CN112884924B - High-speed lane no-stop charging method, system and storage medium - Google Patents
High-speed lane no-stop charging method, system and storage medium Download PDFInfo
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- CN112884924B CN112884924B CN202110026043.7A CN202110026043A CN112884924B CN 112884924 B CN112884924 B CN 112884924B CN 202110026043 A CN202110026043 A CN 202110026043A CN 112884924 B CN112884924 B CN 112884924B
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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
- G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
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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
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a method, a system and a storage medium for charging without stopping a vehicle on a high-speed lane, wherein the method comprises the following steps: the array road side unit receives a response signal sent by the target vehicle and determines first position information of the target vehicle according to the response signal; the array road side unit sends first position information to the control module; the auxiliary road side unit receives the response signal and determines second position information of the target vehicle according to the response signal; the auxiliary road side unit sends second position information to the control module; the control module determines actual location information of the target vehicle according to the first location information and the second location information. Thus, the control module positions the target vehicle according to the 2 pieces of position information, namely the first position information and the second position information, the accuracy of vehicle positioning is improved, and the stability of the ETC system is further improved.
Description
Technical Field
The invention belongs to the technical field of intelligent traffic, and particularly relates to a high-speed lane non-stop charging method, a system and a storage medium.
Background
As the flow of vehicles increases, electronic toll collection systems (Electronic Toll Collection, ETC) have grown in order to alleviate traffic congestion problems.
One application scenario of the ETC system is that, in an expressway, a Road Side Unit (RSU) is installed on a gantry, and when a vehicle passes through a lane, the road side Unit on the gantry communicates with an On Board Unit (OBU) of the vehicle to realize payment of the vehicle.
However, in the conventional ETC system, there may be inaccurate positioning of the vehicle position by the road side unit disposed on the portal, and repeated fee deduction or unpaid phenomenon may occur, which reduces the stability of the ETC system.
Disclosure of Invention
The embodiment of the invention aims to provide a high-speed lane no-stop toll collection method, a system and a storage medium, which can solve the technical problem that the stability of an ETC system is low due to inaccurate positioning of the vehicle position by the existing ETC system.
In order to solve the technical problems, the invention is realized as follows:
in a first aspect, the present invention provides a method for toll collection in a highspeed lane, comprising:
the method comprises the steps that an array road side unit receives a response signal sent by a target vehicle and determines first position information of the target vehicle according to the response signal, wherein the response signal is a signal sent to the outside after the target vehicle receives a wake-up signal;
the array road side unit sends the first position information to a control module;
the auxiliary road side unit receives the response signal and determines second position information of the target vehicle according to the response signal;
the auxiliary road side unit sends the second position information to the control module;
the control module determines actual position information of the target vehicle according to the first position information and the second position information, and transacts with the target vehicle according to the actual position information.
Optionally, determining the first location information of the target vehicle according to the response signal includes:
the array road side unit obtains a first array element phase difference, a signal wavelength of the response signal and a preset first array element distance, wherein the first array element phase difference is a signal phase difference generated after an antenna array in the array road side unit receives the response signal, and the first array element distance is a distance between all antennas in the antenna array;
the array roadside unit inputs the first array element phase difference, the signal wavelength and the first array element distance into a preset direction estimation formula to obtain a first incident angle of the response signal;
the array road side unit determines an array antenna coordinate of the target vehicle according to the first incident angle and the first array element distance, wherein the array antenna coordinate is a coordinate of the target vehicle in an array antenna coordinate system, and the array antenna coordinate system is a three-dimensional coordinate taking the center of each antenna in an antenna array as an origin;
and the array roadside unit inputs the coordinates of the array antenna into a preset coordinate conversion formula to obtain first position information of the target vehicle.
Optionally, determining the second position information of the target vehicle according to the response signal includes:
the auxiliary road side unit obtains a second array element phase difference, a signal wavelength of the response signal and a preset second array element distance, wherein the second array element phase difference is a signal phase difference generated after an auxiliary antenna array in the auxiliary road side unit receives the response signal, and the second array element distance is a distance between auxiliary antennas in the auxiliary antenna array;
the auxiliary road side unit inputs the second array element phase difference, the signal wavelength and the second array element distance into a preset direction estimation formula to obtain a second incident angle of the response signal;
the auxiliary road side unit determines auxiliary antenna coordinates of the target vehicle according to the second incidence angle and the second array element distance, wherein the auxiliary antenna coordinates are coordinates of the target vehicle in an auxiliary antenna coordinate system, and the auxiliary antenna coordinate system is a three-dimensional coordinate taking the center of each auxiliary antenna in a plurality of auxiliary antenna arrays as an origin;
and the auxiliary road side unit inputs the auxiliary antenna coordinates into a preset coordinate conversion formula to obtain second position information of the target vehicle.
Optionally, the direction estimation formula is:
wherein delta phi is the first array element phase difference or the second array element phase difference, lambda is the signal wavelength, d is the first array element distance or the second array element distance, cos (alpha, beta) is the first incidence angle or the second incidence angle.
Optionally, the coordinate conversion formula is:
P l ＝P r *M-P 0
wherein P is l For the first position information or the second position information, P r For the array antenna coordinates or auxiliary antenna coordinates, M is a preset conversion matrix, and P o Is a preset translation vector.
Optionally, before the array roadside unit receives the response signal sent by the target vehicle and determines the first position information of the target vehicle according to the response signal, the method includes:
under the condition that a first preset area is the same as a second preset area and a target vehicle drives into the first preset area, the array road side unit sends a wake-up signal to the target vehicle, the first preset area is an area of the array road side unit for sensing the target vehicle, and the second preset area is an area of the auxiliary road side unit for sensing the target vehicle;
and/or the number of the groups of groups,
and under the condition that the first preset area is different from the second preset area and the target vehicle drives into the second preset area, the auxiliary road side unit sends a wake-up signal to the target vehicle, wherein the second preset area comprises the first preset area.
In a second aspect, the invention provides a high-speed lane no-stop toll collection system, comprising an array road side unit, an auxiliary road side unit and a control module, wherein the array road side unit is arranged on a portal;
the array road side unit is in communication connection with the control module, and the auxiliary road side unit is in communication connection with the control module;
the array road side unit is used for receiving a response signal sent by the target vehicle and determining first position information of the target vehicle according to the response signal, wherein the response signal is a signal sent to the outside after the target vehicle receives a wake-up signal;
transmitting the first location information to the control module;
the auxiliary road side unit is used for receiving the response signal and determining second position information of the target vehicle according to the response signal;
transmitting the second location information to the control module;
the control module is used for determining the actual position information of the target vehicle according to the first position information and the second position information and transacting with the target vehicle according to the actual position information.
Optionally, the array roadside unit is installed on the portal, the array roadside unit includes two at least antenna arrays, and one of them antenna array transversely sets up, and another antenna array vertically sets up, the array roadside unit is specifically used for:
acquiring a first array element phase difference, a signal wavelength of the response signal and a preset first array element distance, wherein the first array element phase difference is a signal phase difference generated after the antenna array receives the response signal, and the first array element distance is a distance between all antennas in the antenna array;
inputting the first array element phase difference, the signal wavelength and the first array element distance into a preset direction estimation formula to obtain a first incident angle of the response signal;
determining an array antenna coordinate of the target vehicle according to the first incidence angle and the first array element distance, wherein the array antenna coordinate is a coordinate of the target vehicle in an array antenna coordinate system, and the array antenna coordinate system is a three-dimensional coordinate taking the centers of a plurality of antenna arrays as an origin;
and inputting the array antenna coordinates into a preset coordinate conversion formula to obtain first position information of the target vehicle.
Optionally, the array roadside unit is installed at the roadside, the auxiliary roadside unit includes two at least auxiliary antenna arrays, and one auxiliary antenna array transversely sets up, and another auxiliary antenna array vertically sets up, the auxiliary roadside unit is specifically used for:
acquiring a second array element phase difference, a signal wavelength of the response signal and a preset second array element distance, wherein the second array element phase difference is a signal phase difference generated after the auxiliary antenna array receives the response signal, and the second array element distance is a distance between all auxiliary antennas in the auxiliary antenna array;
inputting the second array element phase difference, the signal wavelength and the second array element distance into a preset direction estimation formula to obtain a second incident angle of the response signal;
determining auxiliary antenna coordinates of the target vehicle according to the second incidence angle and the second array element distance, wherein the auxiliary antenna coordinates are coordinates of the target vehicle in an auxiliary antenna coordinate system, and the auxiliary antenna coordinate system is a three-dimensional coordinate taking the centers of a plurality of auxiliary antenna arrays as an origin;
and inputting the auxiliary antenna coordinates into a preset coordinate conversion formula to obtain second position information of the target vehicle.
In a third aspect, the present invention also provides a readable storage medium having stored thereon a program or instructions which when executed by a processor performs the steps of the method according to the first aspect.
The array road side unit receives a response signal sent by a target vehicle and determines first position information of the target vehicle according to the response signal; the array road side unit sends first position information to the control module; the auxiliary road side unit receives the response signal and determines second position information of the target vehicle according to the response signal; the auxiliary road side unit sends second position information to the control module; the control module determines actual position information of the target vehicle according to the first position information and the second position information, and transacts with the target vehicle according to the actual position information. Thus, the array road side unit installed on the portal frame sends the first position information of the target vehicle to the control module, the auxiliary road side unit installed on the road side sends the second position information of the target vehicle to the control module, the control module positions the target vehicle according to 2 pieces of position information, namely the first position information and the second position information, the accuracy of vehicle positioning is improved, and the stability of the ETC system is further improved.
Drawings
FIG. 1 is a flow chart of a method for toll collection in a highway provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of an application scenario of a method for toll collection on a highway provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an antenna array according to an embodiment of the present invention;
fig. 4 is another schematic structural diagram of an antenna array according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a related coordinate system provided by an embodiment of the present invention;
fig. 6 is a block diagram of a high-speed lane toll collection system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments 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.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the invention may be practiced otherwise than as specifically illustrated or described herein. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The following describes in detail the method for charging the high-speed lane without stopping the vehicle according to the embodiment of the present invention through specific embodiments and application scenarios thereof with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a flowchart of a method for charging a high-speed lane without stopping vehicle according to an embodiment of the invention. The method for charging the high-speed lane without stopping the vehicle provided by the embodiment comprises the following steps:
s101, the array road side unit receives a response signal sent by a target vehicle, and determines first position information of the target vehicle according to the response signal.
In this embodiment, the response signal is a signal that is sent to the outside after the target vehicle receives the wake-up signal. That is, after receiving the wake-up signal, the on-board unit of the target vehicle transmits a response signal to the array roadside unit. The array roadside unit determines first position information of the target vehicle according to the response signal.
The wake-up signal may be sent to the target vehicle by the array roadside unit or sent to the target vehicle by the auxiliary roadside unit.
Thus, before the array roadside unit receives the response signal transmitted by the target vehicle and determines the first position information of the target vehicle according to the response signal, the method comprises:
under the condition that the first preset area is the same as the second preset area and the target vehicle drives into the first preset area, the array road side unit sends a wake-up signal to the target vehicle, the first preset area is an area where the array road side unit senses the target vehicle, and the second preset area is an area where the auxiliary road side unit senses the target vehicle.
The high-speed lane no-stop toll collection method provided in the present embodiment may be applied to an ETC system including an array roadside unit mounted on a portal, an auxiliary roadside unit mounted on a roadside, and a control module. Referring to fig. 2, as shown in the figure, RSU1, RSU2 and RSU3 are all array roadside units, RSU4 is an auxiliary roadside unit, the first preset region is a region where the array roadside unit senses the target vehicle, and the second preset region is a region where the auxiliary roadside unit senses the target vehicle, as shown in the figure, the first preset region is the same as the second preset region. In this case, when the target vehicle, i.e., the vehicle sensed by the array roadside unit, enters the first preset area, the auxiliary roadside unit does not transmit a wake-up signal to the target vehicle, and the array roadside unit transmits the wake-up signal to the target vehicle to wake-up the on-vehicle unit of the target vehicle.
S102, an array road side unit sends the first position information to a control module;
the array road side unit sends the obtained first position information to the child control module in a wireless or wired transmission mode.
S103, the auxiliary road side unit receives the response signal and determines second position information of the target vehicle according to the response signal;
in this embodiment, after receiving the wake-up signal, the on-board unit of the target vehicle also sends a response signal to the auxiliary road side unit. The auxiliary road side unit determines second position information of the target vehicle according to the response signal.
S104, the auxiliary road side unit sends the second position information to the control module;
the auxiliary road side unit sends the obtained second position information to the child control module in a wireless or wired transmission mode.
S105, the control module determines actual position information of the target vehicle according to the first position information and the second position information, and transacts with the target vehicle according to the actual position information.
The control module determines whether the lane of the target vehicle in the first position information is consistent with the lane of the target vehicle in the second position information, so that the target vehicle is accurately positioned. For example, if the control module determines that the target vehicle is in the first lane by analyzing the first location information and determines that the target vehicle is also in the first lane by analyzing the second location information, the lane in which the target vehicle is actually located may be determined as the first lane, and a transaction is performed with the target vehicle.
In the embodiment of the invention, the first position information of the target vehicle is sent to the control module through the array road side unit arranged on the portal frame, the second position information of the target vehicle is sent to the control module through the auxiliary road side unit arranged on the road side, and the control module positions the target vehicle according to the 2 position information, namely the first position information and the second position information, so that the accuracy of vehicle positioning is improved, and the stability of an ETC system is further improved.
Further, the array roadside unit includes at least two antenna arrays, one of which is disposed transversely and the other of which is disposed longitudinally, and the determining the first position information of the target vehicle according to the response signal direction includes:
the array road side unit obtains a first array element phase difference, a signal wavelength of the response signal and a preset first array element distance; the array roadside unit inputs the first array element phase difference, the signal wavelength and the first array element distance into a preset direction estimation formula to obtain a first incident angle of the response signal; the array roadside unit determines an array antenna coordinate of the target vehicle according to the first incident angle and the first array element distance; and the array roadside unit inputs the coordinates of the array antenna into a preset coordinate conversion formula to obtain first position information of the target vehicle.
It should be understood that the array roadside unit includes at least two antenna arrays, and after the array roadside unit receives the response signal, the antenna arrays generate a phase difference of the response signal, and the phase difference is referred to as a first array element phase difference. And the array road side unit acquires the first array element phase difference after receiving the response signal.
Referring to fig. 3, as shown in the drawing, the antenna array in fig. 3 includes 4 antennas, where the distance between the first antenna and the second antenna is d, and the distance between the antennas in the antenna array can be considered as d.
Referring to fig. 4, fig. 4 includes a two-dimensional antenna array composed of 8 antennas, and as shown, the 1 st to 5 th antennas are disposed transversely on the gantry, and the 5 th to 8 th antennas are disposed longitudinally on the gantry. The distance between the 4 th antenna and the 5 th antenna is 26mm, and the distance between the 5 th antenna and the 6 th antenna is 26mm.
As can be seen from fig. 3 and 4, the spacing of the individual antennas in the antenna array is constant, the spacing of the antennas being referred to as the first element distance. And the array road side unit acquires the first array element distance after receiving the response signal.
It should be further understood that, after the array roadside unit receives the response signal, the manner of determining the signal wavelength of the response signal may be by analyzing the response signal.
In this way, the array roadside unit obtains the first array element phase difference, the signal wavelength and the first array element distance through the mode, and inputs the parameters into a preset direction estimation formula to obtain the first incident angle of the response signal. Alternatively, the array roadside unit is arranged as two antenna arrays, one of which is arranged laterally and the other is arranged longitudinally, such that the first incident angle comprises 2 incident angles.
Further, the direction estimation formula is:
wherein delta phi is the first array element phase difference or the second array element phase difference, lambda is the signal wavelength, d is the first array element distance or the second array element distance, cos (alpha, beta) is the first incidence angle or the second incidence angle.
When the first incident angle is calculated using the direction estimation formula, ΔΦ in the formula is the first array phase difference, λ is the signal wavelength, d is the first array distance, and cos (α, β) is the first incident angle.
After the first incident angle is obtained, the array antenna coordinates of the target vehicle are determined according to the first incident angle and a preset first array element distance by utilizing the direction of arrival estimation principle (Direction of Arrival, DOA), and the direction of arrival estimation principle is not described herein.
In this embodiment, a lane coordinate system, an array roadside unit coordinate system, and an array antenna coordinate system are provided.
For the purpose of elaborating the present embodiment, the respective coordinate systems are explained below.
Referring to fig. 4, as shown, the lane coordinate system is (X l ，Y l ，Z l ) The origin of the lane coordinate system is the vertical projection point of the array road side unit on the lane plane, the lane cross section is taken as the X axis of the lane coordinate system, the pointing direction of the Y axis is opposite to the vehicle running direction, and the pointing direction of the Z axis is perpendicular to the lane cross section.
As shown, the array antenna coordinate system is (X r ，Y r ，Z r ) The origin of the array antenna coordinate system is the midpoint of a plurality of antennas in the antenna array, the antenna arranged at the origin of the array antenna coordinate system is called a reference antenna, as shown in the figure, the reference antenna is arranged on the portal at a certain angle, the X axis of the array antenna coordinate system is parallel to the antenna array transversely arranged on the portal, the Z axis of the array antenna coordinate system is parallel to the antenna array longitudinally arranged on the portal, and the Y axis of the array antenna coordinate system is perpendicular to the reference antenna.
The array roadside unit coordinate system is (X) rsu ，Y rsu ，Z rsu ) The origin of the array road side unit coordinate system is the midpoint of the array road side unit, the X axis of the array road side unit coordinate system is identical to the X axis of the array antenna coordinate system, the Z axis of the array road side unit coordinate system is identical to the Z axis of the lane coordinate system in the pointing direction, and the Y axis of the array road side unit coordinate system is perpendicular to the portal frame.
In this embodiment, the coordinates of the array antenna are input into a preset coordinate conversion formula to obtain the first position information of the target vehicle.
Further, the coordinate conversion formula is:
P l ＝P r *M-P 0
wherein P is l For the first position information or the second position information, P r For the array antenna coordinates or auxiliary antenna coordinates, M is a preset conversion matrix, and P o Is preset asAnd (5) translating the vector.
Note that, when the first position information is calculated using the coordinate conversion formula, P in the formula l For the first position information, P r Is the array antenna coordinates.
The conversion matrix M is:
wherein a is a preset installation angle of the road side unit.
Translation vector P o In relation to the door frame height and the target vehicle height, optionally P o The target vehicle height is subtracted from the mast height.
When the second incident angle is calculated using the direction estimation formula, ΔΦ in the formula is the second array element phase difference, λ is the signal wavelength, d is the second array element distance, and cos (α, β) is the second incident angle. When the second position information is calculated using the coordinate conversion formula, P in the formula l For the second position information, P r Is the auxiliary antenna coordinates.
In this embodiment, after receiving the response signal, the array roadside unit accurately determines the first positioning information of the target vehicle, that is, the coordinates of the target vehicle in the lane coordinate system, by using the direction estimation formula and the coordinate conversion formula, thereby realizing accurate positioning of the target vehicle.
Further, the auxiliary road side unit includes at least two auxiliary antenna arrays, one of which is disposed transversely and the other of which is disposed longitudinally, and the determining the second position information of the target vehicle according to the response signal includes:
the auxiliary road side unit acquires a second array element phase difference, a signal wavelength of the response signal and a preset second array element distance; the auxiliary road side unit inputs the second array element phase difference, the signal wavelength and the second array element distance into a preset direction estimation formula to obtain a second incident angle of the response signal; the auxiliary road side unit determines auxiliary antenna coordinates of the target vehicle according to the second incidence angle and the second array element distance; and the auxiliary road side unit inputs the auxiliary antenna coordinates into a preset coordinate conversion formula to obtain second position information of the target vehicle.
In this embodiment, the specific implementation of the auxiliary road side unit for determining the second position information of the target vehicle is consistent with the specific implementation of the array road side unit for determining the first position information of the target vehicle. The first position information is the coordinates of the target vehicle in the lane coordinate system, the second position information is the coordinates of the target vehicle in the auxiliary lane coordinate system, and the corresponding coordinate systems are different, and in this case, if the first position information is (X, Y, Z), the second position information is (X, Y, 0).
The manner of determining the second position information of the target vehicle in this embodiment may be simply summarized as that the auxiliary road side unit determines the incident angle between the response signal and the auxiliary antenna array by applying the principle of direction of arrival estimation (Direction of Arrival, DOA), wherein the principle of direction of arrival estimation is related to the direction estimation formula, and the incident angle is referred to as the second incident angle.
When the second incident angle is calculated using the direction estimation formula, ΔΦ in the formula is the second array element phase difference, λ is the signal wavelength, d is the second array element distance, and cos (α, β) is the second incident angle.
And then, determining the auxiliary lane coordinates of the target vehicle by using a space coordinate system conversion principle, wherein the space coordinate system conversion principle is related to a coordinate conversion formula, the auxiliary lane coordinates are coordinates of the target vehicle in an auxiliary lane coordinate system, and the auxiliary lane coordinate system is a three-dimensional coordinate taking an auxiliary road side unit as an origin.
It should be noted that, when the second position information is calculated using the coordinate conversion formula, P in the formula l For the second position information, P r Is the auxiliary antenna coordinates.
In this embodiment, the auxiliary road side unit accurately determines the second positioning information of the target vehicle by using the direction of arrival estimation principle and the space coordinate system conversion principle, so as to achieve accurate positioning of the target vehicle.
In other embodiments, before the array roadside unit receives the response signal sent by the target vehicle and determines the first location information of the target vehicle according to the response signal, the method includes:
and under the condition that the first preset area is different from the second preset area and the target vehicle drives into the second preset area, the auxiliary road side unit sends a wake-up signal to the target vehicle, wherein the second preset area comprises the first preset area.
There may be another case where the first preset area is different from the second preset area, and the second preset area includes the first preset area, that is, the area where the auxiliary roadside unit senses the target vehicle is larger than the area where the array roadside unit senses the target vehicle, so that the auxiliary roadside unit transmits a wake-up signal to the target vehicle instead of the array roadside unit transmitting the wake-up signal to the target vehicle. It is easy to understand that, because the second preset area is larger than the first preset area, the vehicle-mounted unit on the target vehicle is awakened in advance, and the area of the area where the control module and the target vehicle conduct transaction is enlarged.
In a specific embodiment, the coverage area of the array road side unit is longitudinally larger than that of the transverse area, and after the auxiliary road side unit is used, the transaction areas of the array road side units in all the door frames of the whole driving surface can be covered by the auxiliary road side unit, so that the positioning accuracy can be greatly improved by utilizing the auxiliary road side unit to perform transverse and longitudinal positioning, and the door frame antenna can complete positioning without using the array antenna.
As shown in fig. 6, the high-speed lane no-stop toll collection system 200 includes an array roadside unit 201 mounted on a portal, an auxiliary roadside unit 202 mounted on a roadside, and a control module 203;
the array roadside unit 201 is in communication connection with the control module 203, and the auxiliary roadside unit 202 is in communication connection with the control module 203;
the array roadside unit 201 is configured to send a wake-up signal to a target vehicle when the first preset area is the same as the second preset area and the target vehicle is driven into the first preset area;
receiving a response signal sent by the target vehicle, and determining first position information of the target vehicle according to the response signal;
transmitting the first location information to the control module 203;
the auxiliary road side unit 202 is configured to receive the response signal, and determine second position information of the target vehicle according to the response signal;
transmitting the second location information to the control module 203;
the control module 203 is configured to determine actual location information of the target vehicle according to the first location information and the second location information, and transact with the target vehicle according to the actual location information.
Optionally, the array roadside unit 201 includes at least two antenna arrays, where one antenna array is disposed transversely and the other antenna array is disposed longitudinally, and the array roadside unit 201 is specifically configured to:
acquiring a first array element phase difference, a signal wavelength of the response signal and a preset first array element distance;
inputting the first array element phase difference, the signal wavelength and the first array element distance into a preset direction estimation formula to obtain a first incident angle of the response signal;
determining the array antenna coordinates of the target vehicle according to the first incidence angle and the first array element distance;
and inputting the array antenna coordinates into a preset coordinate conversion formula to obtain first position information of the target vehicle.
Optionally, the auxiliary roadside unit 202 includes at least two auxiliary antenna arrays, wherein one auxiliary antenna array is disposed transversely and the other auxiliary antenna array is disposed longitudinally, and the auxiliary roadside unit 202 is specifically configured to:
acquiring a second array element phase difference, a signal wavelength of the response signal and a preset second array element distance;
inputting the second array element phase difference, the signal wavelength and the second array element distance into a preset direction estimation formula to obtain a second incident angle of the response signal;
determining auxiliary antenna coordinates of the target vehicle according to the second incidence angle and the second array element distance;
and inputting the auxiliary antenna coordinates into a preset coordinate conversion formula to obtain second position information of the target vehicle.
Optionally, the auxiliary roadside unit 202 is further configured to:
and sending a wake-up signal to the target vehicle under the condition that the first preset area is different from the second preset area and the target vehicle is driven into the second preset area.
According to the embodiment of the invention, the response signal sent by the target vehicle is received through the array road side unit, and the first position information of the target vehicle is determined according to the response signal; the array road side unit sends first position information to the control module; the auxiliary road side unit receives the response signal and determines second position information of the target vehicle according to the response signal; the auxiliary road side unit sends second position information to the control module; the control module determines actual position information of the target vehicle according to the first position information and the second position information, and transacts with the target vehicle according to the actual position information. Thus, the array road side unit installed on the portal frame sends the first position information of the target vehicle to the control module, the auxiliary road side unit installed on the road side sends the second position information of the target vehicle to the control module, the control module positions the target vehicle according to 2 pieces of position information, namely the first position information and the second position information, the accuracy of vehicle positioning is improved, and the stability of the ETC system is further improved.
The high-speed lane non-stop toll collection system in the embodiment of the invention can be an ETC system, and can also be a component, an integrated circuit or a chip in the terminal. The system may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a cell phone, tablet computer, notebook computer, palm computer, vehicle mounted electronic device, wearable device, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook or personal digital assistant (personal digital assistant, PDA), etc., and the non-mobile electronic device may be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., and embodiments of the present invention are not limited in particular.
The high-speed lane toll collection system in the embodiment of the invention can be a device with an operating system. The operating system may be an Android operating system, an ios operating system, or other possible operating systems, and the embodiment of the present invention is not limited specifically.
The high-speed lane non-stop toll collection system provided by the embodiment of the invention can realize each process of the high-speed lane non-stop toll collection method in the method embodiment of fig. 1, and in order to avoid repetition, the description is omitted.
The embodiment of the present invention further provides a readable storage medium, where a program or an instruction is stored, and when the program or the instruction is executed by a processor, each process implemented in the method embodiment of fig. 1 in the method for charging a highway without stopping the vehicle is implemented, and in order to avoid repetition, details are not repeated here.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium such as a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present invention is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (10)
1. A method for toll collection in a highway, the method comprising the steps of:
the method comprises the steps that an array road side unit receives a response signal sent by a target vehicle and determines first position information of the target vehicle according to the response signal, wherein the response signal is a signal sent to the outside after the target vehicle receives a wake-up signal;
the array road side unit obtains a first array element phase difference, a signal wavelength of the response signal and a preset first array element distance; the array roadside unit inputs the first array element phase difference, the signal wavelength and the first array element distance into a preset direction estimation formula to obtain a first incident angle of the response signal; the array roadside unit determines an array antenna coordinate of the target vehicle according to the first incident angle and the first array element distance; the array road side unit inputs the array antenna coordinates into a preset coordinate conversion formula to obtain first position information of the target vehicle;
the array road side unit sends the first position information to a control module;
the auxiliary road side unit receives the response signal and determines second position information of the target vehicle according to the response signal;
the auxiliary road side unit acquires a second array element phase difference, a signal wavelength of the response signal and a preset second array element distance; the auxiliary road side unit inputs the second array element phase difference, the signal wavelength and the second array element distance into a preset direction estimation formula to obtain a second incident angle of the response signal; the auxiliary road side unit determines auxiliary antenna coordinates of the target vehicle according to the second incidence angle and the second array element distance; the auxiliary road side unit inputs the auxiliary antenna coordinates into a preset coordinate conversion formula to obtain second position information of the target vehicle;
the auxiliary road side unit sends the second position information to the control module;
the control module determines actual position information of the target vehicle according to the first position information and the second position information, and transacts with the target vehicle according to the actual position information; specifically, the control module determines whether a lane in which the target vehicle is located in the first position information is consistent with a lane in which the target vehicle is located in the second position information, and if so, the control module transacts with the target vehicle.
2. The high-speed lane no-stop toll collection method according to claim 1, wherein,
the first array element phase difference is a signal phase difference generated after the antenna array in the array road side unit receives the response signal, and the first array element distance is a distance between all antennas in the antenna array;
the array antenna coordinates are coordinates of the target vehicle in an array antenna coordinate system, and the array antenna coordinate system is a three-dimensional coordinate taking the center of each antenna in the antenna array as an origin.
3. The high-speed lane no-stop toll collection method according to claim 1, wherein,
the second array element phase difference is a signal phase difference generated after the auxiliary antenna array in the auxiliary road side unit receives the response signal, and the second array element distance is a distance between all auxiliary antennas in the auxiliary antenna array;
the auxiliary antenna coordinates are coordinates of the target vehicle in an auxiliary antenna coordinate system, and the auxiliary antenna coordinate system is a three-dimensional coordinate taking the center of each auxiliary antenna in the plurality of auxiliary antenna arrays as an origin.
4. The high-speed lane no-stop toll collection method according to claim 1, wherein,
the direction estimation formula is:
wherein delta phi is the first array element phase difference or the second array element phase difference, lambda is the signal wavelength, d is the first array element distance or the second array element distance, cos (alpha, beta) is the first incidence angle or the second incidence angle.
5. The high-speed lane no-stop toll collection method according to claim 1, wherein,
the coordinate conversion formula is as follows:
P 1 ＝P r *M-P 0
wherein P is 1 For the first position information or the second position information, P r For the array antenna coordinates or auxiliary antenna coordinates, M is a preset conversion matrix, and P o Is a preset translation vector.
6. The high-speed lane no-stop toll collection method according to claim 1, wherein the array roadside unit receives a response signal transmitted from the target vehicle and before determining the first position information of the target vehicle from the response signal, the method comprises:
under the condition that a first preset area is the same as a second preset area and a target vehicle drives into the first preset area, the array road side unit sends a wake-up signal to the target vehicle, the first preset area is an area of the array road side unit for sensing the target vehicle, and the second preset area is an area of the auxiliary road side unit for sensing the target vehicle; and/or the number of the groups of groups,
and under the condition that the first preset area is different from the second preset area and the target vehicle drives into the second preset area, the auxiliary road side unit sends a wake-up signal to the target vehicle, wherein the second preset area comprises the first preset area.
7. The high-speed lane no-stop toll collection system is characterized by comprising an array road side unit, an auxiliary road side unit and a control module;
the array road side unit is in communication connection with the control module, and the auxiliary road side unit is in communication connection with the control module;
the array road side unit is used for receiving a response signal sent by a target vehicle and determining first position information of the target vehicle according to the response signal, wherein the response signal is a signal sent to the outside after the target vehicle receives a wake-up signal;
the array road side unit obtains a first array element phase difference, a signal wavelength of the response signal and a preset first array element distance; the array roadside unit inputs the first array element phase difference, the signal wavelength and the first array element distance into a preset direction estimation formula to obtain a first incident angle of the response signal; the array roadside unit determines an array antenna coordinate of the target vehicle according to the first incident angle and the first array element distance; the array road side unit inputs the array antenna coordinates into a preset coordinate conversion formula to obtain first position information of the target vehicle;
the array road side unit sends the first position information to the control module;
the auxiliary road side unit is used for receiving the response signal and determining second position information of the target vehicle according to the response signal;
the auxiliary road side unit acquires a second array element phase difference, a signal wavelength of the response signal and a preset second array element distance; the auxiliary road side unit inputs the second array element phase difference, the signal wavelength and the second array element distance into a preset direction estimation formula to obtain a second incident angle of the response signal; the auxiliary road side unit determines auxiliary antenna coordinates of the target vehicle according to the second incidence angle and the second array element distance; the auxiliary road side unit inputs the auxiliary antenna coordinates into a preset coordinate conversion formula to obtain second position information of the target vehicle;
the auxiliary road side unit sends the second position information to the control module;
the control module is used for determining the actual position information of the target vehicle according to the first position information and the second position information and transacting with the target vehicle according to the actual position information; specifically, the control module determines whether a lane in which the target vehicle is located in the first position information is consistent with a lane in which the target vehicle is located in the second position information, and if so, the control module transacts with the target vehicle.
8. The highspeed lane non-stop toll collection system of claim 7, wherein the array roadside unit is mounted on a portal, the array roadside unit comprising at least two antenna arrays, one of the antenna arrays being disposed laterally and the other antenna array being disposed longitudinally;
the first array element phase difference is a signal phase difference generated after the antenna array receives the response signal, and the first array element distance is a distance between all antennas in the antenna array;
the array antenna coordinates are coordinates of the target vehicle in an array antenna coordinate system, and the array antenna coordinate system is a three-dimensional coordinate taking centers of a plurality of antenna arrays as an origin.
9. The highspeed lane non-stop toll collection system of claim 7, wherein the auxiliary roadside unit is mounted on a roadside, the auxiliary roadside unit comprising at least two auxiliary antenna arrays, one of the auxiliary antenna arrays being disposed laterally and the other auxiliary antenna array being disposed longitudinally;
the second array element phase difference is a signal phase difference generated after the auxiliary antenna array receives the response signal, and the second array element distance is a distance between all auxiliary antennas in the auxiliary antenna array;
the auxiliary antenna coordinates are coordinates of the target vehicle in an auxiliary antenna coordinate system, and the auxiliary antenna coordinate system is a three-dimensional coordinate taking centers of a plurality of auxiliary antenna arrays as an origin.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the high-speed lane no-stop toll collection method according to any one of claims 1 to 6.
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