CN112785733B - Vehicle passing method and ETC system - Google Patents
Vehicle passing method and ETC system Download PDFInfo
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- CN112785733B CN112785733B CN202011571221.6A CN202011571221A CN112785733B CN 112785733 B CN112785733 B CN 112785733B CN 202011571221 A CN202011571221 A CN 202011571221A CN 112785733 B CN112785733 B CN 112785733B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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Abstract
The embodiment of the invention relates to the technical field of transportation, in particular to a vehicle passing method and device and an ETC system. The method comprises the following steps: identifying vehicle information and position information of a target vehicle entering a detection area; according to the position information, sequentially numbering the target vehicles entering the transaction area from the detection area; charging the target vehicle in turn according to the vehicle information and the number; acquiring a first number of the target vehicles which are successfully charged and have continuous numbers from a lifting rod; when the first number is larger than zero, controlling the lifting rod of the lifting rod; judging whether the first number of target vehicles completely pass through the lifting rod or not; if yes, the lifting rod is controlled to fall. According to the method provided by the embodiment of the invention, when the lifting rod is lifted once, a certain number of vehicles can pass through, and compared with the traditional one-rod one-vehicle condition, the vehicle passing efficiency can be remarkably improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of transportation, in particular to a vehicle passing method and device and an ETC system.
Background
According to the requirements of the project construction scheme of the expressway provincial toll station, facilities which need to be manually charged by the expressway provincial toll station are comprehensively removed. The electronic charging system without manual charging relies on an ETC system and an intelligent video technology, and a free flow virtual station and an inspection system are newly built, so that a part-level and provincial automatic charging and settlement system can be realized, and the requirement also provides higher challenges for the existing ETC system.
However, in implementing embodiments of the present invention, the inventors found that: currently, in the ETC system, when a vehicle is charged successfully, the lifting rod is lifted and dropped once, and the passing efficiency of the vehicle is low.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention provide a method, apparatus, and ETC system for vehicle traffic that overcomes or at least partially solves the foregoing problems.
According to an aspect of an embodiment of the present invention, there is provided a vehicle passing method, applied to an ETC system, including: identifying vehicle information and position information of a target vehicle entering a detection area; according to the position information, sequentially numbering the target vehicles entering the transaction area from the detection area; charging the target vehicle in turn according to the vehicle information and the number; acquiring a first number of the target vehicles which are successfully charged and have continuous numbers from a lifting rod; when the first number is larger than zero, controlling the lifting rod of the lifting rod; judging whether the first number of target vehicles completely pass through the lifting rod or not; if yes, the lifting rod is controlled to fall.
In an alternative manner, the step of identifying the vehicle information and the position information of the target vehicle entering the detection area further includes: judging whether a vehicle enters the detection area; if yes, broadcasting a wake-up signal, wherein the wake-up signal is used for waking up a vehicle-mounted unit of the vehicle; detecting whether an on-board unit of the vehicle is awakened; if yes, the vehicle where the awakened vehicle-mounted unit is located is considered as the target vehicle; identifying vehicle information of the target vehicle according to an on-board unit of the target vehicle; transmitting radar signals; receiving an echo signal of the radar signal and converting the echo signal into digital sampling data; identifying the target vehicle according to the digital sampling data; and acquiring the identified position information of the target vehicle according to the digital sampling data.
In an optional manner, the step of identifying the target vehicle according to the digital sampling data further includes: performing two-dimensional Fourier transform on the digital sampling data to form two-dimensional Fourier transform data; detecting the value of a peak point in the two-dimensional Fourier transform data by using a constant false alarm detection algorithm; acquiring a threshold value of a constant false alarm detection algorithm; judging whether the value of the peak value point is larger than the threshold value or not; if yes, judging that the peak point with the value larger than the threshold value is the target point, and the vehicle corresponding to the target point is the target vehicle.
In an optional manner, the step of obtaining the threshold value of the constant false alarm detection algorithm further includes: taking the peak point as the center, and acquiring the adjacent distance dimension and velocity dimension in the two-dimensional Fourier transform dataReference cell->Values of the individual reference cells; for said->The values of the reference cells are ordered to obtain +.>The values of the large reference cells; according to said->And->Calculating a threshold factor of a constant false alarm detection algorithm; -putting the->And multiplying the value of the large reference unit with the threshold factor of the constant false alarm detection algorithm to obtain the threshold value of the constant false alarm detection algorithm.
In an alternative, the method is based on the followingAnd->The formula for calculating the threshold factor of the constant false alarm detection algorithm is as follows:
wherein the saidIs a threshold factor of a constant false alarm detection algorithm, which is +.>Is the constant false alarm probability, the +.>Is a fixed value, said->For the number of reference units, said +.>The formula is satisfied: />。
In an optional manner, the step of acquiring the identified location information of the target vehicle according to the digital sampling data further includes: performing Fourier transform on the distance dimension of the digital sampling data to form Fourier transform data; and extracting the position information of the target vehicle from the Fourier transform data.
In an alternative manner, the step of determining whether the first number of target vehicles all pass through the lifter further includes: subtracting one from the first number when each target vehicle passes through the lifting rod to obtain a second number; judging whether the second number is zero; if so, it is determined that all of the first number of target vehicles pass through the lifter.
According to an aspect of an embodiment of the present invention, there is provided a vehicle passing apparatus, applied to an ETC system, including: an identification module for identifying vehicle information and position information of a target vehicle entering the detection area; the numbering module is used for sequentially setting numbers for the target vehicles entering the transaction area from the detection area according to the position information; the charging module is used for charging the target vehicle in sequence according to the vehicle information and the number; an acquisition module for acquiring a first number of the target vehicles which are successfully charged and have continuous numbers from the lifting rod; the lifting rod module is used for controlling lifting rods of the lifting rods when the first number is larger than zero; the judging module is used for judging whether the first number of target vehicles completely pass through the lifting rod; and the drop rod module is used for controlling the lifting rods to drop rods if the first number of target vehicles completely pass through the lifting rods.
In an alternative manner, the identification module includes: a first judging unit for judging whether a vehicle enters the detection area; the broadcasting unit is used for broadcasting a wake-up signal if a vehicle enters the detection area, wherein the wake-up signal is used for waking up a vehicle-mounted unit of the vehicle; the detection unit is used for detecting whether the vehicle-mounted unit of the vehicle is awakened; the identification unit is used for identifying the vehicle where the awakened vehicle-mounted unit is located as the target vehicle if the awakened vehicle-mounted unit of the vehicle is detected; a first identifying unit configured to identify vehicle information of the target vehicle according to an on-vehicle unit of the target vehicle; a transmitting unit for transmitting radar signals; the receiving unit is used for receiving the echo signals of the radar signals and converting the echo signals into digital sampling data; the second identification unit is used for identifying the target vehicle according to the digital sampling data; and the third identification unit is used for acquiring the identified position information of the target vehicle according to the digital sampling data.
In an alternative manner, the second identifying unit is specifically configured to: performing two-dimensional Fourier transform on the digital sampling data to form two-dimensional Fourier transform data; detecting the value of a peak point in the two-dimensional Fourier transform data by using a constant false alarm detection algorithm; acquiring a threshold value of a constant false alarm detection algorithm; judging whether the value of the peak value point is larger than the threshold value or not; if yes, judging that the peak point with the value larger than the threshold value is the target point, and the vehicle corresponding to the target point is the target vehicle.
In an optional manner, the specific implementation manner of obtaining the threshold value of the constant false alarm detection algorithm is as follows: taking the peak point as the center, and acquiring the adjacent distance dimension and velocity dimension in the two-dimensional Fourier transform dataReference cell->Values of the individual reference cells; for said->The values of the reference cells are ordered to obtain +.>The values of the large reference cells; according to said->And->Calculating a threshold factor of a constant false alarm detection algorithm; -putting the->And multiplying the value of the large reference unit with the threshold factor of the constant false alarm detection algorithm to obtain the threshold value of the constant false alarm detection algorithm.
In an alternative, the method is based on the followingAnd->The formula for calculating the threshold factor of the constant false alarm detection algorithm is as follows:
wherein the saidIs a threshold factor of a constant false alarm detection algorithm, which is +.>Is the constant false alarm probability, the +.>Is a fixed value, said->For the number of reference units, said +.>The formula is satisfied: />。
In an alternative manner, the second identifying unit is specifically configured to: performing Fourier transform on the distance dimension of the digital sampling data to form Fourier transform data; and extracting the position information of the target vehicle from the Fourier transform data.
In an alternative manner, the judging module includes: the calculating unit is used for subtracting one from the first number when each target vehicle passes through the lifting rod to obtain a second number; a second judging unit, configured to judge whether the second number is zero; and the judging unit is used for judging that all the first number of target vehicles pass through the lifting rod if the second number is zero.
According to an aspect of an embodiment of the present invention, there is provided an ETC system including: at least one processor, and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.
The embodiment of the invention has the beneficial effects that: compared with the existing vehicle passing realization method, the vehicle passing realization method can realize that a certain number of vehicles can pass through the lifting rod when the lifting rod is lifted once, and compared with the traditional one-rod vehicle, the vehicle passing efficiency can be remarkably improved.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
FIG. 1 is a flow chart of a method for vehicle traffic provided by an embodiment of the present invention;
fig. 2 is a schematic flow chart of identifying vehicle information and position information of a target vehicle entering a detection area according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a reference cell centered at a peak point according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of determining whether a first number of target vehicles all pass through the lifter according to the embodiment of the present invention;
FIG. 5 is a schematic view of a vehicle passing device according to an embodiment of the present invention;
fig. 6 is a schematic hardware configuration diagram of an ETC system for performing a vehicle passing method according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
In addition, the technical features mentioned in the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a vehicle passing method according to an embodiment of the present invention, where the vehicle passing method is applied to an ETC system, and the method includes the following steps:
step S101, vehicle information and position information of a target vehicle entering a detection area are identified.
Wherein the detection area is an area irradiated by radar in the ETC system.
Wherein the target vehicle is a vehicle that enters the detection zone and is about to pass through the lifter of the transaction zone.
Wherein the vehicle information includes a vehicle type, and the ETC system includes a vehicle charging server that can charge a target vehicle according to a different vehicle type.
Wherein the location information identifies the location of the target vehicle, and by identifying the location information of the target vehicle, vehicles approaching the lifter may be charged first according to the location information when the vehicles enter the transaction area.
In some embodiments, referring to fig. 2, step S101 includes the following steps:
step S1011, determining whether a vehicle enters the detection area, if yes, executing step S1012.
The radar in the ETC system continuously transmits radar signals outwards, when a vehicle enters a detection area, namely when the vehicle enters an area irradiated by the radar, echo signals aiming at the transmitted radar signals are generated, and the radar can recognize that the vehicle enters the detection area.
Step S1012, broadcasting a wake-up signal, wherein the wake-up signal is used to wake up an on-board unit of the vehicle.
In some embodiments, the radar includes an antenna box for broadcasting a wake-up signal.
The vehicle-mounted unit of the vehicle may communicate with the radar.
In step S1013, it is detected whether or not the on-board unit of the vehicle is awakened, and if so, step S1014 is executed.
The on-board unit of the vehicle will be able to communicate with the radar if it is awake, and therefore it can be detected whether there is an on-board unit of the vehicle awake.
Step S1014, the vehicle in which the awakened in-vehicle unit is located is determined as the target vehicle.
Step S1015, identifying vehicle information of the target vehicle according to an on-board unit of the target vehicle.
Through the vehicle-mounted unit, the radar can recognize vehicle information.
Step S1016, transmitting a radar signal.
Step S1017, receiving an echo signal of the radar signal, and converting the echo signal into digital sampling data.
The transmitted radar signal adopts a rapid frequency modulation signal, and the echo signal is a linear frequency modulation signal.
And converting the received echo signals of the radar signals to form digital sampling data so as to facilitate the subsequent acquisition of the position information, the speed information and the lane information of the target vehicle.
Step S1018, identifying the target vehicle according to the digital sampling data.
Since the received echo signal of the radar signal is interfered by noise, clutter, etc., it is necessary to extract the data of the target vehicle from the formed analog-digital collected data, and in some embodiments, step S1018 specifically includes: performing two-dimensional Fourier transform on the digital sampling data to form two-dimensional Fourier transform data; detecting the value of a peak point in the two-dimensional Fourier transform data by using a constant false alarm detection algorithm; acquiring a threshold value of a constant false alarm detection algorithm; judging whether the value of the peak value point is larger than the threshold value or not; if yes, judging that the peak point with the value larger than the threshold value is the target point, and the vehicle corresponding to the target point is the target vehicle.
When the value of the peak point is less than or equal to the threshold value, the peak point will be considered as a noise point and will be discarded. By the method, the target vehicle can be accurately identified, the accuracy of judging the position information, the speed information and the lane information of the target vehicle is further improved, and when the identified position information, the speed information and the lane information of the target vehicle are accurately judged, the smooth passing of the vehicle through the lifting rod of the transaction area can be ensured, and the passing rate of the vehicle through the lifting rod is further improved.
The method for obtaining the threshold value of the constant false alarm detection algorithm may be to obtain the distance dimension and the speed dimension adjacent in the two-dimensional fourier transform data by taking the peak point as a centerReference cell->The values of the reference cells. For said->Values of individual reference unitsOrdering to obtain->The value of a large reference cell. According to said->And->And calculating a threshold factor of the constant false alarm detection algorithm. -putting the->And multiplying the value of the large reference unit with the threshold factor of the constant false alarm detection algorithm to obtain the threshold value of the constant false alarm detection algorithm.
Wherein said is according to saidAnd->The formula for calculating the threshold factor of the constant false alarm detection algorithm is as follows:
wherein the saidIs a threshold factor of a constant false alarm detection algorithm, which is +.>Is the constant false alarm probability, the +.>Is a fixed value, said->For the number of reference units, said +.>The formula is satisfied: />。
For example, referring to fig. 3, the black solid box in fig. 3 is the peak point, range in fig. 3 is the distance dimension, and Doppler is the velocity dimension. Selecting six data units adjacent in the distance dimension and five data units adjacent in the speed dimension by taking a black solid square as a center, wherein 30 reference units including the peak point are included, namely30. Ordering the values of 30 above reference units to obtain +.>The value of a large reference cell. In some embodiments, when the number of reference cells is relatively large, +.>When the number of reference cells is relatively small, it can be selectedIs closest to->Is to ensure ∈>Is a positive integer. For the case of 30 reference cells described above,22.5, the positive integer nearest to 22.5 is 22 +.>22.
Step S1019, acquiring the identified position information of the target vehicle according to the digital sampling data.
One implementation way of acquiring the identified position information of the target vehicle according to the digital sampling data is to perform fourier transform on a distance dimension of the digital sampling data to form fourier transform data; and extracting the position information of the target vehicle from the Fourier transform data. After the position information of the target vehicle is acquired, lane information of the lane in which the target vehicle is located is also acquired.
The speed dimension of the digital sampled data is fourier transformed to form fourier transform data in the speed dimension, and the speed information of the target vehicle can be extracted from the fourier transform data in the speed dimension.
Step S102, according to the position information, serial numbers are sequentially set for the target vehicles entering the transaction area from the detection area.
When the target vehicles in the transaction area from the detection area are sequentially numbered, a positive sequence method may be used.
The transaction area refers to an ETC lane in which no-stop tolling can be performed.
And step S103, charging is sequentially carried out on the target vehicle according to the vehicle information and the number.
And charging the target vehicles in sequence according to the vehicle information and the numbers, namely charging the target vehicles close to the lifting rod first, so that the target vehicles close to the lifting rod can pass through the lifting rod first, the target vehicles in the transaction area are prevented from waiting for a long time, and the passing efficiency of the vehicles passing through the lifting rod is improved.
Step S104, a first number of the target vehicles with consecutive numbers is acquired, which are successfully charged and which start from the lifting lever.
For example, vehicles in the transaction area are numbered 1, 2, 3, 4, 5 and 6, wherein 1, 2, 3, 5 and 6 are charged successfully, the target vehicles with consecutive numbers from the lift pole are vehicles numbered 1, 2 and 3, and the first number is 3.
And step S105, controlling the lifting rod to lift the lifting rod when the first number is larger than zero.
And if the first number is greater than zero, indicating that the charging of the target vehicle is successful from the lifting rod, and controlling the lifting rod to lift the lifting rod at the moment so as to facilitate the passing of the target vehicle with successful charging.
Step S106, determining whether all the first number of target vehicles pass through the lifting rod, if yes, executing step S107.
It will be appreciated that when the first number of target vehicles do not pass through the lifter, the lifter is controlled to maintain the lifter state.
In some embodiments, referring to fig. 4, step S106 includes the steps of:
in step S1061, when each of the target vehicles passes through the lifter, the first number is reduced by one to obtain a second number.
Step S1062, determining whether the second number is zero, if yes, executing step S1063.
If the second number is not zero, it indicates that the first number of target vehicles still have target vehicles that do not pass the lifter.
In step S1063, it is determined that all of the first number of target vehicles pass through the lifter.
In some embodiments, the method of determining whether the first number of target vehicles all pass through the lifter may further be to obtain a third number of target vehicles passing through the lifter; and when the third number is equal to the first number, judging that all the first number of target vehicles pass through the lifting rod, and controlling the lifting rod to drop.
And step S107, controlling the lifting rod to fall.
It should be noted that, for example, the vehicles in the transaction area are numbered 1, 2, 3, 4, 5, and 6, and where 1, 2, 3, 5, and 6 are charged successfully, the target vehicles having consecutive numbers from the lifting lever are the vehicles numbered 1, 2, and 3, and the first number is 3. For the vehicle No. 4, a manual process is required. And when the target vehicle with the number 4 passes through the lifting rod, the ETC system acquires the first number of the target vehicles with the continuous numbers from the lifting rod, which are successful in charging, wherein the target vehicles with the continuous numbers from the lifting rod are vehicles with the numbers 5 and 6, and the first number is 2.
In the embodiment of the invention, the vehicle information and the position information of the target vehicle entering the detection area are identified; according to the position information, sequentially numbering the target vehicles entering the transaction area from the detection area; charging the target vehicle in turn according to the vehicle information and the number; acquiring a first number of the target vehicles which are successfully charged and have continuous numbers from a lifting rod; when the first number is larger than zero, controlling the lifting rod of the lifting rod; judging whether the first number of target vehicles completely pass through the lifting rod or not; if the lifting rod falls down, the lifting rod can pass through a certain number of vehicles when lifting the lifting rod once, and compared with the traditional one-vehicle condition, the vehicle passing efficiency can be remarkably improved.
Example two
Referring to fig. 5, fig. 5 is a schematic diagram of an apparatus for vehicle passing according to an embodiment of the present invention, where the apparatus 400 includes: an identification module 401 for identifying vehicle information and position information of a target vehicle entering the detection area; a numbering module 402, configured to sequentially set numbers for the target vehicles entering a transaction area from a detection area according to the location information; a charging module 403, configured to charge the target vehicle in sequence according to the vehicle information and the number; an acquisition module 404 for acquiring a first number of the target vehicles having consecutive numbers from the lifting lever, the first number being successful in charging; a lifting rod module 405, configured to control lifting rods of the lifting rod when the first number is greater than zero; a determining module 406, configured to determine whether the first number of target vehicles all pass through the lifting rod; the drop bar module 407 is configured to control the lift bar to drop the bar if the first number of target vehicles all pass through the lift bar.
In some embodiments, the identification module 401 includes: a first judging unit 4011 for judging whether or not a vehicle enters the detection area; a broadcasting unit 4012, configured to broadcast a wake-up signal if a vehicle enters the detection area, where the wake-up signal is used to wake-up an on-board unit of the vehicle; a detection unit 4013 for detecting whether an on-board unit of a vehicle is awakened; a recognizing unit 4014 for recognizing the vehicle where the awakened vehicle-mounted unit is located as the target vehicle if the awakened vehicle-mounted unit is detected; a first identifying unit 4015 for identifying vehicle information of the target vehicle according to an on-board unit of the target vehicle; a transmitting unit 4016 for transmitting a radar signal; a receiving unit 4017 for receiving an echo signal of the radar signal and converting the echo signal into digital sampling data; a second identifying unit 4018 for identifying the target vehicle based on the digital sample data; a third identifying unit 4019 is used for acquiring the identified position information of the target vehicle according to the digital sampling data.
In some embodiments, the second identifying unit is specifically configured to: performing two-dimensional Fourier transform on the digital sampling data to form two-dimensional Fourier transform data; detecting the value of a peak point in the two-dimensional Fourier transform data by using a constant false alarm detection algorithm; acquiring a threshold value of a constant false alarm detection algorithm; judging whether the value of the peak value point is larger than the threshold value or not; if yes, judging that the peak point with the value larger than the threshold value is the target point, and the vehicle corresponding to the target point is the target vehicle.
In some embodiments, the specific implementation manner of obtaining the threshold value of the constant false alarm detection algorithm is as follows: taking the peak point as the center, and acquiring the adjacent distance dimension and velocity dimension in the two-dimensional Fourier transform dataReference cell->Values of the individual reference cells; for said->The values of the reference units are ordered to obtainGet the->The values of the large reference cells; according to said->And->Calculating a threshold factor of a constant false alarm detection algorithm; -putting the->And multiplying the value of the large reference unit with the threshold factor of the constant false alarm detection algorithm to obtain the threshold value of the constant false alarm detection algorithm.
In some embodiments, the method according to theAnd->The formula for calculating the threshold factor of the constant false alarm detection algorithm is as follows:
wherein the saidIs a threshold factor of a constant false alarm detection algorithm, which is +.>Is the constant false alarm probability, the +.>Is a fixed value, said->For the number of reference units, said +.>The formula is satisfied: />。
In some embodiments, the second identifying unit is specifically configured to: performing Fourier transform on the distance dimension of the digital sampling data to form Fourier transform data; and extracting the position information of the target vehicle from the Fourier transform data.
In some embodiments, the determining module 406 includes: a calculating unit 4061 configured to decrease the first number by one to obtain a second number when each of the target vehicles passes through the lifter; a second judging unit 4062 for judging whether the second number is zero; and a determining unit 4063 configured to determine that all the first number of target vehicles pass through the lifter if the second number is zero.
In the embodiment of the present invention, the vehicle information and the position information of the target vehicle entering the detection area are identified by the identification module 401; sequentially numbering the target vehicles entering the transaction area from the detection area according to the position information through a numbering module 402; charging the target vehicle in turn by a charging module 403 according to the vehicle information and the number; acquiring, by the acquisition module 404, a first number of the target vehicles having consecutive numbers from the lifting lever for which the charging was successful; controlling the lifting rod to lift the lifting rod through the lifting rod module 405, wherein the first number is greater than zero; judging whether the first number of target vehicles all pass through the lifting rod by the judging module 406; if the first number of target vehicles pass through the lifting rod through the rod falling module 407, the lifting rod is controlled to fall, and when the lifting rod is lifted once, a certain number of vehicles can pass through the lifting rod, so that the vehicle passing efficiency can be remarkably improved compared with the conventional one-rod one-vehicle condition.
Example III
Referring to fig. 6, fig. 6 is a schematic hardware structure diagram of an ETC system for executing a vehicle passing method according to an embodiment of the invention. The ETC system 50 includes: one or more processors 51 and a memory 52, one for example in fig. 6.
The processor 51 and the memory 52 may be connected by a bus or other means, for example by a bus connection in the present embodiment.
The memory 52 serves as a non-volatile computer readable storage medium for storing non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions/modules (e.g., the various modules shown in fig. 5) corresponding to the method of vehicle traffic in embodiments of the present invention. The processor 51 performs various functional applications of the apparatus for vehicle passing and data processing, that is, a method for vehicle passing implementing the above-described method embodiment, by running nonvolatile software programs, instructions, and modules stored in the memory 52.
Memory 52 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the device through which the vehicle passes, or the like. In addition, memory 52 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 52 may optionally include memory located remotely from processor 51, which may be connected to the vehicle passing device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 52 and when executed by the one or more processors 51 perform the method of vehicle traffic in any of the method embodiments described above.
The product can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present invention.
Embodiments of the present invention provide a non-volatile computer readable storage medium storing computer executable instructions for performing a method of vehicle traffic in any of the method embodiments described above by an ETC system.
An embodiment of the present invention provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of vehicle traffic in any of the method embodiments described above.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Those skilled in the art will appreciate that all or part of the processes implementing the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and where the program may include processes implementing the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. A method for vehicle traffic, applied to an ETC system, comprising:
identifying vehicle information of a target vehicle entering the detection area; the detection area is an area irradiated by radar in the ETC system;
transmitting radar signals and receiving echo signals of the radar signals, and converting the echo signals into digital sampling data;
performing two-dimensional Fourier transform on the digital sampling data to form two-dimensional Fourier transform data;
detecting the value of a peak point in the two-dimensional Fourier transform data by using a constant false alarm detection algorithm;
taking the peak point as the center, and acquiring the adjacent distance dimension and velocity dimension in the two-dimensional Fourier transform dataValues of the individual reference cells;
for the saidThe values of the reference cells are ordered to obtain +.>The values of the large reference cells;
according to the describedAnd->And calculating a threshold factor of a constant false alarm detection algorithm, wherein the formula is as follows:
，
wherein the saidIs a threshold factor of a constant false alarm detection algorithm, which is +.>Is the constant false alarm probability, the +.>Is a fixed value, said->For the number of reference units, said +.>The formula is satisfied: />；
Putting the first stepMultiplying the value of each large reference unit with a threshold factor of the constant false alarm detection algorithm to obtain a threshold value of the constant false alarm detection algorithm;
judging whether the value of the peak value point is larger than the threshold value or not;
if yes, judging that the peak point with the value larger than the threshold value is a target point, wherein the vehicle corresponding to the target point is the target vehicle;
acquiring the identified position information of the target vehicle according to the digital sampling data;
according to the position information, sequentially numbering the target vehicles entering the transaction area from the detection area;
charging the target vehicle in turn according to the vehicle information and the number;
acquiring a first number of the target vehicles which are successfully charged and have continuous numbers from a lifting rod;
when the first number is larger than zero, controlling the lifting rod of the lifting rod;
judging whether the first number of target vehicles completely pass through the lifting rod or not;
if yes, controlling the lifting rod to fall down;
the step of determining whether the first number of target vehicles all pass through the lifter further includes:
subtracting one from the first number when each target vehicle passes through the lifting rod to obtain a second number;
judging whether the second number is zero;
if so, it is determined that all of the first number of target vehicles pass through the lifter.
2. The method according to claim 1, wherein the step of identifying the vehicle information of the target vehicle entering the detection area further comprises:
judging whether a vehicle enters the detection area;
if yes, broadcasting a wake-up signal, wherein the wake-up signal is used for waking up a vehicle-mounted unit of the vehicle;
detecting whether an on-board unit of the vehicle is awakened;
if yes, the vehicle where the awakened vehicle-mounted unit is located is considered as the target vehicle;
vehicle information of the target vehicle is identified according to an on-board unit of the target vehicle.
3. The method of claim 1, wherein the step of acquiring the identified location information of the target vehicle from the digital sample data further comprises:
performing Fourier transform on the distance dimension of the digital sampling data to form Fourier transform data of the distance dimension of the digital sampling data;
and extracting the position information of the target vehicle from the Fourier transform data of the distance dimension of the digital sampling data.
4. An ETC system, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-3.
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