CN110596690A - Speed of a motor vehicle detects linked system based on street lamp - Google Patents
Speed of a motor vehicle detects linked system based on street lamp Download PDFInfo
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- CN110596690A CN110596690A CN201910735573.1A CN201910735573A CN110596690A CN 110596690 A CN110596690 A CN 110596690A CN 201910735573 A CN201910735573 A CN 201910735573A CN 110596690 A CN110596690 A CN 110596690A
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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
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention relates to a speed detection linkage system based on a street lamp. The system may include a street light and a radar control subsystem. The street lamp is provided with a radar detector which is disposed facing the road and is used to detect vehicles on the road to generate a detection signal. The radar control subsystem comprises a modeling module, a real-time positioning module and a feedback compensation module. The vehicle speed can be detected through a plurality of radars, and the measurement results of the plurality of radars are fused so as to obtain a more accurate vehicle speed measurement value; meanwhile, data learning is achieved through correction of a plurality of radar data, so that detection accuracy of the system is improved, and reliability of detection results is guaranteed.
Description
Technical Field
The invention relates to a municipal street lamp system, in particular to a street lamp-based vehicle speed detection linkage system.
Background
The vehicle speed detector is an instrument for checking the speed of a running vehicle. Most commonly, a hand-held radar doppler detector, which is inexpensive and practical; it is shaped like a pistol, commonly known as a "radar gun". The principle is based on the doppler effect, i.e. the vehicle speed is proportional to the microwave frequency variation. The detector emits microwave, and the Doppler effect of the reflected wave can indicate the position and speed of the automobile. The traffic police can observe the traffic police by the traffic police at the roadside, and can also observe the traffic police by a vehicle, and penalizes if an overspeed person is found. The detection types include rubber tubes, photoelectric tubes, timing photography, continuous photography, aerial photography, and the like. However, with a single radar, the problem of detection accuracy may occur, and if the speed measurement accuracy cannot be guaranteed, the speed measurement effect is correspondingly affected.
Disclosure of Invention
In view of this, the present invention provides a speed detection linkage system based on a street lamp.
In one aspect of the invention, a street lamp-based vehicle speed detection linkage system is provided. The vehicle speed detection linkage system can comprise a plurality of street lamps and a radar control subsystem.
In some examples, the street light is provided with a radar detector disposed facing the road and configured to detect an object moving on the road to generate a detection signal.
In some examples, the radar control subsystem includes a modeling module, a real-time positioning module, and a feedback compensation module.
In some examples, the modeling module is configured with a modeling strategy that includes a pre-established road coordinate model and identifies a location of each of the radar detectors in the road coordinate model.
In some examples, the real-time positioning module is configured with a positioning strategy and a plurality of positioning units, each positioning unit is arranged corresponding to a radar detector to process the detection signals of the radar detector; the positioning unit generates a corresponding vehicle-radar position relation in real time according to the detection signal of the radar detector; the vehicle-radar positional relationship reflects a positional relationship between a moving object on a road and the radar detector within a coverage area of the radar detector; the positioning strategy includes a positioning algorithm configured to determine an individual position measurement of a vehicle under test in the road coordinate model based on each of the vehicle-radar position relationships.
In some examples, there is an overlap between detection areas of a plurality of the radar detectors so that the detection areas of the radar detectors cover a target road; defining a plurality of independent road detection areas in the road coordinate model, wherein a plurality of radar detectors covering the same independent road detection area are taken as an independent detection group; in each of the independent detection sets, a detection weight is configured for each of the radar detectors.
In some examples, the feedback compensation module includes a positioning feedback strategy and a compensation correction strategy; the positioning feedback strategy is configured to: at the same moment, obtaining all independent position measurement results of the detected vehicle, which are detected by a plurality of radar detectors in the same independent detection group, and calculating by using the detection weight as a weight value and a weighting algorithm to obtain the actual measurement position of the detected vehicle; the compensation correction strategy is configured to: and calculating a measurement error value for each independent position measurement result according to the actual measurement position of the vehicle to be measured, and correcting the positioning algorithm according to the obtained measurement error value so that each independent position measurement result approaches to the actual measurement position of the vehicle.
The technical effects of the invention are mainly reflected in the following aspects: the vehicle speed can be detected through a plurality of radars, and the measurement results of the plurality of radars are fused so as to obtain a more accurate vehicle speed measurement value; meanwhile, data learning is achieved through correction of a plurality of radar data, so that detection accuracy of the system is improved, and reliability of detection results is guaranteed.
Drawings
The novel features believed characteristic of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings of which:
fig. 1 is a schematic view of an arrangement of a street light according to an exemplary embodiment of the present invention;
FIG. 2 is a system architecture schematic of a street light based vehicle speed detection linkage system according to an exemplary embodiment of the present invention; and
FIG. 3 is a control strategy schematic according to an exemplary embodiment of the present invention.
Reference numerals: 1. a street lamp; 11. a radar detector; 12. a communicator; 2. a radar control subsystem; 21. a modeling module; 22. a real-time positioning module; 23. a feedback compensation module; 24. a trajectory generation module; 25. a speed detection module; s1, modeling strategy; s2, positioning strategy; s31, positioning feedback strategy; s32, compensating and correcting strategies; s33, shape feedback strategy; s34, shape compensation strategy.
Detailed Description
While preferred embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention.
Referring to fig. 1, the vehicle speed detection linkage system based on street lamps of the present invention may include a plurality of street lamps 1. The street lamp 1 is provided with a radar detector 11. The radar detector 11 is disposed facing the road and is used to detect an object moving on the road to generate a detection signal. The radar detector 11 of the present invention can detect a vehicle using the doppler principle. It should be noted that the direction of the vehicle can be determined by the direction of the reflected signal (the direction of the road is taken as a basis for assisting the determination of the position), and the following is to establish the position determination based on the feedback of the instantaneous movement of the vehicle. In some examples, the street lamp 1 is further provided with a communicator 12, and the communicator 12 is used for realizing data interaction among a plurality of street lamps 1.
The speed detection linkage system based on the street lamp further comprises a radar control subsystem 2. The radar control subsystem 2 may include a modeling module 21, a real-time positioning module 22, and a feedback compensation module 23.
In some examples, the modeling module 21 is configured with a modeling strategy S1. The modeling strategy S1 includes a road coordinate model that is established in advance, and the position of each of the radar detectors 11 is specified in the road coordinate model. The working logic of the modelling module 21 will first be explained: since the position of the vehicle needs to be determined, the road needs to be modeled. Besides the basic coordinate system, the model also marks the specific coordinate of the radar in the coordinate system according to the specific position of the radar. Thus, the relative pose relationship between the radars can be judged. Meanwhile, according to the parameters of the radar, the detection position and the detection range of the radar can be determined, and a data basis is established for judging the position of the vehicle.
In some examples, the real-time location module 22 may be configured with a location policy S2 and several location units. Each of the positioning units is disposed corresponding to a radar detector 11 to process a detection signal of the radar detector 11. The positioning unit generates a corresponding vehicle-radar position relationship in real time from the detection signal of the radar detector 11. The vehicle-radar positional relationship reflects the positional relationship between the vehicle on the road and the radar detector 11 within the coverage area of the radar detector 11. The positioning policy S2 may include a positioning algorithm. The positioning algorithm is configured to: determining an independent position measurement of a north vehicle in the road coordinate model from each vehicle-radar position relationship.
There are two algorithms for locating the position of a vehicle using a radar detector. In the first algorithm, each radar detector comprises a plurality of radar detection units with different array setting angles. The direction of the vehicle can be determined according to the angle of the reflected signal detected by the radar detector, and the distance of the vehicle is determined according to the time difference of the reflected signal, so that the positioning of the vehicle is realized. Meanwhile, according to the number and position of the radar detection units and the reflected signals detected by the radar detectors, the corresponding vehicle shape can be determined. In a second algorithm, a signal is transmitted by the radar detection unit that exactly covers the detection area. Since the driving direction of the vehicle is known, when the radar detects the reflected signal, the vehicle is judged to be located at the initial position of the detection area, and therefore position detection is achieved. It can be found that the two methods have the disadvantage of large measurement error.
In some examples of the present invention, there is an overlap between the detection areas of the plurality of radar detectors 11 so that the detection area of the radar detector/radar control subsystem 2 can cover the entirety of the target road. In the road coordinate model, a plurality of independent road detection areas are defined, the radar detectors 11 covering the same independent road detection area are taken as an independent detection group, and in each independent detection group, a preset detection weight is configured for each radar detector 11.
In order to improve the accuracy of radar measurement, the invention compensates the measurement result of each radar detector in the unified independent detection group in a detection compensation mode. For example, during the movement of the vehicle under test, A, B, C, D radar detectors in the same independent detection group all measure the position of the vehicle, and obtain 4 independent position coordinate values on the plane where the road is located. Then, the four plane coordinates are weighted by using the preset detection weight set for each radar detector, and the weighted position coordinates of the vehicle are obtained.
In the above example, for example, the position coordinates of the vehicle under test measured by the A, B, C, D four radar detectors are (X1, Y1), (X2, Y2), (X3, Y3), and (X4, Y4), respectively, and the actual position of the vehicle under test obtained through the weighting calculation is (X, Y). Wherein, X is a.x 1+ b.x 2+ c.x 3+ d.x 4, Y is a.y 1+ b.y 2+ c.y 3+ d.y 4. a. b, c and d are detection weights of A, B, C, D four radar detectors, and a + b + c + d is equal to 1. The detection weight corresponding to each radar detector is related to the relative position of the radar detector and the detected vehicle. Alternatively, the detection weight corresponding to each radar detector is related to the accuracy of the historical detection of that radar detector.
Based on this principle, in some examples, the feedback compensation module 23 of the radar control subsystem 2 may include a positioning feedback strategy S31 and a compensation correction strategy S32. The positioning feedback strategy S31 is configured to: and at the same moment, obtaining all the independent position measurement results of the detected vehicle, which are detected by a plurality of radar detectors in the same independent detection group, and calculating by using the detection weight as a weight value and a weighting algorithm to obtain the actual measurement position of the detected vehicle.
After the actual position of the vehicle under test is obtained, each radar detector may be calibrated using the weighted actual position to make the position measurement of the radar detector more accurate. For example, the correction amount for the radar detector A may be (n (X-X1), m (Y-Y1)). Wherein n and m are the X coordinate correction ratio and the Y coordinate correction ratio, respectively. The values of n and m may be, for example, less than 0.1. With this calibration, as the data of the position measurement increases, the measurement result of each radar detector becomes more accurate, thereby ensuring the reliability of the measurement result.
Based on this principle, in some instances, the compensatory corrective strategy S32 is configured to: and calculating a measurement error value for each independent position measurement result according to the actual measurement position of the vehicle to be measured, and correcting the positioning algorithm according to the obtained measurement error value so that each independent position measurement result approaches to the actual measurement position of the vehicle.
In some examples, the detection weight may be inversely proportional to a distance of the independent road detection area to the corresponding radar detector. For example, the farther from the independent road detection area, the smaller the detection weight of the radar detector. In some examples, determining the independent location measurement of the vehicle further includes establishing a timestamp corresponding to the independent location measurement. The positioning feedback strategy S31 is configured to determine the time of measurement based on the timestamp.
In some examples, the positioning strategy S2 further includes a vehicle shape measurement algorithm that includes determining vehicle independent shape measurements in the model coordinate system. The vehicle shape measurement algorithm is configured to determine the shape of the vehicle under test passing through the road coordinate model, thereby achieving accurate measurement detection.
In some examples, the feedback compensation module 23 also includes a shape feedback strategy S33 and a shape compensation strategy S34. The shape feedback strategy S33 is configured to: and at the same moment, obtaining all independent shape measurement results of the detected vehicle, which are detected by a plurality of radar detectors in the same independent detection group, and calculating the actual measurement shape of the detected vehicle by taking the detection weight as a weight value and a weighting algorithm. The compensation correction strategy S32 is configured to: calculating a shape error value for each of the vehicle independent shape measurement results according to the measured shape of the vehicle under test, and correcting the vehicle shape measurement algorithm according to the obtained shape error value so that the independent shape measurement result approaches the measured shape of the vehicle. By an algorithm similar to the above-described weighting algorithm for position measurement, the vehicle shape detected by the radar can be compensated, and the reliability of the vehicle shape measurement can be improved.
In some examples, the street light based vehicle speed detection linkage system of the present invention may further include a trajectory generation module 24. The trajectory generation module 24 is configured to generate a motion trajectory of the vehicle in real time according to the measured position of the vehicle and the measured shape of the vehicle. Because the real-time position of the vehicle is measured, the motion track of the vehicle can be determined by establishing the timestamp, and the effect of auxiliary judgment is achieved.
In some examples, the positioning policy S2 may also include a configuration context data table. Context information and the positioning algorithm corresponding to each context information may be configured in the context data table. The positioning policy S2 is further configured to: and determining situation information according to the current environmental factors, and determining the corresponding positioning algorithm. In some examples, the context information may include a vehicle speed factor and a distance factor. The vehicle speed factor reflects the vehicle speed of the vehicle under test, and the distance factor reflects the distance between the vehicle under test and the radar detector 11. In some examples, the contextual information may include a temperature factor and a humidity factor. The temperature factor reflects the temperature of the current environment and the humidity factor reflects the humidity of the current environment.
The reason for setting the context data table is that the accuracy of radar ranging is affected by environmental factors. Therefore, different positioning algorithms can be configured according to different situations by establishing the corresponding situation table, so that the detection precision can be ensured under various external environments. For example, 10 environmental factors and 10 corresponding positioning algorithms may be stored in the context data table; in the case of a humidity of 40% and a temperature of 37 degrees celsius, the position measurement of the vehicle can be performed using a corresponding positioning algorithm, thereby ensuring the measurement accuracy in this particular environment.
In some examples, the street lamp-based vehicle speed detection linkage system of the invention may further comprise a vehicle speed detection module. The vehicle speed detection module is configured to generate vehicle speed information of a vehicle based on a plurality of measured positions of the vehicle and time corresponding to the plurality of measured positions. For example, based on the distance between the measured positions of the vehicle under test at least two points in time, the travel speed of the vehicle under test between the two points in time can be calculated. In some examples, the street lamp-based vehicle speed detection linkage system may further include a light controller configured to control the operation of the street lamp based on the vehicle speed information. For example, the street lamp is turned on only when a vehicle passes through the street lamp, or the street lamp is turned on only when the speed of the vehicle reaches a preset value, so that the waste of energy is avoided.
While preferred embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous modifications, changes, and substitutions will now occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.
Claims (10)
1. A speed of a motor vehicle detects linked system based on street lamp includes: a plurality of street lamps, and a radar control subsystem,
the street lamp is provided with a radar detector which is arranged facing a road and is used for detecting vehicles on the road to generate a detection signal;
the radar control subsystem comprises a modeling module, a real-time positioning module and a feedback compensation module;
the modeling module is configured with a modeling strategy, the modeling strategy comprises a pre-established road coordinate model, and the position of each radar detector is marked in the road coordinate model;
the real-time positioning module is configured with a positioning strategy and a plurality of positioning units, and each positioning unit corresponds to a radar detector so as to process the detection signal of the radar detector; the positioning unit generates a corresponding vehicle-radar position relation in real time according to the detection signal of the radar detector; the vehicle-radar position relationship reflects the position relationship between the vehicle on the road and the radar detector within the coverage area of the radar detector; the positioning strategy comprises a positioning algorithm configured to determine an independent position measurement of a vehicle under test in the road coordinate model according to each of the vehicle-radar position relationships;
wherein there is an overlap between detection areas of the plurality of radar detectors so that the detection areas of the radar detectors cover a target road; defining a plurality of independent road detection areas in the road coordinate model, wherein a plurality of radar detectors covering the same independent road detection area are taken as an independent detection group; configuring a detection weight for each of the radar detectors in each of the independent detection sets;
the feedback compensation module comprises a positioning feedback strategy and a compensation correction strategy; the positioning feedback strategy is configured to: at the same moment, obtaining all independent position measurement results of the detected vehicle, which are detected by a plurality of radar detectors in the same independent detection group, and calculating by using the detection weight as a weight value and a weighting algorithm to obtain the actual measurement position of the detected vehicle; the compensation correction strategy is configured to: and calculating a measurement error value for each independent position measurement result according to the actual measurement position of the vehicle to be measured, and correcting the positioning algorithm according to the obtained measurement error value so that each independent position measurement result approaches to the actual measurement position of the vehicle.
2. The street light based vehicle speed detection linkage system of claim 1, wherein the detection weight is inversely proportional to a distance of the independent road detection zone to the corresponding radar detector.
3. The street light based vehicle speed detection linkage system of claim 1, wherein determining the independent location measurement of the vehicle further comprises establishing a timestamp corresponding to the independent location measurement, the positioning feedback strategy configured to determine a time of measurement based on the timestamp.
4. The street light based vehicle speed detection linkage system of claim 1, wherein the positioning strategy further comprises a vehicle shape measurement algorithm configured to determine individual shape measurements of a vehicle under test in the road coordinate model;
wherein the feedback compensation module further comprises a shape feedback strategy and a shape compensation strategy; the shape feedback strategy is configured to: at the same moment, all independent shape measurement results of the detected vehicle, which are detected by a plurality of radar detectors in the same independent detection group, are obtained, and the detected shape of the detected vehicle is calculated by taking the detection weight as a weight value and a weighting algorithm; the shape compensation strategy is configured to: calculating a shape error value for each of the vehicle independent shape measurement results according to the measured shape of the vehicle under test, and correcting the vehicle shape measurement algorithm according to the obtained shape error value so that the independent shape measurement result approaches the measured shape of the vehicle.
5. The street lamp-based vehicle speed detection linkage system according to claim 4, further comprising a trajectory generation module configured to generate a motion trajectory of a vehicle in real time according to the measured position of the vehicle and the measured shape of the vehicle.
6. The street lamp-based vehicle speed detection linkage system according to claim 1, wherein the positioning strategy is further configured with a context data table, and context information and the positioning algorithm corresponding to each context information are configured in the context data table; the positioning policy is further configured to determine the context information according to current environmental factors, thereby determining the corresponding positioning algorithm.
7. The street lamp-based vehicle speed detection linkage system according to claim 6, wherein the context information includes a vehicle speed factor and a distance factor; the vehicle speed factor reflects the vehicle speed of the vehicle to be tested, and the distance factor reflects the distance between the vehicle to be tested and the radar detector.
8. The street lamp-based vehicle speed detection linkage system according to claim 6, wherein the context information includes a temperature factor and a humidity factor; the temperature factor reflects a temperature of a current environment and the humidity factor reflects a humidity of the current environment.
9. The street lamp-based vehicle speed detection linkage system according to claim 3, further comprising a vehicle speed detection module configured to: and generating vehicle speed information of the vehicle based on the plurality of measured positions of the vehicle and the time corresponding to the plurality of measured positions.
10. The street lamp-based vehicle speed detection linkage system according to claim 9, further comprising a light controller configured to control operation of the street lamp based on the vehicle speed information of a vehicle.
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