modulation radar sensor and perform multiple continuous detections on the range to be detected by preset detection times, and determine whether there is a vehicle in the range to be detected according to the continuous detection result, if it is determined that there is a vehicle, change the vehicle existing state into a vehicle existing state (S2), if it is determined that there is no vehicle, start the geomagnetic sensor and perform multiple continuous detections on the range to be detected by preset detection times, and determine whether there is a vehicle in the range to be detected according to the continuous detection result, if it is determined that there is a vehicle, change the vehicle existing state into a vehicle existing state (S2), and if it is determined that there is no vehicle, maintain the vehicle existing state as no vehicle (S1).
When the current vehicle presence state is a vehicle present (S2):
the microprocessor controls the microwave pulse frequency modulation radar sensor and the geomagnetic sensor to perform background detection on a to-be-detected range in a background monitoring mode, namely the microwave pulse frequency modulation radar sensor and the geomagnetic sensor perform single detection at mutually independent time intervals respectively, specifically, the time interval of detection of the microwave pulse frequency modulation radar sensor is delta t5The time interval detected by the geomagnetic sensor is delta t6；
The third case, as shown in fig. 5:
if a vehicle is judged to be present in the range to be detected according to the first background monitoring result of the microwave pulse frequency modulation radar sensor (S2), and the current vehicle presence state in the range to be detected is consistent with the vehicle presence state in the range to be detected (S2), the microprocessor maintains the background monitoring mode unchanged, and the current vehicle presence state in the range to be detected is unchanged and is still the vehicle presence state (S2);
if the vehicle is not detected in the range to be detected according to the first background monitoring result of the microwave pulse frequency modulation radar sensor (S1), and the current vehicle existence state in the range to be detected is the vehicle existence state (S2), the microprocessor adjusts the vehicle existence comprehensive detection system to stop the background monitoring mode, enters a third vehicle detection mode, performs confirmatory detection on the vehicle existence state in the range to be detected, and marks the system state as (S21);
as shown in fig. 8, in the third vehicle detection mode, after the existence state of the vehicle in the range to be detected is affirmatively detected and the system state is marked (S21), the geomagnetic sensor is turned on, the range to be detected is continuously detected for a plurality of times by the preset detection times, and whether the vehicle exists in the range to be detected is determined according to the continuous detection result; if the vehicle is judged to be absent, changing the vehicle existence state into absent (S1), if the vehicle is judged to be present, starting the microwave pulse frequency modulation radar sensor, carrying out multiple continuous detections on the range to be detected by preset detection times, judging whether the vehicle exists in the range to be detected according to continuous detection results, if the vehicle exists, maintaining the vehicle existence state as present (S2), and if the vehicle does not exist, changing the vehicle existence state into absent (S1).
The fourth case, as shown in fig. 5:
if a vehicle is judged to be present in the range to be detected according to the first background monitoring result of the geomagnetic sensor (S2), and the current vehicle presence state in the range to be detected is consistent with the vehicle presence state in the range to be detected (S2), the microprocessor maintains the background monitoring mode unchanged, and the current vehicle presence state in the range to be detected is unchanged and is still the vehicle presence state (S2);
if the vehicle is not detected in the range to be detected according to the first background monitoring result of the geomagnetic sensor (S1), and the current vehicle presence state in the range to be detected is inconsistent with the vehicle presence state in the range to be detected (S2), the microprocessor adjusts the vehicle presence comprehensive detection system to stop the background monitoring mode, enters a fourth vehicle detection mode, performs confirmatory detection on the vehicle presence state in the range to be detected, and marks the system state as (S22).
As shown in fig. 9, in the fourth vehicle detection mode, after the existence state of the vehicle in the range to be detected is affirmatively detected and the system state is marked (S11), the microwave pulse frequency modulation radar sensor is turned on and the range to be detected is continuously detected for a plurality of times by the preset detection times, and whether the vehicle exists in the range to be detected is determined according to the continuous detection result, if the vehicle does not exist, the existence state of the vehicle is changed to be no vehicle (S1), and if the vehicle exists, the existence state of the vehicle is maintained to be vehicle (S2).
Example three:
the invention provides a vehicle existence comprehensive detection system, which comprises: the system comprises a microwave pulse frequency modulation radar sensor, a microprocessor, a power management and power supply module and at least one geomagnetic sensor, wherein the power management and power supply module is respectively connected with the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module and supplies power to the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module; and the microwave pulse frequency modulation radar sensor is used for detecting whether a vehicle exists in the detection range of the sensor and transmitting the detection data to the microprocessor.
The vehicle presence integrated detection system may further include an auxiliary object detection sensor, the auxiliary object detection sensor is connected to the microprocessor, and may be one or more of an infrared sensor or an ultrasonic sensor. The auxiliary object detection sensor is used as an auxiliary object existence detection means, and is used for detecting objects in a detection range in the detection judgment process and sending detection data to the microprocessor, so that the existence state of the vehicle is assisted to be confirmed.
The vehicle presence integrated detection system may further include an active detection sensor. The active detection sensor can be one or more of communication modules such as a Bluetooth module, an RFID module and an NFC module. The active detection sensor is a communication module, can establish wireless connection with a corresponding communication module carried by a vehicle or a person, and assists in confirming the existence state of the vehicle by establishing whether the connection is established or not or sending information to the active detection sensor through the corresponding communication module carried by the vehicle or the person.
The vehicle presence integrated detection system may further include a wireless communication module. The wireless communication module can be a Bluetooth module, a WiFi module, a LoRa module and a ZigBee module. The wireless communication module can establish data connection with other vehicle detection systems so as to assist in confirming the existence state of the vehicle. The wireless communication module can also be connected with a gateway or a network data platform to perform data fusion of multiple detection systems and judge the existence condition of the vehicle in the detection range.
The invention provides a vehicle presence comprehensive detection system, which comprises the following components: the system comprises a microwave pulse frequency modulation radar sensor, a microprocessor, a power management and power supply module and at least one geomagnetic sensor, wherein the power management and power supply module is respectively connected with the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module and supplies power to the microprocessor, the microwave pulse frequency modulation radar sensor and the wireless data transmission module; the microwave pulse frequency modulation radar sensor is used for detecting whether a vehicle exists in the detection range of the microwave pulse frequency modulation radar sensor and transmitting the detection data to the microprocessor, and the microprocessor is also integrated with a Bluetooth module which is used for realizing the connection of the vehicle comprehensive detection system and the vehicle-mounted Bluetooth system.
Specifically, in an implementation mode, when the microprocessor starts the millimeter wave pulse frequency modulation radar sensor every 30 seconds to perform background detection on a range to be detected, and transmits data to the microprocessor, when background signal disturbance is found, the microprocessor starts the bluetooth module, and simultaneously, the vehicle enters to confirm the existence:
if the current vehicle existence state is determined to be no vehicle within the detected parking space range (S1), the microprocessor starts the millimeter wave pulse frequency modulation radar sensor to perform pulse measurement every 30 seconds, performs background detection on the range to be detected, sends detection data to the microprocessor, and starts the millimeter wave pulse frequency modulation radar sensor to perform continuous measurement for 10 times when the microprocessor judges that an object exists within the detection range, and determines whether a vehicle exists. When the existence of the vehicle is confirmed in the detection range, the vehicle existence state is changed from the vehicle absence (S1) to the vehicle existence (S2), and when the existence of the vehicle is confirmed in the detection range, the vehicle existence state is maintained unchanged (S1);
if the vehicle existence comprehensive detection system confirms that the vehicle exists in the detection range, the current vehicle existence state is confirmed to be the vehicle (S2), at the moment, the microprocessor starts the millimeter wave pulse frequency modulation radar sensor for pulse measurement every 30 seconds, the detection data is sent to the microprocessor, when the microprocessor judges that the object in the detection range disappears, the millimeter wave pulse frequency modulation radar sensor is started for continuous measurement, and the existence state of the object in the detection range is calculated. When it is confirmed that the vehicle still exists in the detection range, maintaining the vehicle existing state (S2) unchanged, and when it is confirmed that the vehicle leaves in the detection range, changing the vehicle existing state into no vehicle (S1);
when the vehicle existence comprehensive detection system is connected with the vehicle-mounted Bluetooth system, vehicle information can be acquired, and the existence of the vehicle in the detection range is confirmed. When the vehicle detection system cannot be connected with the Bluetooth system, but the vehicle in the detection range is confirmed to exist, the vehicle management system or a manager can be informed through an alarm means.
Meanwhile, in another specific embodiment, the vehicle-mounted bluetooth system can also be replaced by a driver mobile phone bluetooth system.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (8)
1. A vehicle presence integrated detection system, comprising:
a microwave pulse frequency modulation radar sensor for detecting whether a vehicle exists in the detection range and transmitting the detection data
To the microprocessor;
a microprocessor connected with the microwave pulse frequency modulation radar sensor and used for controlling the microwave pulse
Detecting time and frequency of the sensor, and detecting the number of the sensor according to the time and frequency
Calculating the vehicle existence state in the detection range;
a power management and supply module, which is respectively connected with the microprocessor and the microwave pulse modulator
The frequency radar sensor is connected with the wireless data transmission module to supply power to the wireless data transmission module;
the microprocessor is configured to perform the following operations: driving microwave pulsing in the vehicle presence integrated detection system
The method comprises the steps that a frequency radar sensor carries out background detection on a range to be detected in a background monitoring mode to obtain a first background monitoring result;
when the first background monitoring result is inconsistent with the current vehicle existing state in the range to be detected, the microprocessor
The device adjusts the vehicle existence comprehensive detection system to stop the background monitoring mode and enter a vehicle detection mode to obtain a first
A vehicle detection result;
determining the vehicle existence state in the range to be detected according to the first vehicle detection result;
the microprocessor adjusts the vehicle presence comprehensive detection system to stop the vehicle detection mode and switches to background monitoring
In listening mode, continuing background detection;
the microprocessor drives a geomagnetic sensor in the vehicle presence comprehensive detection system to treat the vehicle presence comprehensive detection system in a background monitoring mode
Carrying out background detection in the detection range to obtain a second background monitoring result;
determining the second background according to the existing state of the current vehicle in the range to be detected and the second background monitoring result
The validity of the monitoring result;
when the second background monitoring result is inconsistent with the current vehicle existing state in the range to be detected, the microprocessor
The controller adjusts the vehicle presence integrated detection system to stop the background listening mode and enter a vehicle detection mode, wherein
If the geomagnetic sensor judges that no vehicle exists in the detection range according to the first background monitoring result of the geomagnetic sensor S1, the geomagnetic sensor and the detection range are detected
If the current vehicle presence status is consistent with the absence of the vehicle in the range S1, the microprocessor maintains the background monitoring mode unchanged, and the current vehicle presence status is consistent with the absence of the vehicle in the range S1
The existing state of the current vehicle in the range to be detected is unchanged, and the vehicle is still absent S1;
if it is judged that there is a vehicle in the range to be detected according to the first background monitoring result of the geomagnetic sensor S2, the geomagnetic sensor and the vehicle to be detected
If the current vehicle presence state in the range is not consistent with the vehicle absence state S1, the microprocessor adjusts the vehicle presence comprehensive detection system
Stopping the background monitoring mode, entering a second vehicle detection mode, and entering the vehicle existing state in the range to be detected
Performing confirmatory testing and marking the system status as S12;
the second vehicle detection mode is to perform confirmatory detection on the vehicle existing state in the range to be detected and mark the vehicle existing state
After the system state is recorded as S11, the microwave pulse frequency modulation radar sensor is started and the range to be detected is subjected to preset detection times
Continuously detecting for multiple times, judging whether a vehicle exists in the range to be detected according to the continuous detection result, and if so, changing to
Changing the existing state of the vehicle into the vehicle S2, if the vehicle is judged not to be available, starting the geomagnetic sensor and counting the number of times of detection by preset times
The detection range is continuously detected for a plurality of times, whether a vehicle exists in the detection range is judged according to the continuous detection result, if yes,
changing the existing state of the vehicle to be the vehicle existence state S2, if the vehicle is judged to be not available, maintaining the existing state of the vehicle to be the vehicle absence state S1;
when the current vehicle presence state is the presence of a vehicle S2:
the microprocessor controls the microwave pulse frequency modulation radar sensor and the geomagnetic sensor to treat in a background monitoring mode
The detection range is used for background detection, namely the microwave pulse frequency modulation radar sensor and the geomagnetic sensor are respectively independent
A single detection is carried out at intervals, wherein the detection time interval of the microwave pulse frequency modulation radar sensor is delta t5, and the geomagnetic field is
The time interval of the sensor detection is delta t 6;
if the vehicle is judged to be in the range to be detected according to the first background monitoring result of the microwave pulse frequency modulation radar sensor S2, the vehicle is detected to be in the range to be detected
If the current vehicle existence state in the range to be detected is the vehicle existence state S2, the microprocessor maintains the background monitoring mode
The formula is unchanged, and the existing state of the current vehicle in the range to be detected is unchanged, namely the vehicle is still present S2;
if the vehicle is judged to be absent in the range to be detected according to the first background monitoring result of the microwave pulse frequency modulation radar sensor S1, the vehicle is detected to be absent in the range to be detected
If the current vehicle existence state in the range to be detected is not consistent with the vehicle existence state S2, the microprocessor adjusts the vehicle existence
The comprehensive detection system stops the background monitoring mode, enters a third vehicle detection mode and detects the vehicles within the range to be detected
The vehicle presence status is confirmatory detected and the system status is marked as S21;
the third vehicle detection mode is to perform confirmatory detection on the vehicle existing state in the range to be detected and mark the vehicle existing state
After the system state is recorded as S21, the geomagnetic sensor is started and the range to be detected is connected for multiple times by preset detection times
Continuously detecting, and judging whether a vehicle exists in the range to be detected or not according to a continuous detection result; if no vehicle is judged, the existing state of the vehicle is changed
If the vehicle is not available S1, if the vehicle is judged to be available, the microwave pulse frequency modulation radar sensor is started and the detection is carried out on the vehicle to be detected according to preset detection times
The detection range is continuously detected for a plurality of times, whether a vehicle exists in the detection range is judged according to the continuous detection result, and if the vehicle exists, the vehicle is detected
The vehicle presence state is maintained as the vehicle presence state S2, and if the vehicle is determined to be absent, the vehicle presence state is changed to the vehicle absence state S1.
2. A vehicle presence integrated detection system according to claim 1, characterized in that: the waveform of the electromagnetic wave used by the microwave pulse frequency modulation radar sensor is sawtooth wave or triangular wave, and the scanning bandwidth of the electromagnetic wave is more than or equal to 0.75 GHz.
3. A vehicle presence integrated detection system according to claim 1, characterized in that: the microwave pulse modulation
The frequency of the electromagnetic wave used by the frequency radar sensor is between 10GHz and 100 GHz.
4. A vehicle presence integrated detection system according to claim 1, characterized in that: the microwave pulse modulation
A frequency radar sensor, a single measurement sweep pulse width lasting at least one complete sweep period.
5. A vehicle presence integrated detection system according to claim 1, characterized in that it comprises wireless data
The wireless data transmission module is connected with the microprocessor and used for the vehicle presence comprehensive detection system and the data plane
The station or gateway communicates data.
6. A vehicle presence integrated detection system according to claim 1, characterized in that it comprises at least one ground
A magnetic sensor.
7. A vehicle presence integrated detection system according to claim 1, characterized in that: the background monitoring module
Wherein the microprocessor turns on the microwave pulse frequency modulation radar sensor or the geomagnetic sensor at preset time intervals,
and carrying out background detection on the range to be detected.
8. A vehicle presence integrated detection system according to claim 1, characterized in that: the vehicle detection module
The microprocessor controls the microwave pulse frequency modulation radar sensor and/or the geomagnetic sensor to continuously detect the range to be detected for a plurality of times by preset detection times.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910637935.3A CN110363995B (en) | 2019-07-16 | 2019-07-16 | Vehicle existence comprehensive detection system and detection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910637935.3A CN110363995B (en) | 2019-07-16 | 2019-07-16 | Vehicle existence comprehensive detection system and detection method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110363995A CN110363995A (en) | 2019-10-22 |
| CN110363995B true CN110363995B (en) | 2022-04-29 |
Family
ID=68219451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910637935.3A Active CN110363995B (en) | 2019-07-16 | 2019-07-16 | Vehicle existence comprehensive detection system and detection method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110363995B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111798671B (en) * | 2020-09-08 | 2020-12-11 | 浙江创泰科技有限公司 | Method for improving detection accuracy of parking space sensor through feedback of nearby units |
| CN113643450B (en) * | 2021-08-16 | 2023-04-07 | 张文献 | Intelligent parking charging system and method for urban traffic |
| CN114387793A (en) * | 2022-03-04 | 2022-04-22 | 广州巨时信息科技股份有限公司 | Dual-mode hybrid vehicle detection method and device based on radar and geomagnetism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009060651A1 (en) * | 2007-11-08 | 2009-05-14 | Sankyo Electric Co., Ltd. | Vehicle detection method, vehicle detection unit, and vehicle detection device |
| CN205016074U (en) * | 2015-10-16 | 2016-02-03 | 无锡华赛伟业传感信息科技有限公司 | Parking stall detection system |
| CN107146420A (en) * | 2017-07-18 | 2017-09-08 | 迈锐数据（北京）有限公司 | A kind of detection device of parking space state and the detection method of parking space state |
| CN206863968U (en) * | 2017-01-03 | 2018-01-09 | 安徽嘉盛位联网络科技有限公司 | A kind of Vehicle berth vehicle checker |
| CN208796443U (en) * | 2018-08-09 | 2019-04-26 | 杭州朗米科技有限公司 | A kind of parking stall measure system based on fmcw radar and geomagnetism detecting |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10104454B2 (en) * | 2015-10-05 | 2018-10-16 | Parkifi, Inc. | Parking data aggregation and distribution |
| KR101892026B1 (en) * | 2015-11-10 | 2018-08-27 | 현대자동차주식회사 | Remote control car parking method and apparatus |
| CN106781647B (en) * | 2016-11-30 | 2019-07-02 | 南京理工大学 | A kind of the wisdom road patch and its working method of Multi-sensor Fusion |
| CN106875733B (en) * | 2017-03-17 | 2020-06-19 | 南京理工大学 | Multi-sensor low-power-consumption vehicle detection system and method based on self-adaptive environment |
-
2019
- 2019-07-16 CN CN201910637935.3A patent/CN110363995B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009060651A1 (en) * | 2007-11-08 | 2009-05-14 | Sankyo Electric Co., Ltd. | Vehicle detection method, vehicle detection unit, and vehicle detection device |
| CN205016074U (en) * | 2015-10-16 | 2016-02-03 | 无锡华赛伟业传感信息科技有限公司 | Parking stall detection system |
| CN206863968U (en) * | 2017-01-03 | 2018-01-09 | 安徽嘉盛位联网络科技有限公司 | A kind of Vehicle berth vehicle checker |
| CN107146420A (en) * | 2017-07-18 | 2017-09-08 | 迈锐数据（北京）有限公司 | A kind of detection device of parking space state and the detection method of parking space state |
| CN208796443U (en) * | 2018-08-09 | 2019-04-26 | 杭州朗米科技有限公司 | A kind of parking stall measure system based on fmcw radar and geomagnetism detecting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110363995A (en) | 2019-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110363995B (en) | Vehicle existence comprehensive detection system and detection method thereof | |
| US10124726B2 (en) | Directional speed and distance sensor | |
| US6011515A (en) | System for measuring average speed and traffic volume on a roadway | |
| US7417581B2 (en) | System and method for intrusion detection using a time domain radar array | |
| US7463182B1 (en) | Radar apparatus | |
| US7342493B2 (en) | Motion detector | |
| US9373256B2 (en) | Vehicle presence detection system | |
| US9019151B2 (en) | Method and device for determining the distance between a radio beacon and an onboard unit | |
| US20110025494A1 (en) | Relative Location Determination of Mobile Sensor Nodes | |
| JPH01285000A (en) | Method and apparatus for collecting and evaluating local traffic data | |
| CN110660227B (en) | Vehicle detection method and vehicle detection system | |
| KR101229028B1 (en) | Sensor node having radar and method for detecting vehicle using sensor node | |
| CN103914983A (en) | Traffic intersection management laser device and realizing method thereof | |
| KR20130049639A (en) | Apparatus and method for classifying vehicle type and counting number of vehicles | |
| US11721214B2 (en) | Parking sensor device for determining occupancy of a parking space | |
| CN204236423U (en) | Multi-mode seeks truck system and device | |
| JPH1159419A (en) | Train approach warning device | |
| JP2005233763A (en) | Flying body detector | |
| KR20110014404A (en) | Apparatus for detecting car intrusion of rfid using doppler effect | |
| JP2981888B1 (en) | Vehicle position detection device | |
| CN110766952A (en) | Parking detection device and method | |
| JP2003028954A (en) | System and method for measurement of distance | |
| JP2004021301A (en) | Vehicle detection system | |
| Raab | Alternative Power-Line Proximity-Warning Techniques | |
| CN115201749A (en) | Method and system for detecting objects |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |