CN110542898A - Radar group-based vehicle behavior continuous tracking detection system and method - Google Patents
Radar group-based vehicle behavior continuous tracking detection system and method Download PDFInfo
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- CN110542898A CN110542898A CN201910526923.3A CN201910526923A CN110542898A CN 110542898 A CN110542898 A CN 110542898A CN 201910526923 A CN201910526923 A CN 201910526923A CN 110542898 A CN110542898 A CN 110542898A
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention discloses a radar group-based vehicle behavior continuous tracking detection system which comprises a radar group, data communication equipment, data storage equipment, a background data processing server, a vehicle running state display module and a power supply control module. The method comprises the steps of installing radar equipment in a designated area, and networking the radar equipment into radar groups; collecting road traffic data through a radar group and sending the road traffic data to data storage equipment; the vehicle driving state display module realizes the primary visual display of the vehicle driving state; the background data processing server associates the discrete driving state data of the vehicles in each radar equipment monitoring area to realize track tracking; the background data processing server fuses the radar group data to realize the connection of the same vehicle running track of adjacent areas; the background data processing server realizes the analysis and process reconstruction of the driving behaviors of the vehicles in the whole road section; the vehicle driving state display module realizes the visual display of the driving behavior process of the vehicles in the whole road section.
Description
Technical Field
the invention belongs to the technical field of road traffic data acquisition, and particularly relates to a radar group-based vehicle behavior continuous tracking detection system and method.
Background
Ensuring safety and improving efficiency are always the direction of efforts in the professional fields of traffic control, traffic management and road safety. The method can accurately and conveniently collect abundant and diverse road traffic data in real time, and is one of the preconditions for researchers and traffic managers to deeply analyze and diagnose the current traffic problems and put forward and implement effective traffic control measures. Road traffic data are acquired based on various traffic detectors, technical means of road traffic real-time dynamic data acquisition, processing, information release and the like are not advanced on the whole in China at present, and the backward data acquisition means has a barrier effect on deep research on road traffic safety and road traffic flow operation characteristics and is not beneficial to the generation of new design concepts, traffic control and management theories and methods.
Traditional road traffic data acquisition mainly relies on the detector such as the toroidal coil, earth magnetism, video image, microwave radar, infrared sensor, ultrasonic radar of laying in the road section to realize. In practical engineering applications, these detectors are found to have a number of disadvantages in complex road traffic environments: geomagnetism and coil are because buried in the road surface, and installation and later maintenance are comparatively inconvenient, need destroy the road surface usually, and are impaired and become invalid easily under the long-term effect of vehicle load. In addition, the method usually only collects section traffic data and cannot track the running track of the vehicle passing through a large range, so that the relatively complete running state or behavior process of the vehicle passing through the large range cannot be obtained; the video detection equipment is usually arranged above a road or on the road side, is not in contact with the road surface, and can monitor the running process of a vehicle, but the mode depends on environmental conditions such as weather, visibility and the like at present, is low in reliability, and can cause missing detection and false detection to a greater extent; the traditional microwave radar detection equipment has strong anti-interference capability, is basically not influenced by external weather conditions, adopts the Doppler principle to detect a moving vehicle, can realize multi-target simultaneous tracking, can adjust the microwave coverage range according to different installation positions in the detection range, has wide detection range, can realize the detection of the running state of vehicles on road sections or intersections, but has the problem of target loss when the vehicles are static or run at low speed; the infrared sensor has high sensitivity and quick response, is not influenced by light conditions, can work under the condition of complete darkness, but is greatly influenced by the surrounding environment, such as the temperature and the humidity of the atmosphere; the ultrasonic radar has strong all-weather performance and high accuracy for information acquisition, but the detection range is limited, and a pair of ultrasonic detectors can only detect one lane generally.
compared with other detectors, the radar-based detectors (such as microwave radar, millimeter wave radar, laser radar and the like) are mainly applied to the aspects of intelligent detection of vehicle-mounted obstacles, vehicle anti-collision early warning and the like at present, and are relatively less applied to the aspect of road traffic information acquisition. However, the radar detector has the advantages of convenience in installation, no influence of weather, no damage to a road surface, strong anti-interference capability in a complex environment, convenience in later maintenance and the like, shows good application potential in the aspect of road traffic data acquisition, and is gradually paid attention to by researchers in recent years. Especially, the millimeter wave radar has attracted great research interest, has rapidly developed in the traffic field, is gradually applied to the aspects of vehicle collision detection, traffic information acquisition, unmanned environment perception and the like, and is more popular in the aspects of vehicle-mounted obstacle detection and driving risk early warning at present. The patent technology of the disclosed radar detection technology in terms of road traffic data acquisition and traffic state detection is briefly introduced below.
(1) the invention patent CN108550269A (2018.09) provides a traffic flow detection system based on millimeter wave radar and a detection method thereof. The vehicle in the detection range is tracked through the millimeter wave radar detector erected above the road, the running state information of each target is identified, the running state information of discrete vehicle points is classified through the MCU control unit, the vehicle track in the detection range is identified, and the identified vehicles are numbered. And then the vehicle number and track data information is sent to a central system unit, and the central system unit calculates the real-time traffic flow and the statistical traffic volume of the road section according to the number of target vehicles in a detection range and the motion characteristics of the vehicles driving into and out of the detection range by combining a section deployment scheme of a millimeter wave radar detector.
(2) The invention patent CN108010334A (2018.05) provides an intersection traffic data acquisition method and system of a matrix radar based on a Doppler technology. Scanning the intersection by arranging a matrix radar at the intersection, and recording scanning data in a vehicle-free state as a reference for comparison; when a vehicle reaches an intersection and enters a detection area, the matrix radar detects that a signal of a scanning area changes, and a scanned object is judged by comparing the signal with original data of a system; the number of vehicles in the detection area is counted, the matrix radar sends the collected data to a background data collection system, and the information data of the length, the speed and the traffic flow of the vehicles at the intersection are calculated after the data are analyzed and processed.
(3) the invention patent CN107767668A (2018.03) provides a method for active detection of continuous real-time tracking of vehicles based on radar. The method includes the steps that a specific characteristic signal transmitting device such as vehicle-mounted Bluetooth, an electronic tag and a wireless signal transmitter is installed on a vehicle, a vehicle characteristic signal is obtained through a built radar group, the signal obtained through the radar is analyzed, the position and the track of the vehicle are analyzed and sent to a background fusion server, and the fusion server draws the motion track of the vehicle in real time. The technology has the greatest defects that only vehicles provided with characteristic signal transmitting devices can be identified and tracked, and the application range of the technology is limited because the technology cannot be used for general social vehicles.
(4) The invention patent CN104575049A (2015.04) provides an elevated ramp intelligent induction method and device based on an array radar. The method comprises the steps that array radar detection equipment is installed at a plurality of cross section positions on an elevated road, and real-time traffic parameter information of a road section in a detection area is collected; calculating an average traffic flow density parameter of a road section of a detection area, extracting a real-time traffic operation index of the road section of the detection area based on a density-operation index model, and calculating an average traffic operation index of an entrance ramp and an exit ramp, thereby judging the traffic operation state grade of each ramp, constructing an intelligent traffic guidance model, and displaying an intelligent traffic guidance decision in real time through an entrance ramp guidance screen and an exit ramp guidance screen.
(5) The invention patent CN104408925A (2015.03) provides an intersection running state evaluation method based on display radar. The method adopts a two-dimensional active array radar technology, and obtains real-time traffic flow and vehicle speed information of a detection area by installing array radar equipment in each entrance direction of a road intersection, the information is transmitted to a background server through data communication equipment for storage and processing, average traffic flow density parameters are calculated, and the real-time traffic running index and the traffic running state grade of the intersection are further calculated. And finally, issuing the real-time traffic state information of the intersection to the public by using the issuing terminal equipment, so as to realize real-time monitoring and dynamic induction of the operation situation of the intersection.
(6) The invention patent CN103901431A (2014.07) provides a three-dimensional traffic information acquisition radar and an implementation method thereof. The radar device combines a linear frequency modulation continuous wave technology and a coherent technology to realize the simultaneous detection of a multilane target, and comprises a DDS, a modulator, a power amplifier, a transmitting antenna, a frequency mixer, a receiving antenna, a low-frequency amplifier, a signal processor and a communication interface. The radar is a wide-beam radar, target data output by the radar not only comprises the speed of a vehicle, but also comprises position coordinates of the vehicle, the speed, distance and azimuth information of the target can be detected simultaneously, and multi-lane and multi-target simultaneous tracking and positioning can be realized.
it can be seen from the above published patent that the advantages of the rapidly developed radar detection technology combine with the actual requirements of the traffic field to provide the possibility of creating new applications. At present, researchers have conducted intensive research on applications of radar detection technology in road traffic data acquisition (such as traffic volume statistics, driving speed, vehicle position, driving track and the like), traffic running state detection (determined by traffic running indexes obtained through calculation), traffic intelligent guidance and the like. By arranging the radar groups at different cross-section positions of a road plane intersection or an elevated road, the running state of a moving vehicle at a larger intersection or in a longer road section can be continuously tracked and captured. However, the currently adopted road traffic data acquisition means generally has the defects of low reliability, strong dependence on environment, poor anti-interference capability, small coverage area, incapability of capturing behavior processes in a large range, inconvenience in maintenance and the like, and a new road traffic data acquisition mode is urgently needed to adapt to the continuous development of road traffic control technology and the continuous and deep research on road traffic safety under the new era background.
disclosure of Invention
the invention aims to provide a vehicle behavior continuous tracking and detecting system based on a radar group aiming at the defects in the prior art, a group of millimeter wave radar devices are creatively adopted, the monitoring areas of the radars are adjacent to each other and are in seamless butt joint, and the vehicle running state microscopic parameters are collected in the whole process in a long-distance range; the radar group detection data are correlated and fused by utilizing the continuity and the correlation of the vehicle running state in time and space, and the continuous driving track and running speed characteristics of the same vehicle passing through the whole monitoring range are identified, so that the driving behavior process of any passing vehicle in a large-area long-distance range is monitored. In addition, the driving behavior characteristics of the vehicle can be deeply analyzed by utilizing the driving track data and the speed characteristic data, whether behaviors such as illegal lane changing, overspeed, random parking, sudden braking and the like exist or not is judged, the driving process can be reconstructed, and the driving process can be displayed in a visual interface.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
A radar group-based vehicle behavior continuous tracking detection system comprises
the radar group is used for detecting vehicle targets in a specified area and acquiring running state data of all the vehicle targets at a certain moment; the output end of the radar group is connected with the input end of the data communication equipment, and the radar group transmits signals to the data communication equipment in real time when collecting data;
Each radar device in the radar group corresponds to an independent data communication device and is used for transmitting original data collected by the radar group to a data storage device, the input end of the data communication device is connected with the output end of the radar device, and the output end of the data communication device is connected with the input end of the data storage device;
The data storage equipment is used for storing original data transmitted by the data communication equipment into a database, the data storage equipment is provided with a plurality of data input ends, and each radar equipment corresponds to one data input end; the output end of the data storage device is connected with the input end of the background data processing server;
The background data processing server is used for reading data stored in the data storage device, converting original position information of the vehicles from respective independent coordinate systems into a coordinate system unified in a whole road section, performing data association processing inside a single radar, tracking tracks of the same vehicle in a certain sub-monitoring area, performing data fusion processing among radar groups, matching and connecting vehicle tracks among the radar monitoring areas, acquiring complete driving tracks, speed and acceleration running characteristics of the vehicles passing through the whole monitoring area, analyzing typical illegal driving behaviors and marking the typical illegal driving behaviors, wherein the input end of the background data processing server is connected with the output end of the background data storage device, and the output end of the background data processing server is connected with the vehicle running state display module;
a vehicle running state display module: the method is used for visually displaying the driving process of the vehicle in a monitoring area on a computer, and comprises the steps of displaying a complete motion track, a complete motion speed and a complete acceleration, and if illegal driving behaviors are generated, highlighting the mark by adopting red color; the input end of the display module is connected with the output end of the background data processing server;
And the power supply control module is used for controlling the power supply of the radar equipment.
Furthermore, the radar group comprises a plurality of millimeter wave radars which are sequentially arranged above the road side in the designated area, and all the millimeter wave radars form a group of millimeter wave radar groups which are in seamless connection with each other in monitoring range and cover the whole road section.
A vehicle behavior continuous tracking detection method based on a radar group comprises the following steps:
the method comprises the following steps: installing radar equipment in a designated area, and networking the radar equipment into a radar group;
Step two: collecting road traffic data through a radar group and sending the road traffic data to data storage equipment;
Step three: the vehicle driving state display module realizes the primary visual display of the vehicle driving state;
step four: the background data processing server associates the discrete driving state data of the vehicles in each radar equipment monitoring area to realize track tracking;
step five: the background data processing server fuses the radar group data to realize the connection of the same vehicle running track of adjacent areas;
step six: the background data processing server realizes the analysis and process reconstruction of the driving behaviors of the vehicles in the whole road section;
step seven: the vehicle driving state display module realizes the visual display of the driving behavior process of the vehicles in the whole road section.
Further, the implementation process of the step one is as follows:
1) mounting a radar apparatus
determining the number of radars to be laid according to the size of a preassigned road section monitoring range by combining the monitoring capability, the laying height and the laying angle of the selected radar equipment, and selecting a proper section position to install the radar equipment on the road side;
2) radar device and monitored road segment coding association
Dividing and coding the road monitoring road section according to the monitoring range of each radar device, coding the corresponding radar device, and associating the road section codes with the radar device codes; the installed radar equipment forms a group of millimeter wave radar groups with seamless monitoring ranges and full coverage of the monitoring ranges.
Further, the implementation process of the step two is as follows:
1) data acquisition
When the vehicle enters a monitoring area, the millimeter wave radar actively detects the target and acquires the running state information of each target vehicle, wherein the running state information comprises a radar equipment number, a road section area number, a time point of detecting the target, a vehicle position and a running speed; the frequency detected by the radar equipment is 20Hz, the driving state information describes the instantaneous moving state characteristic of a target, the original data acquired by each detection is discrete data, and no correlation exists between the data detected every two adjacent times;
2) Data transmission
Each data communication device transmits the original data collected by the corresponding radar to a data storage device in real time according to a uniform format for storage and backup;
3) Raw data storage backup
the data storage equipment receives the original data transmitted by the data transmission equipment and stores the original data; the storage information includes: radar equipment number, road section area number, time point, original vehicle position information and vehicle running speed; information detected once for one target vehicle constitutes one data record and is stored in a designated database A;
4) secondary storage of data after conversion of vehicle position coordinates
The background data processing server reads the original data from the database A of the data storage device, extracts the position information in the original data, then carries out coordinate conversion processing on the position information, namely converts the original position information of all vehicles one by one from respective independent coordinate systems to coordinates under a full-road-section unified coordinate system, and then stores the coordinates into the database B appointed by the storage device again.
further, the implementation process of the step three is as follows:
and the vehicle running state display module reads the discrete running state data of the vehicle in the database B, displays the discrete running state data in the visual interface, and simultaneously displays the instantaneous speed information to finish the primary visual display of the detection target.
Further, the implementation process of step four is as follows:
1) clustering all radar collisions of each frame;
2) obtaining the speed/position/RCS of each cluster;
3) Calculating the object prediction position of the next time stamp according to the current time stamp and the position speed of the current object;
4) Completing the matching of the previous frame according to all information under the next timestamp, and verifying by using the RCS;
further, the implementation process of the step five is as follows:
1) extracting the characteristics of collision points entering a radar overlapping scanning area;
2) Matching the node characteristics obtained by calculation of adjacent radars at the similar time stamps;
3) Matching the characteristic nodes;
4) Identifying the combination with deviation smaller than a given threshold as the same vehicle;
5) Obtaining vehicle track connection;
Further, the implementation process of the step six is as follows:
1) driving behavior feature analysis
After the data fusion processing, each target vehicle passing through the monitoring area has the following data records: vehicle ID number, time point, position coordinate under unified coordinate system, speed; the time point, the position coordinate and the speed are vectors, and each component of the time point, the position coordinate and the speed has a one-to-one correspondence relation, so that the driving behavior characteristics of the vehicle passing through the monitoring area can be described in detail;
Connecting the position coordinates under the unified coordinate system according to a time sequence to obtain a running track of the vehicle, and analyzing the running track to detect whether the vehicle has illegal lane changing behavior; by analyzing the speed value, whether overspeed and random parking behaviors exist in the driving process of the vehicle can be detected; the instantaneous acceleration of the vehicle can be obtained by deriving the speed value from the time variable; the magnitude of the acceleration value is analyzed, and whether sudden braking behaviors exist in the driving behavior process of the vehicle can be detected by combining related theoretical threshold values.
2) Vehicle driving behavior process reconstruction
Through the analysis and calculation, the data record corresponding to each target vehicle passing through the monitoring area is updated again: vehicle ID number, time point, position coordinate under unified coordinate system, speed, acceleration;
the driving state data of each vehicle obtained above is discrete instantaneous state information, but is correlated with each other in time and space and matched with a unique target vehicle; the instantaneous driving state of the vehicle under any space-time condition can be fixed by taking time and space as coordinate axes, so that the whole driving process of the vehicle passing through a monitoring area can be reconstructed and can be displayed in a visual interface.
further, the implementation process of step seven is as follows:
The vehicle driving state display module reads the track, speed, acceleration and time information of each passing vehicle in the monitoring range from the database, completes the visual display of the driving behavior process of the vehicle on a computer, realizes the redisplay of the traffic flow running process in the monitoring range and the monitoring time period, and simultaneously highlights the behaviors of violation lane changing, overspeed, sudden braking, random parking and the like in the driving process.
Compared with the prior art, the invention has the beneficial effects that:
1) The defects of low reliability, strong dependence on environment, poor anti-interference capability, limited coverage range, insufficient precision, difficult maintenance and the like of the traditional geomagnetic, annular coil, video image processing and microwave radar in road traffic data acquisition are effectively overcome, the millimeter wave radar which is widely adopted on the current vehicle-mounted equipment is applied to the road traffic data acquisition, and the precision and the reliability of the acquired data are greatly improved.
2) The practical requirements of road traffic management and road safety research and the advantages of radar detection technology are combined, a millimeter wave radar group is creatively adopted to realize large-area long-distance vehicle continuous tracking detection, the process monitoring of vehicle driving behaviors is realized, and on one hand, the method is beneficial to a traffic management department to improve the working efficiency in the aspects of managing and controlling traffic flow running states and governing illegal driving behaviors such as illegal lane change, overspeed, random parking and the like; on the other hand, the method can also provide a basic data acquisition platform for road traffic safety researchers, and creates conditions for further researching traffic flow running characteristics, risk identification and stability control of traffic flow running states, interaction behaviors among vehicles in the running process and the like under complex road traffic environment conditions, so that the method has an important engineering application prospect and also has an important scientific research and use value.
Drawings
Fig. 1 is a block diagram of a vehicle driving behavior monitoring system based on millimeter wave radar group continuous tracking detection according to the present invention.
Fig. 2 is a flow chart of the method for monitoring the driving behavior of the vehicle based on the millimeter wave radar group continuous tracking detection.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1, the vehicle driving behavior monitoring system based on millimeter wave radar group continuous tracking detection comprises a plurality of millimeter wave radar devices, a data communication device, a data storage device, a background data processing server, a vehicle driving state display module and a power control module.
millimeter wave radar apparatus: the system is responsible for detecting vehicle targets in the designated area and acquiring the driving state data of each target at a certain moment. The number of the radar devices is determined according to actual needs, and the radars are sequentially arranged at a certain height above the road side of the road to be monitored, so that a group of millimeter wave radar groups with monitoring ranges which are mutually in seamless connection and cover the whole road section is formed. The output end of the radar equipment is connected with the input end of the data communication equipment, and signals are transmitted to the data communication equipment in real time when data are collected.
A data communication device: and the data storage device is responsible for transmitting the data collected by the millimeter wave radar to the data storage device according to a uniform format. Each millimeter wave radar device corresponds to an independent data communication device and is independently accessed to the data storage device. The input end of the data communication equipment is connected with the output end of the millimeter wave radar equipment, and the output end of the data communication equipment is connected with the input end of the data storage equipment.
A data storage device: and the data communication equipment is responsible for storing the original data transmitted by the data communication equipment into a designated database in the storage equipment. The data storage device has a plurality of data inputs, one for each radar device. The output end of the data storage device is connected with the input end of the background data processing server.
a background data processing server: reading data stored in the storage device, and completing the conversion of the original position information of the vehicle from respective independent coordinate systems to a full-road-section unified coordinate system; carrying out data association processing inside a single radar to realize track tracking of the same vehicle in a certain sub-monitoring area; and performing data fusion processing among the radar groups, realizing vehicle track matching and connection among the radar monitoring areas, acquiring complete driving track, speed and acceleration running characteristics of the vehicle passing through the whole monitoring area, and analyzing and specially marking typical illegal driving behaviors such as overspeed, illegal lane change, emergency braking, random parking and the like. The input end of the vehicle running state display module is connected with the output end of the data storage device, and the output end of the vehicle running state display module is connected with the vehicle running state display module.
A vehicle running state display module: the vehicle monitoring system is responsible for the visual display of the driving process of the vehicle in the monitoring area on a computer, and comprises the steps of displaying a complete motion track, motion speed and acceleration, and if illegal driving behaviors occur, highlighting identification is carried out by red color. The input end of the display module is connected with the output end of the background data processing server.
the power supply control module: and the control module is responsible for controlling the power supply of the millimeter wave radar equipment.
referring to fig. 2, the vehicle driving behavior monitoring method based on millimeter wave radar group continuous tracking detection in the invention comprises the following steps:
The method comprises the following steps: reasonably laying millimeter wave radar groups and networking
(1) mounting a radar apparatus
according to the size (such as the length of 1km) of a preassigned road section monitoring range, the number of radars to be laid is determined by combining the monitoring capability (such as the length of 200m of the monitoring range of a single device and 6 lanes monitored at most) of the selected radar devices, the laying height and the laying angle, and the radar devices are installed on the road side by selecting proper section positions. The equipment should be of a height to minimize the obstruction between vehicles. The basic principle of equipment layout is as follows: on one hand, the monitoring areas of every two adjacent radars are ensured to have range overlapping with proper size, the adjacent detection areas are ensured to be in seamless connection with each other, and the full coverage of the specified road monitoring road section without any dead angle is realized; on the other hand, the number of the radar groups is reduced as much as possible on the premise of ensuring the requirements, and the calculation pressure of a subsequent data processing server is reduced while the economic cost is saved. The selected detection radar is a millimeter wave radar and has the function of simultaneously tracking multiple lanes and multiple targets, a single radar can simultaneously track 128 target objects, and the scanning frequency is not less than 20 Hz.
(2) Radar device and monitored road segment coding association
And dividing and coding the road monitoring road section according to the monitoring range of each radar, coding corresponding radar equipment, and associating the road section codes with the radar equipment codes.
The installed radar equipment forms a group of millimeter wave radar groups with seamless monitoring ranges and full coverage of the monitoring ranges.
Step two: road traffic data acquisition, transmission and storage
(1) Data acquisition
when the vehicle enters the monitoring area, the millimeter wave radar actively detects the target and acquires the running state information of each target vehicle, wherein the running state information comprises a radar equipment number, a road section area number, a time point of detecting the target, a vehicle position, a running speed and the like. The frequency detected by the radar equipment is 20Hz, namely, target information is acquired every 50ms and describes the characteristics of the instantaneous moving state of a target, the raw data acquired by each detection is discrete data, and no correlation exists between the data detected every two adjacent times.
(2) data transmission
And each data communication device transmits the original data acquired by the corresponding radar to the data storage device in real time according to a uniform format for storage and backup.
(3) raw data storage backup
The data storage device receives the original data transmitted from the data transmission device and stores the original data. The storage information includes: radar equipment number, road section area number, time point, original vehicle position information and vehicle running speed. The information once detected for a target vehicle constitutes a data record, which is stored in the designated database a.
(4) Secondary storage of data after conversion of vehicle position coordinates
the background data processing server reads the original data from the database A of the data storage device, extracts the position information in the original data, then carries out coordinate conversion processing on the position information, namely converts the original position information of all vehicles one by one from respective independent coordinate systems to coordinates under a full-road-section unified coordinate system, and then stores the coordinates into the database B appointed by the storage device again.
Step three: real-time driving state display of target vehicle
the vehicle running state display module reads the discrete running state data of the vehicle in the database B, displays the discrete running state data in the visual interface and simultaneously displays the instantaneous speed information. And finishing the primary visual display of the detection target.
step four: discrete running state data association-track tracking of vehicle in single radar monitoring area
1. Clustering all radar collisions per frame
2. Obtaining the velocity/position/RCS (radial cross selection) of each cluster
3. according to the current time stamp and the position speed of the current object, the object predicted position of the next time stamp is calculated
4. completing the matching of the last frame according to all information under the next time stamp and using RCS to verify
Step five: radar group data fusion-connection of same vehicle running track of adjacent areas
1. Extraction of the characteristics of the impact point (car/motorcycle/pedestrian) entering the radar overlap scan zone (speed/position RCS)
2. Matching node features computed by neighboring radars at close timestamps
3. matching feature nodes
4. Identifying as the same vehicle the combination whose deviation is less than a given threshold
5. obtaining vehicle track connection
Step six: whole road section vehicle driving behavior analysis and process reconstruction
after the data fusion processing in the step five, the following data records should be applied to each target vehicle passing through the monitoring area: { vehicle ID number, time point, position coordinate and speed in a unified coordinate system }, wherein the time point, the position coordinate and the speed are vectors, and each component of the vectors has a one-to-one correspondence relationship, so that the driving behavior characteristics of the vehicle passing through a monitoring area can be described in detail.
Connecting the position coordinates under the unified coordinate system according to a time sequence to obtain a running track of the vehicle, and analyzing the running track to detect whether the vehicle has illegal lane changing behavior;
By analyzing the speed value, whether overspeed and random parking behaviors exist in the driving process of the vehicle can be detected;
The instantaneous acceleration of the vehicle can be obtained by deriving the speed value from the time variable; the magnitude of the acceleration value is analyzed, and whether sudden braking behaviors exist in the driving behavior process of the vehicle can be detected by combining related theoretical threshold values.
Through the analysis and calculation, the data record corresponding to each target vehicle passing through the monitoring area is updated again: { vehicle ID number, time point, position coordinate in unified coordinate system, velocity, acceleration }.
The driving state data of each vehicle obtained above is still discrete instantaneous state information, but is correlated in time and space and matched with a unique target vehicle. The instantaneous driving state of the vehicle under any space-time condition can be fixed by taking time and space as coordinate axes, so that the whole driving process of the vehicle passing through a monitoring area can be reconstructed and can be displayed in a visual interface.
Step seven: visual display of whole-road-section vehicle driving behavior process
The data display module reads the track, speed, acceleration and time information of each passing vehicle in the monitoring range from the database, completes the visual display of the driving behavior process of the vehicle on the computer, realizes the redisplay of the traffic flow running process in the monitoring range and the monitoring time period, and simultaneously highlights the behaviors of violation lane changing, overspeed, sudden braking, random parking and the like in the driving process.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. a radar cluster-based vehicle behavior continuous tracking detection system, comprising:
the radar group is used for detecting vehicle targets in a specified area and acquiring running state data of all the vehicle targets at a certain moment; the output end of the radar group is connected with the input end of the data communication equipment, and the radar group transmits signals to the data communication equipment in real time when collecting data;
Each radar device in the radar group corresponds to an independent data communication device and is used for transmitting original data collected by the radar group to a data storage device, the input end of the data communication device is connected with the output end of the radar device, and the output end of the data communication device is connected with the input end of the data storage device;
the data storage equipment is used for storing original data transmitted by the data communication equipment into a database, the data storage equipment is provided with a plurality of data input ends, and each radar equipment corresponds to one data input end; the output end of the data storage device is connected with the input end of the background data processing server;
The background data processing server is used for reading data stored in the data storage device, converting the original position information of the vehicle from respective independent coordinate systems into a coordinate system which is uniform in the whole road section, performing data association processing inside a single radar and realizing track tracking of the same vehicle in a certain sub-monitoring area; carrying out data fusion processing among the radar groups and realizing vehicle track matching connection among adjacent radar monitoring areas; the method comprises the steps that the complete driving track, speed and acceleration running characteristics of a vehicle passing through the whole monitoring area are obtained, typical illegal driving behaviors are analyzed and marked specially, the input end of a background data processing server is connected with the output end of a data storage device, and the output end of the background data processing server is connected with a vehicle running state display module;
A vehicle running state display module: the method is used for visually displaying the driving process of the vehicle in a monitoring area on a computer, and comprises the steps of displaying a complete motion track, a complete motion speed and a complete acceleration, and if illegal driving behaviors are generated, highlighting the mark by adopting red color; the input end of the display module is connected with the output end of the background data processing server;
And the power supply control module is used for controlling the power supply of the radar equipment.
2. The radar group-based vehicle behavior continuous tracking detection system as claimed in claim 1, wherein the radar group comprises a plurality of millimeter wave radars, the millimeter wave radars are sequentially arranged above the road side in a specified area, and all the millimeter wave radars form a group of millimeter wave radar groups with monitoring ranges which are seamlessly connected with each other and cover the whole road section.
3. A vehicle behavior continuous tracking detection method based on a radar group is characterized by comprising the following steps:
the method comprises the following steps: installing radar equipment in a designated area, and networking the radar equipment into a radar group;
Step two: collecting road traffic data through a radar group, and sending the road traffic data to data storage equipment through data communication equipment;
Step three: the vehicle driving state display module realizes the primary visual display of the vehicle driving state;
step four: the background data processing server associates the discrete driving state data of the vehicles in each radar equipment monitoring area to realize track tracking;
step five: the background data processing server fuses the radar group data to realize the connection of the same vehicle running track of adjacent areas;
Step six: the background data processing server realizes the analysis and process reconstruction of the driving behaviors of the vehicles in the whole road section;
Step seven: the vehicle driving state display module realizes the visual display of the driving behavior process of the vehicles in the whole road section.
4. the radar group-based vehicle behavior continuous tracking detection method according to claim 3, wherein the step one is realized by the following steps:
1) Mounting a radar apparatus
determining the number of radars to be laid according to the size of a preassigned road section monitoring range by combining the monitoring capability, the laying height and the laying angle of the selected radar equipment, and selecting a proper section position to install the radar equipment on the road side;
2) radar device and monitored road segment coding association
dividing and coding the road monitoring road section according to the monitoring range of each radar device, coding the corresponding radar device, and associating the road section codes with the radar device codes; the installed radar equipment forms a group of millimeter wave radar groups with seamless monitoring ranges and full coverage of the monitoring ranges.
5. the radar group-based vehicle behavior continuous tracking detection method according to claim 3, wherein the implementation procedure of the second step is as follows:
1) data acquisition
When the vehicle enters a monitoring area, the millimeter wave radar actively detects the target and acquires the running state information of each target vehicle, wherein the running state information comprises a radar equipment number, a road section area number, a time point of detecting the target, a vehicle position and a running speed; the frequency detected by the radar equipment is 20Hz, the driving state information describes the instantaneous moving state characteristic of a target, the original data acquired by each detection is discrete data, and no correlation exists between the data detected every two adjacent times;
2) Data transmission
Each data communication device transmits the original data collected by the corresponding radar to a data storage device in real time according to a uniform format for storage and backup;
3) Raw data storage backup
The data storage equipment receives the original data transmitted by the data transmission equipment and stores the original data; the storage information includes: radar equipment number, road section area number, time point, original vehicle position information and vehicle running speed; information detected once for one target vehicle constitutes one data record and is stored in a designated database A;
4) secondary storage of data after conversion of vehicle position coordinates
The background data processing server reads the original data from the database A of the data storage device, extracts the position information in the original data, then carries out coordinate conversion processing on the position information, namely converts the original position information of all vehicles one by one from respective independent coordinate systems to coordinates under a full-road-section unified coordinate system, and then stores the coordinates into the database B appointed by the storage device again.
6. The radar group-based vehicle behavior continuous tracking detection method according to claim 3, wherein the implementation procedure of step three is as follows:
and the vehicle running state display module reads the discrete running state data of the vehicle in the database B, displays the discrete running state data in the visual interface, and simultaneously displays the instantaneous speed information to finish the primary visual display of the detection target.
7. the radar group-based vehicle behavior continuous tracking detection method according to claim 3, wherein the implementation procedure of the fourth step is as follows:
1) Clustering all radar collisions of each frame;
2) obtaining the speed/position/RCS of each cluster;
3) calculating the object prediction position of the next time stamp according to the current time stamp and the position speed of the current object;
4) And completing the matching of the last frame according to all information under the next time stamp, and verifying by using the RCS.
8. the radar group-based vehicle behavior continuous tracking detection method according to claim 3, wherein the implementation procedure of the fifth step is as follows:
1) extracting the characteristics of collision points entering a radar overlapping scanning area;
2) matching the node characteristics obtained by calculation of adjacent radars at the similar time stamps;
3) matching the characteristic nodes;
4) identifying the combination with deviation smaller than a given threshold as the same vehicle;
5) And obtaining the vehicle track connection.
9. The radar group-based vehicle behavior continuous tracking detection method according to claim 3, wherein the implementation procedure of the sixth step is as follows:
1) vehicle driving behavior feature analysis
And connecting the position coordinates under the unified coordinate system according to a time sequence to obtain the running track of the vehicle.
Whether the vehicle has illegal lane changing behavior can be detected by analyzing the running track; by analyzing the speed value, whether overspeed and random parking behaviors exist in the driving process of the vehicle can be detected; the instantaneous acceleration of the vehicle can be obtained by deriving the speed value from the time variable; analyzing the magnitude of the acceleration value, and detecting whether sudden braking behavior exists in the driving behavior process of the vehicle by combining related theoretical threshold values;
2) Vehicle driving behavior process reconstruction
And updating the data record corresponding to each target vehicle passing through the monitoring area again: vehicle ID number, time point, position coordinate under unified coordinate system, speed, acceleration;
The driving state data of each vehicle are correlated in time and space and matched with a unique target vehicle; the instantaneous driving state of the vehicle under any space-time condition can be fixed by taking time and space as coordinate axes, the whole driving process of the vehicle passing through a monitoring area can be reconstructed, and the driving process can be displayed in a visual interface.
10. The radar group-based vehicle behavior continuous tracking detection method according to claim 3, wherein the implementation procedure of the seventh step is as follows:
the vehicle driving state display module reads the track, speed, acceleration and time information of each passing vehicle in the monitoring range from the database, completes the visual display of the driving behavior process of the vehicle on a computer, realizes the redisplay of the traffic flow running process in the monitoring range and the monitoring time period, and simultaneously highlights the behaviors of violation lane changing, overspeed, sudden braking, random parking and the like in the driving process.
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