CN110930721A - Road vehicle monitoring system and method based on soft handover radar - Google Patents
Road vehicle monitoring system and method based on soft handover radar Download PDFInfo
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- CN110930721A CN110930721A CN201911216682.9A CN201911216682A CN110930721A CN 110930721 A CN110930721 A CN 110930721A CN 201911216682 A CN201911216682 A CN 201911216682A CN 110930721 A CN110930721 A CN 110930721A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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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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Abstract
The invention provides a road vehicle monitoring system and method based on soft handover radar, which comprises a control center, a set station, radar stations, wherein the radar stations are composed of forward radars, directional radars and a data transmission module, and the forward radars and the reverse radars are distributed through a single station, so that the single station radar can cover 1km to the maximum, and the number of the stations is greatly reduced. The radar monitors (R, V, theta) of a vehicle in a coverage area, the position and the speed of the vehicle can be obtained, the data transmission module transmits communication of a data ad hoc network to a set station, and at the set station, matching of relevant data is carried out according to the acquired vehicle data of the radar and the camera/ETC reading head, so that specific information of the vehicle is obtained. The invention effectively fuses the camera/ETC reading head, the radar and the communication scheme, realizes the soft switching among the road radars and realizes the all-weather road track monitoring of the vehicle by adopting low cost.
Description
Technical Field
The invention relates to the technical field of highway vehicle monitoring, in particular to a road vehicle monitoring system and method based on a soft handover radar.
Background
Along with the development of highways, the demand of road informatization is more and more important, and especially, the ETC toll collection system is developed comprehensively, toll stations are eliminated, and the demand of tracking the tracks of vehicles on the roads is more and more important. The current road informationization tracking vehicle track mainly adopts the technical scheme of camera, millimeter wave radar, laser radar, camera + radar all-in-one, ETC lane reading head and the like, but the camera is influenced by weather at present, receives the light pollution influence, and the shooting causes light pollution to and the coverage distance is no more than 100m, and ordinary radar can realize all-weather track tracking, but the coverage distance is no more than 200m, can not discern the license plate. Although the camera + radar all-in-one machine combines the advantages of radar and a camera, a license plate can be identified, all-weather track tracking can be achieved, the distance is usually not more than 200m, if the radar distance is increased, the distance is not more than 500m, a single station is not more than 1km, the image track data volume of the camera is large, each station needs high-speed data transmission, and the cost of the whole solution is high. The reading head of the ETC can only carry out recognition card punching according to vehicles in a lane, and track tracking cannot be well realized. There is therefore a need for an integrated, low cost solution for vehicle track following.
Disclosure of Invention
In view of the problems in the prior art, the invention provides a road vehicle monitoring system based on a soft handover radar.
Furthermore, the gathering station comprises a camera/ETC reading head, a data receiving module, a control matching module and a data uploading module; the camera/ETC reading head is matched with data monitored by a radar station to obtain a license plate number, an ID number corresponding to ETC, vehicle type information and position information; the data receiving module is used for receiving data sent by the radar station; the control matching module is used for matching data; and the data uploading module uploads the matched data to the cloud.
Furthermore, the radar station comprises a forward radar, a reverse radar and a digital transmission module, so that the coverage range of the single-station radar reaches 1 km.
Further, the 4-5 radar sites are grouped with a rendezvous site.
A road vehicle monitoring method based on soft handover radar comprises the following steps:
step.1, monitoring the tracks (R, V and theta) of passing vehicles by a radar station and uploading the tracks to a gathering station, wherein R is a distance, V is a speed and theta is a direction angle;
step.2, when the vehicle passes through the gathering station, a camera/ETC reading head in the gathering station identifies the vehicle, obtains the license plate number of the vehicle and the information in the ETC card, and the camera tracks the position, the running speed and the track of the vehicle;
a control matching module in the step.3 set station matches data uploaded by the radar station with data acquired by the camera/ETC reading head, vehicle information monitored by the radar station is calibrated, when a vehicle exits the range of the camera/ETC reading head, the radar station still keeps tracking, and if the vehicle exits the range of the radar station, the vehicle enters the coverage range of the next radar station and continues to keep tracking by the next radar station;
a control matching module in the step.4 set station performs control matching on data in a plurality of radar stations, so that track tracking of soft handover is realized;
and step 5, each gathering station uploads the data to the cloud end, and the motion track and the data of the vehicle in the whole driving period can be obtained.
The invention has the beneficial effects that: the invention provides lane track tracking based on a soft switching radar, which effectively fuses a camera/ETC reading head, a radar and a communication scheme, realizes soft switching among road radars, and realizes all-weather road track monitoring of vehicles by adopting low cost while expanding the coverage area.
Drawings
FIG. 1 is a schematic structural view of the present invention;
in the figure: the system comprises a control center 1, a 2-gathering station, a 3-radar station, a 201-data uploading module, a 202-camera/ETC reading head, a 203-control matching module, a 204-data receiving module, a 301-forward radar, a 302-reverse radar and a 303-data transmission module.
Detailed Description
The invention will be further described with reference to the following drawings and specific examples:
as shown in fig. 1, the invention provides a road vehicle monitoring system based on a soft handover radar, which adopts the technical scheme that the system comprises a control center 1, a set station 2 and a radar station 3, wherein a plurality of radar stations 3 and the set station 2 form a group to meet the requirement of highway segmentation, and the set station 2 is connected with the control center 1 through a cloud end.
Further, the gathering station 2 includes a data uploading module 201, a camera/ETC reading head 202, a control matching module 203 and a data receiving module 204; the camera/ETC reading head 202 is matched with data monitored by the radar station 3 to obtain a license plate number, an ID number corresponding to ETC, vehicle type information and position information; the data receiving module 204 is used for receiving data sent by a radar station; the control matching module 203 is used for matching data; the data uploading module 201 uploads the matched data to the cloud.
Further, the radar station 3 comprises a forward radar 301, a reverse radar 302 and a digital transmission module 303, so that the coverage area of the single-station radar reaches 1 km.
Further, the 4-5 radar stations 3 are grouped with a muster station 2.
A road vehicle monitoring method based on soft handover radar comprises the following steps:
step.1, monitoring the track (R, V, theta) of the passing vehicle by the radar station 3 and uploading the track to the collection station 2, wherein R is the distance, V is the speed, and theta is the direction angle;
step.2, when the vehicle passes through the collection station 2, the camera/ETC reading head 202 in the collection station 2 identifies the vehicle, obtains the license plate number of the vehicle and the information in the ETC card, and the camera tracks the position, the running speed and the track of the vehicle;
the control matching module 203 in the step.3 assembly station 2 matches the data uploaded by the radar station 4 with the data acquired by the camera/ETC reading head 202, calibrates the vehicle information monitored by the radar station 3, keeps tracking the radar station 3 when the vehicle moves out of the range of the camera/ETC reading head 202, enters the coverage range of the next radar station 3 if the vehicle moves out of the range of the radar station 3, and keeps tracking the next radar station 3;
and the control matching module 203 in the step.4 aggregation site 2 controls and matches data in the plurality of radar sites 3, so that the track tracking of soft handover is realized.
Step.5, each collection station 2 uploads the data to the cloud end, and the motion track and the data of the vehicle in the whole driving period can be obtained.
The working principle of the invention is as follows: the forward radar 301 and the backward radar 302 in the radar station 3 detect vehicles in a coverage area to obtain (R, V, θ) of moving vehicles, the camera/ETC read head 202 in the aggregation station 2 can read license plate information of entering vehicles, and the camera can obtain license plate information and tracks in the coverage area. When a certain vehicle enters the camera/ETC reading head 202, the system acquires the license plate of the vehicle and the card information read by the ETC, so that the vehicle is identified and calibrated. The camera in the back can track the position, the running speed and the track of the vehicle in the lane, at the moment, the radar station 3 can simultaneously acquire the track (R, V and theta) of the vehicle, the information is sent to the control matching module 203 of the gathering station 2 through the data transmission module 303, matching is carried out according to the track of the camera and the radar track, and the vehicle information of the radar motion track is calibrated. When a vehicle exits from the coverage of the camera and still falls into the coverage of the radar, the radar can continuously track the track of the vehicle, when the signal of the radar station 3 is lost, the vehicle can fall into the coverage area of the adjacent radar station 3, the two radar stations 3 can transmit the track (R, V, theta) detected by the radar in the coverage area to the control matching module 203 of the aggregation station 2 in the same group through data, the control matching module 203 matches the vehicle information in the two radar stations 3 according to the characteristics of the position, the speed and the like of the vehicle, and therefore the two radar stations 3 realize track tracking of soft switching, and the method can continue to the rest of other radar stations 3 until entering the next aggregation station 2.
Each aggregation site 2 is transmitted to the cloud through the data uploading module 201, data of each aggregation site 2 can be obtained in a cloud data center, relevant vehicle track matching and tracking are well carried out, if in special conditions, radar mismatch vehicles exist in the ith aggregation site 2, and recalibration tracking can be carried out on the (i + 1) th aggregation site 2.
Because the information of the radar station 3 tracking the vehicle is (R, V, theta), the data volume is small, the data transmission can be realized by adopting the self-networking Lora scheme and the like, and the data volume of the radar is integrated, and the data transmission can be realized by adopting the wired/4G/5G data network and the like, wherein the image and the vehicle track camera information are arranged at the set station 2. The whole solution is based on communication design, and based on data flow characteristics, networking is carried out in a layered mode, and cost is low.
Components not described in detail herein are prior art.
Although the present invention has been described in detail with reference to the specific embodiments, the present invention is not limited to the above embodiments, and various changes and modifications without inventive changes may be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (4)
1. The utility model provides a road vehicle monitoring system based on soft handover radar which characterized in that: the system comprises a control center (1), a plurality of radar stations (3) and a plurality of radar stations (2) which form a group, the highway segmentation requirements are met, and the radar stations (2) are connected with the control center (1) through a cloud.
2. The soft handover radar-based road vehicle monitoring system according to claim 1, wherein: the gathering station (2) comprises a data uploading module (201), a camera/ETC reading head (202), a control matching module (203) and a data receiving module (204); the camera/ETC reading head (202) is matched with data monitored by the radar station (3) to obtain a license plate number, an ID number corresponding to ETC, vehicle type information and position information; the data receiving module (204) is used for receiving data sent by the radar station (3); the control matching module (203) is used for matching data; and the data uploading module (201) uploads the matched data to the cloud.
3. The soft handover radar-based road vehicle monitoring system according to claim 1, wherein: the radar station (3) comprises a forward radar (301), a reverse radar (302) and a data transmission module (303), so that the coverage range of the single-station radar reaches 1 km.
4. A road vehicle monitoring method based on soft handover radar is characterized in that: the method comprises the following steps:
step.1, monitoring the tracks (R, V, theta) of passing vehicles by a radar station (3) and uploading the tracks to a gathering station (2), wherein R is a distance, V is a speed, and theta is a direction angle;
step.2, when the vehicle passes through the gathering station (2), a camera/ETC reading head (202) in the gathering station (2) identifies the vehicle, obtains the license plate number of the vehicle and the information in an ETC card, and the camera tracks the position, the running speed and the track of the vehicle;
a control matching module (203) in the step.3 set station (2) matches data uploaded by the radar station (3) with data collected by the camera/ETC reading head (202), vehicle information monitored by the radar station (3) is calibrated, when a vehicle drives out of the range of the camera/ETC reading head (202), the radar station (3) still keeps tracking, and if the vehicle drives out of the range of the radar station (3), the vehicle enters the coverage range of the next radar station (3), and the next radar station (3) continues to keep tracking;
a control matching module (203) in the step.4 gathering station (2) controls and matches data in a plurality of radar stations (3), so that track tracking of soft handover is realized;
and step 5, each gathering station uploads the data to the cloud end, and the motion track and the data of the vehicle in the whole driving period can be obtained.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117421606A (en) * | 2023-11-02 | 2024-01-19 | 成都通广网联科技有限公司 | ETC technology and V2X technology based road sensing method |
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