CN110389338A - Judge method, apparatus, millimetre-wave radar and the storage medium of traffic condition - Google Patents
Judge method, apparatus, millimetre-wave radar and the storage medium of traffic condition Download PDFInfo
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- CN110389338A CN110389338A CN201910559917.8A CN201910559917A CN110389338A CN 110389338 A CN110389338 A CN 110389338A CN 201910559917 A CN201910559917 A CN 201910559917A CN 110389338 A CN110389338 A CN 110389338A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Abstract
The present invention is suitable for field of computer technology, it is proposed a kind of method that traffic condition is judged based on millimetre-wave radar, it include: the intermediate-freuqncy signal for the echo-signal mixing generation that parsing is reflected by transmitting signal and each vehicle, the target component of each vehicle is obtained, target component is operating parameter of the vehicle relative to radar；Lateral distance, longitudinal velocity and fore-and-aft distance of each vehicle relative to radar are calculated separately based on target component；The flow speeds on each lane are determined based on lateral distance, longitudinal velocity and preset detection cycle；The vehicle flowrate on each lane in the unit time is determined based on fore-and-aft distance and preset detection zone, and the traffic congestion situation on each lane is determined according to flow speeds and the vehicle flowrate.Transmitting signal by parsing radar mixes the intermediate-freuqncy signal generated with the echo-signal that vehicle reflects, and obtains the target component of vehicle, is not influenced by environmental aspect, can be improved the accuracy for judging traffic congestion situation.
Description
Technical field
The invention belongs to field of computer technology more particularly to a kind of sides that traffic condition is judged based on millimetre-wave radar
Method, device, radar and storage medium.
Background technique
Urban transportation intelligence is the developing direction of urban transportation under New Era, it is desirable that can effectively obtain road
The operating status of upper vehicle, and current road conditions are analyzed according to vehicle operating parameters.Traditional method is by camera or biography
Sensor sense such as ultrasonic sensor, infra red wave transducers obtain road on vehicle operating status, regardless of be camera also
It is that sensor all haves the shortcomings that more obvious, most important of which is that camera and sensor all can not be in various adverse circumstances
Under chronically steady operation, not can guarantee the traffic image quality monitored.Therefore, currently by means of camera or sensor
Monitoring road conditions are unable to satisfy the transport need of high speed development.How accurate vehicle operating parameters are obtained under circumstances to mention
Height judges that the accuracy of traffic congestion situation is urban transportation intelligence urgent problem to be solved.
Summary of the invention
In view of this, the embodiment of the invention provides the method, apparatus, the radars that judge traffic condition based on millimetre-wave radar
And storage medium can to solve the problems, such as that accurate vehicle operating parameters can not be obtained under circumstances in the prior art
Improve the accuracy for judging traffic congestion situation.
The first aspect of the embodiment of the present invention provides a kind of method that traffic condition is judged based on millimetre-wave radar, packet
It includes:
The intermediate-freuqncy signal that the echo-signal mixing that parsing is reflected by transmitting signal and each vehicle generates obtains each described
The target component of vehicle, the target component are operating parameter of the vehicle relative to the radar；
Based on the target component calculate separately each vehicle relative to the lateral distance of radar, longitudinal velocity and
Fore-and-aft distance；
The speed of the wagon flow on each lane is determined based on the lateral distance, the longitudinal velocity and preset detection cycle
Degree；
The wagon flow on each lane in the unit time is determined based on the fore-and-aft distance and preset detection zone
Amount, determines the traffic congestion situation on each lane according to the flow speeds and the vehicle flowrate.
Optionally, the mixed intermediate-freuqncy signal of echo-signal reflected in the parsing by transmitting signal and each vehicle,
Before obtaining the target component of each vehicle, comprising:
It controls the radar and emits the transmitting signal when around the rotation of preset shaft.
Optionally, the target component includes relative distance, radial velocity and azimuth of the vehicle relative to radar；
Based on the target component calculate separately each vehicle relative to the lateral distance of radar, fore-and-aft distance and
Longitudinal velocity, comprising:
The relative distance and the azimuth are substituted into preset first formula, the lateral distance is calculated；
First formula are as follows:
Dx=R sin (ω)
Wherein, DxFor the lateral distance, R is the relative distance, and ω is the azimuth；
The relative distance and the azimuth are substituted into preset second formula, the fore-and-aft distance is calculated；
Second formula are as follows:
Dy=R cos (ω)
Wherein, DyFor the fore-and-aft distance, R is the relative distance, and ω is the azimuth；
The radial velocity, the fore-and-aft distance and the orientation angles are substituted into preset third formula, are calculated
To the longitudinal velocity；The third formula are as follows:
vy=v/ [cos (ω) cos (atan (h/Dy))]
Wherein, vyFor the longitudinal velocity, v is the radial velocity, and h is height of the preset radar relative to ground,
ω is the azimuth, DyFor the longitudinal velocity.
Optionally, described that each vehicle is determined based on the lateral distance, the longitudinal velocity and preset detection cycle
Flow speeds on road, comprising:
The lane where each vehicle is determined based on the lateral distance and preset bicycle road width；
All vehicles are divided into normally travel vehicle and at a slow speed driving vehicle based on the longitudinal velocity；
The average longitudinal velocity of the normally travel vehicle on each lane within the unit time is calculated separately, it is described average
Longitudinal velocity is the flow speeds.
Optionally, described when determining unit on each lane based on the fore-and-aft distance and preset detection zone
Interior vehicle flowrate, determines the traffic congestion situation on each lane according to the flow speeds and the vehicle flowrate, wraps
It includes:
The fore-and-aft distance of the normally travel vehicle in the unit time on each lane is obtained respectively；
Count in a detection cycle on each lane in the unit time target vehicle vehicle fleet；The mesh
Mark the vehicle that vehicle is the zone length that the fore-and-aft distance is less than the preset detection zone；
The average of the vehicle fleet in the unit time on each lane is calculated, the average is described each
Vehicle flowrate on lane in the unit time；
The traffic congestion situation on each lane is determined according to the flow speeds and the vehicle flowrate.
The second aspect of the embodiment of the present invention provides a kind of device that traffic condition is judged based on millimetre-wave radar, packet
It includes:
Parsing module, for parsing the intermediate frequency letter generated by the echo-signal mixing of transmitting signal and the reflection of each vehicle
Number, the target component of each vehicle is obtained, the target component is operating parameter of the vehicle relative to the radar；
Computing module, for based on the target component calculate separately each vehicle relative to radar laterally away from
From, longitudinal velocity and fore-and-aft distance；
Determining module, it is each for being determined based on the lateral distance, the longitudinal velocity and preset detection cycle
Flow speeds on lane；
Analysis module, for determining unit on each lane based on the fore-and-aft distance and preset detection zone
The vehicle flowrate of time determines the traffic congestion situation on each lane based on the flow speeds and the vehicle flowrate.
Optionally, further includes:
Control module emits the transmitting signal when around the rotation of preset shaft for controlling the radar.
Optionally, the target component includes relative distance, radial velocity and orientation angles of the vehicle relative to radar；
The computing module, comprising:
First computation subunit, for the relative distance and the azimuth to be substituted into preset first formula, meter
Calculation obtains the lateral distance；First formula are as follows:
Dx=R sin (ω)
Wherein, DxFor the lateral distance, R is the relative distance, and ω is the azimuth；
Second computation subunit, for the relative distance and the azimuth to be substituted into preset second formula, meter
Calculation obtains the fore-and-aft distance；Second formula are as follows:
Dy=R cos (ω)
Wherein, DyFor the fore-and-aft distance, R is the relative distance, and ω is the azimuth；
Third computation subunit, it is pre- for substituting into the radial velocity, the fore-and-aft distance and the orientation angles
If third formula, the longitudinal velocity is calculated；The third formula are as follows:
vy=v/ [cos (ω) cos (atan (h/Dy))]
Wherein, vyFor the longitudinal velocity, v is the radial velocity, and h is height of the preset radar relative to ground,
ω is the azimuth, DyFor the longitudinal velocity.
The third aspect of the embodiment of the present invention provides a kind of millimetre-wave radar, including memory, processor and storage
In the memory and the computer program that can run on the processor, the processor execute the computer program
The step of method of traffic condition is judged based on millimetre-wave radar described in Shi Shixian any embodiment as above.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the computer program is realized described in any embodiment as above when being executed by processor based on thunder
The step of up to the method for judging traffic condition.
Existing beneficial effect is the embodiment of the present invention compared with prior art: transmitting signal and vehicle by parsing radar
Reflection echo-signal mixing generate intermediate-freuqncy signal, obtain the target component of each vehicle；Based on the target component point
Lateral distance, longitudinal velocity and fore-and-aft distance of each vehicle relative to radar are not calculated；And based on the lateral distance,
The longitudinal velocity and the fore-and-aft distance judge current traffic congestion situation.Since the performance of radar under circumstances is steady
It is fixed, therefore the intermediate-freuqncy signal generated is mixed with the echo-signal that vehicle reflects by the transmitting signal of parsing radar, it obtains each
The target component of vehicle, is not influenced by environmental aspect, can guarantee to get accurate vehicle operation ginseng under circumstances
Number improves the accuracy for judging traffic congestion situation.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the realization stream for the method that traffic condition is judged based on millimetre-wave radar that first embodiment of the invention provides
Journey；
Fig. 2 is the specific implementation flow chart of S102 in Fig. 1；
Fig. 3 is the specific implementation flow chart of S103 in Fig. 1；
Fig. 4 is the specific implementation flow chart of S104 in Fig. 1；
Fig. 5 is the realization stream for the method that traffic condition is judged based on millimetre-wave radar that second embodiment of the invention provides
Journey；
Fig. 6 is the schematic diagram of the device provided by the invention that traffic condition is judged based on millimetre-wave radar；
Fig. 7 is the frame schematic block diagram of millimetre-wave radar provided by the invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.As shown in Figure 1,
It is the implementation process for the method that traffic condition is judged based on millimetre-wave radar that first embodiment of the invention provides, the present embodiment
Executing subject is radar.Details are as follows:
S101, the intermediate-freuqncy signal that the echo-signal mixing that parsing is reflected by transmitting signal and each vehicle generates, obtains every
The target component of a vehicle, the target component are operating parameter of the vehicle relative to the radar.
When using Radar traffic congestion situation, radar is usually mounted on to the fixation needed on the road that detects
On object, and control radar launches outward the transmitting signal according to preset tranmitting frequency, when having vehicle in the detection of radar
In range, the transmitting signal is reflected when detecting vehicle, returns to the echo-signal.In general, radar work is being penetrated
Frequent section, the transmitting signal of radar emission are radiofrequency signal, and the load rate of the echo-signal of each vehicle reflection is the work of radar
The transmitting signal and the echo-signal are carried out Frequency mixing processing, remove the CF signal in the echo-signal, obtain by frequency
To the intermediate-freuqncy signal, the intermediate-freuqncy signal includes the target component of each vehicle.
S102 calculates separately lateral distance, longitudinal speed of each vehicle relative to radar based on the target component
Degree and fore-and-aft distance.
The target component includes relative distance, radial velocity and azimuth of the vehicle relative to radar.It respectively will be every
A vehicle substitutes into preset formula relative to the relative distance, the radial velocity and the azimuth of radar, can be with
Each vehicle is calculated relative to lateral distance, longitudinal velocity described in radar and fore-and-aft distance.
Specifically, as shown in Fig. 2, being the specific implementation flow chart of S102 in Fig. 1.As shown in Figure 2, S102 includes:
The relative distance and the azimuth are substituted into preset first formula, the transverse direction are calculated by S1021
Distance.
Wherein, first formula are as follows:
Dx=R sin (ω)
Wherein, DxFor the lateral distance, R is the relative distance, and ω is the azimuth；
The relative distance and the azimuth are substituted into preset second formula, the longitudinal direction are calculated by S1022
Distance.
Wherein, second formula are as follows:
Dy=R cos (ω)
Wherein, DyFor the fore-and-aft distance, R is the relative distance, and ω is the azimuth；
The radial velocity, the fore-and-aft distance and the orientation angles are substituted into preset third formula by S1023,
The longitudinal velocity is calculated.
Wherein, the third formula are as follows:
vy=v/ [cos (ω) cos (atan (h/Dy))]
Wherein, vyFor the longitudinal velocity, v is the radial velocity, and h is height of the preset radar relative to ground,
ω is the azimuth, DyFor the longitudinal velocity.
S103 is determined on each lane based on the lateral distance, the longitudinal velocity and preset detection cycle
Flow speeds.
Since the investigative range of radar generally comprises each lane on road, and different vehicles may be travelled not
On same lane, therefore, the traveling lane of each vehicle is determined according to the lateral distance first；Then according to described vertical
The vehicle of normally travel on each lane is determined to speed；Average longitudinal speed again based on the vehicle of normally travel on each lane
Degree, just can determine that the flow speeds on each lane.
Specifically, as shown in figure 3, being the specific implementation flow chart of S103 in Fig. 1.From the figure 3, it may be seen that S103 includes:
S1031 determines the lane where each vehicle based on the lateral distance and preset bicycle road width.
In practical applications, every road usually includes a plurality of bicycle road, every bicycle road width be it is fixed identical,
And radar is fixed relative to the distance of road outer ledge, therefore based on the lateral distance and preset one-lane width
Degree can determine the lane where each vehicle.Specifically, in the present embodiment, if the lane where the vehicle is l,
Then l need to meet following formula:
(l-1)Dpath≤Dx+X<lDpath
Wherein, X is the distance for assuming radar relative to road outer ledge, DpathFor preset bicycle road width, DyFor institute
Fore-and-aft distance is stated, l is the positive integer more than or equal to 1.
All vehicles are divided into normally travel vehicle and at a slow speed driving vehicle based on the longitudinal velocity by S1032.
Specifically, if the longitudinal velocity is less than preset threshold speed, it is determined that the vehicle travelled with the longitudinal velocity
For driving vehicle at a slow speed, if the longitudinal velocity is more than or equal to preset threshold speed, it is determined that with longitudinal speed
The vehicle of degree traveling is the vehicle of normally travel.
S1033 calculates separately the average longitudinal velocity of the normally travel vehicle on each lane within the unit time, institute
Stating average longitudinal velocity is the flow speeds.
Since the detection cycle of preset radar is usually Millisecond, such as 50 milliseconds, therefore in a detection cycle
Flow speeds on each lane there may be hopping phenomenon, therefore, in order to obtain relatively stable flow speeds, specific
The average longitudinal velocity of (for example, one minute in) all normally travel vehicles in implementation process, is calculated separately within the unit time.
S104 is determined on each lane in the unit time based on the fore-and-aft distance and preset detection zone
Vehicle flowrate determines the traffic congestion situation on each lane according to the flow speeds and the vehicle flowrate.
It should be noted that the vehicle flowrate in the unit time is counted based on preset detection zone, it is described pre-
If detection zone in the investigative range of radar, usually just region corresponding to the investigative range with radar is described preset
Detection zone.
Specifically, as shown in figure 4, being the specific implementation flow chart of S104 in Fig. 1.As shown in Figure 4, S104 includes:
S1041 obtains the fore-and-aft distance of the normally travel vehicle in the unit time on each lane respectively.
In general, the quantity of driving vehicle is less at a slow speed in the state of having a good transport and communication network or is normal, therefore, dividing
During analysing vehicle flowrate, the fore-and-aft distance of the normally travel vehicle in the unit time on each lane is mainly considered.
S1042, count in a detection cycle on each lane in the unit time target vehicle vehicle fleet；
The target vehicle is the vehicle for the zone length that the fore-and-aft distance is less than the preset detection zone.
Specifically, in a detection cycle, if there have the fore-and-aft distance of the vehicle of normally travel on lane to be less than to be described pre-
If detection zone zone length, it is determined that the vehicle of the normally travel is the target vehicle on the corresponding lane.Statistics exists
The vehicle fleet of the target vehicle in one detection cycle on each lane.
S1043 calculates on each lane the flat of the corresponding vehicle fleet of all detection cycles in the unit time
Mean, the average are the vehicle flowrate on each lane in the unit time.
Since a detection cycle of radar is usually millisecond rank, it is far smaller than unit time (1 second), is visited at one
It surveys in the period, there may be hopping phenomenons for the speed of vehicle, in order to improve the accuracy for calculating vehicle flowrate, with each lane
The average of the corresponding vehicle fleet of all detection cycles determines vehicle flowrate in the upper unit time.
S1044 determines the traffic congestion situation on each lane according to the flow speeds and the vehicle flowrate.
Specifically, the traffic congestion situation includes having a good transport and communication network, and traffic is normal and traffic congestion.It is preset with friendship respectively
Lead to smooth first flow speeds threshold value, the normal second flow speeds threshold value of traffic, the vehicle flowrate threshold value of traffic congestion.
When the flow speeds are less than or equal to the first flow speeds threshold value, it is determined that described to have a good transport and communication network；
When the flow speeds be greater than the first flow speeds threshold value and be less than or equal to the second flow speeds threshold value,
Then determine that the traffic is normal；When the flow speeds are greater than the second flow speeds threshold value, and the vehicle flowrate is greater than
The vehicle flowrate threshold value, it is determined that the traffic congestion.
Through the foregoing embodiment it is found that the method proposed by the present invention for judging traffic condition based on millimetre-wave radar, parsing
The intermediate-freuqncy signal that the echo-signal mixing reflected by transmitting signal and each vehicle generates, obtains the target component of each vehicle,
Target component is operating parameter of the vehicle relative to radar；Cross of each vehicle relative to radar is calculated separately based on target component
To distance, longitudinal velocity and fore-and-aft distance；Each vehicle is determined based on lateral distance, longitudinal velocity and preset detection cycle
Flow speeds on road；The wagon flow on each lane in the unit time is determined based on fore-and-aft distance and preset detection zone
Amount, determines the traffic congestion situation on each lane according to flow speeds and the vehicle flowrate.By the hair for parsing radar
It penetrates signal and mixes the intermediate-freuqncy signal generated with the echo-signal that vehicle reflects, the target component of vehicle is obtained, not by environmental aspect
Influence, can be improved the accuracy for judging traffic congestion situation.
Further, as shown in figure 5, be second embodiment of the invention provide traffic condition is judged based on millimetre-wave radar
Method implementation process.As shown in Figure 5, the present embodiment is compared with embodiment illustrated in fig. 1, difference in S501, S502~
S505 is identical as S101~S104, specific implementation process referring to S101~S104 in Fig. 1 implementation process.The specific implementation of S501
Process is as follows:
S501 controls the radar and emits the transmitting signal when around the rotation of preset shaft.
It is analyzed by front it is found that when using Radar traffic congestion situation, usually radar is mounted on and needs to visit
In fixed object on the road of survey, the center line that can control radar around fixed object is rotated.In this example, it controls
The radar is being the transmitting transmitting signal around the rotation of preset shaft, enables radar to detect road periphery institute angled
Vehicle, improve the effective scope of detection of radar.
Fig. 6 is the schematic diagram of the device provided by the invention that traffic condition is judged based on millimetre-wave radar.As shown in fig. 6,
The embodiment judges that the device 6 of traffic condition includes: parsing module 610, computing module 620, determining module 630 based on radar
And analysis module 640.Wherein,
Parsing module 610, for parsing the intermediate frequency generated by the echo-signal mixing of transmitting signal and the reflection of each vehicle
Signal, obtains the target component of each vehicle, and the target component is operating parameter of the vehicle relative to the radar.
Computing module 620, for calculating separately transverse direction of each vehicle relative to radar based on the target component
Distance, longitudinal velocity and fore-and-aft distance.
Determining module 630, it is every for being determined based on the lateral distance, the longitudinal velocity and preset detection cycle
Flow speeds on a lane.
Analysis module 640, for determining each lane based on the fore-and-aft distance and preset detection zone
The vehicle flowrate of unit time determines the traffic congestion shape on each lane based on the flow speeds and the vehicle flowrate
Condition.
Further, further includes:
Control module emits the transmitting signal when around the rotation of preset shaft for controlling the radar.
Further, the target component includes relative distance, radial velocity and azimuth of the vehicle relative to radar；
The computing module 620, comprising:
First computing unit is calculated for the relative distance and the azimuth to be substituted into preset first formula
Obtain the lateral distance；
Wherein, first formula are as follows:
Dx=R sin (ω)
Wherein, DxFor the lateral distance, R is the distance, and ω is the azimuth；
Second computing unit is calculated for the relative distance and the azimuth to be substituted into preset second formula
Obtain the fore-and-aft distance；
Wherein, second formula are as follows:
Dy=R cos (ω)
Wherein, DyFor the fore-and-aft distance, R is the distance, and ω is the azimuth；
Third computing unit, it is default for substituting into the radial velocity, the fore-and-aft distance and the orientation angles
Third formula, the longitudinal velocity is calculated；
Wherein, the third formula are as follows:
vy=v/ [cos (ω) cos (atan (h/Dy))]
Wherein, vyFor the longitudinal velocity, h is height of the preset radar relative to ground, and ω is the azimuth, Dy
For the longitudinal velocity.
Further, the determining module 630, comprising:
First determination unit, for determining each vehicle institute based on the lateral distance and preset bicycle road width
Lane；
Taxon, for all vehicles to be divided into normally travel vehicle based on the longitudinal velocity and are travelled at a slow speed
Vehicle；
4th computing unit, for calculating separately in a detection cycle normally travel vehicle on each lane
Average longitudinal velocity, the average longitudinal velocity is the flow speeds.
Further, the analysis module 640, comprising:
Acquiring unit, for obtaining respectively, the described of the normally travel vehicle is indulged in the unit time on each lane
To distance；
Statistic unit, for counting in a detection cycle vehicle of target vehicle in the unit time on each lane
Sum；The target vehicle is the vehicle for the zone length that the fore-and-aft distance is less than the preset detection zone；
5th computing unit, for calculating the average of the vehicle fleet in the unit time on each lane, institute
Stating average is the vehicle flowrate on each lane in the unit time；
Second determination unit, for determining the traffic on each lane according to the flow speeds and the vehicle flowrate
Congestion condition.
Fig. 7 is the block schematic illustration of millimetre-wave radar provided by the invention.As shown in fig. 7, the radar 7 of the embodiment wraps
It includes: processor 70, memory 71 and being stored in the computer that can be run in the memory 71 and on the processor 70
Program 72, such as judge based on millimetre-wave radar the program of traffic condition.The processor 70 executes the computer program 72
Shi Shixian is above-mentioned each to judge the step in the embodiment of the method for traffic condition, such as step shown in FIG. 1 based on millimetre-wave radar
Rapid 101 to 104.Alternatively, the processor 70 realizes that the above-mentioned millimetre-wave radar that is based on judges when executing the computer program 72
The function of each module/unit in the Installation practice of traffic condition, such as the function of module 610 to 640 shown in Fig. 6.
Illustratively, the computer program 72 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 71, and are executed by the processor 70, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 72 in the trailer-mounted radar 7 is described.For example, the computer program 72 can be divided
It is cut into parsing module, computing module, determining module, analysis module (module in virtual bench), each module concrete function is as follows:
Parsing module, for parsing the intermediate frequency letter generated by the echo-signal mixing of transmitting signal and the reflection of each vehicle
Number, the target component of each vehicle is obtained, the target component is operating parameter of the vehicle relative to the radar.
Computing module, for based on the target component calculate separately each vehicle relative to radar laterally away from
From, longitudinal velocity and fore-and-aft distance.
Determining module, it is each for being determined based on the lateral distance, the longitudinal velocity and preset detection cycle
Flow speeds on lane.
Analysis module, for determining unit on each lane based on the fore-and-aft distance and preset detection zone
The vehicle flowrate of time determines the traffic congestion situation on each lane based on the flow speeds and the vehicle flowrate.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On communication unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of method for judging traffic condition based on millimetre-wave radar characterized by comprising
The intermediate-freuqncy signal that the echo-signal mixing that parsing is reflected by transmitting signal and each vehicle generates, obtains each vehicle
Target component, the target component be operating parameter of the vehicle relative to the radar；
Lateral distance, longitudinal velocity and longitudinal direction of each vehicle relative to radar are calculated separately based on the target component
Distance；
The flow speeds on each lane are determined based on the lateral distance, the longitudinal velocity and preset detection cycle；
The vehicle flowrate on each lane in the unit time, root are determined based on the fore-and-aft distance and preset detection zone
The traffic congestion situation on each lane is determined according to the flow speeds and the vehicle flowrate.
2. the method for traffic condition is judged based on radar as described in claim 1, which is characterized in that in the parsing by emitting
The mixed intermediate-freuqncy signal of echo-signal of signal and the reflection of each vehicle, before obtaining the target component of each vehicle,
Include:
It controls the radar and emits the transmitting signal when around the rotation of preset shaft.
3. the method for traffic condition is judged based on radar as described in claim 1, which is characterized in that the target component includes
Relative distance, radial velocity and azimuth of the vehicle relative to radar；
It is described based on the target component calculate separately each vehicle relative to the lateral distance of radar, fore-and-aft distance and
Longitudinal velocity, comprising:
The relative distance and the azimuth are substituted into preset first formula, the lateral distance is calculated；It is described
First formula are as follows:
Dx=R sin (ω)
Wherein, DxFor the lateral distance, R is the distance, and ω is the azimuth；
The relative distance and the azimuth are substituted into preset second formula, the fore-and-aft distance is calculated；It is described
Second formula are as follows:
Dy=R cos (ω)
Wherein, DyFor the fore-and-aft distance, R is the distance, and ω is the azimuth；
The radial velocity, the fore-and-aft distance and the orientation angles are substituted into preset third formula, institute is calculated
State longitudinal velocity；The third formula are as follows:
vy=v/ [cos (ω) cos (atan (h/Dy))]
Wherein, vyFor the longitudinal velocity, v is the radial velocity, and h is height of the preset radar relative to ground, and ω is institute
State azimuth, DyFor the longitudinal velocity.
4. the method for traffic condition is judged based on millimetre-wave radar as claimed in claim 3, which is characterized in that described to be based on institute
It states lateral distance, the longitudinal velocity and preset detection cycle and determines flow speeds on each lane, comprising:
The lane where each vehicle is determined based on the lateral distance and preset bicycle road width；
All vehicles are divided into normally travel vehicle and at a slow speed driving vehicle based on the longitudinal velocity；
The average longitudinal velocity of the normally travel vehicle on each lane within the unit time is calculated separately, it is described average longitudinal
Speed is the flow speeds.
5. the method for traffic condition is judged based on millimetre-wave radar as claimed in claim 4, which is characterized in that described to be based on institute
It states fore-and-aft distance and preset detection zone determines vehicle flowrate on each lane in the unit time, according to the wagon flow
Speed and the vehicle flowrate determine the traffic congestion situation on each lane, comprising:
The fore-and-aft distance of the normally travel vehicle in the unit time on each lane is obtained respectively；
Count in a detection cycle on each lane in the unit time target vehicle vehicle fleet；The target carriage
For the fore-and-aft distance be less than the preset detection zone zone length vehicle；
The average of the vehicle fleet in the unit time on each lane is calculated, the average is each lane
Vehicle flowrate in the upper unit time；
The traffic congestion situation on each lane is determined according to the flow speeds and the vehicle flowrate.
6. a kind of device for judging traffic condition based on millimetre-wave radar characterized by comprising
Parsing module is obtained for parsing the intermediate-freuqncy signal generated by the echo-signal mixing of transmitting signal and the reflection of each vehicle
To the target component of each vehicle, the target component is operating parameter of the vehicle relative to the radar；
Computing module, for calculating separately lateral distance, vertical of each vehicle relative to radar based on the target component
To speed and fore-and-aft distance；
Determining module, for determining each lane based on the lateral distance, the longitudinal velocity and preset detection cycle
On flow speeds；
Analysis module, for determining the unit time on each lane based on the fore-and-aft distance and preset detection zone
Vehicle flowrate, determine the traffic congestion situation on each lane based on the flow speeds and the vehicle flowrate.
7. the device of traffic condition is judged based on millimetre-wave radar as claimed in claim 6, which is characterized in that further include:
Control module emits the transmitting signal when around the rotation of preset shaft for controlling the radar.
8. the device of traffic condition is judged based on millimetre-wave radar as claimed in claim 6, which is characterized in that the target ginseng
Number includes relative distance, radial velocity and orientation angles of the vehicle relative to radar；
The computing module, comprising:
First computation subunit is calculated for the relative distance and the azimuth to be substituted into preset first formula
To the lateral distance；First formula are as follows:
Dx=R sin (ω)
Wherein, DxFor the lateral distance, R is the relative distance, and ω is the azimuth；
Second computation subunit is calculated for the relative distance and the azimuth to be substituted into preset second formula
To the fore-and-aft distance；Second formula are as follows:
Dy=R cos (ω)
Wherein, DyFor the fore-and-aft distance, R is the relative distance, and ω is the azimuth；
Third computation subunit, it is preset for substituting into the radial velocity, the fore-and-aft distance and the orientation angles
The longitudinal velocity is calculated in third formula；The third formula are as follows:
vy=v/ [cos (ω) cos (atan (h/Dy))]
Wherein, vyFor the longitudinal velocity, v is the radial velocity, and h is height of the preset radar relative to ground, and ω is institute
State azimuth, DyFor the longitudinal velocity.
9. a kind of millimetre-wave radar, including memory, processor and storage are in the memory and can be in the processor
The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to
The step of method of traffic condition is judged based on millimetre-wave radar described in 5 any one.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realization is judged as described in any one of claim 1 to 5 based on millimetre-wave radar when the computer program is executed by processor
The step of method of traffic condition.
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| CN110969855A (en) * | 2019-12-13 | 2020-04-07 | 长沙莫之比智能科技有限公司 | Traffic flow monitoring system based on millimeter wave radar |
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