CN112950957A - Composite vehicle detection algorithm - Google Patents
Composite vehicle detection algorithm Download PDFInfo
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- CN112950957A CN112950957A CN202011188900.5A CN202011188900A CN112950957A CN 112950957 A CN112950957 A CN 112950957A CN 202011188900 A CN202011188900 A CN 202011188900A CN 112950957 A CN112950957 A CN 112950957A
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- Prior art keywords
- magnetic field
- reference value
- radar
- parking space
- current
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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
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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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
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
Abstract
The invention discloses a composite vehicle detection algorithm, which comprises the steps of firstly sampling the magnetic field of a current parking space, storing the sampled magnetic field into a magnetic field cache A after the sampling is finished, carrying out millimeter wave radar measurement on the current magnetic field, starting the next step of processing, judging the state of the parking space according to a measured magnetic field reference value and a measured judgment reference value, uploading the judged parking space state to an application server after judging a parking space state result, judging whether a vehicle actually exists above a detection point by using a millimeter wave radar after judging the magnetic field change, avoiding the judgment of other magnetic substances on the actual vehicle in and out, and filtering out interference information by using the radar even if the magnetic substances are close to the parking space, thereby greatly improving the detection accuracy of the vehicle entering and exiting.
Description
Technical Field
The invention relates to the technical field of intelligent parking, in particular to a composite vehicle detection algorithm.
Background
With the modern development of society, the mode of parking management is also increasingly intelligent. In the prior art, vehicle parking management is performed by installing a vehicle detector, also called geomagnetism, in a parking space for roadside parking, parking space guidance and other items. At present, a single type detection algorithm adopted by geomagnetism judges whether vehicles enter or leave a parking space by analyzing the magnitude of magnetic field variation of a detection point.
The prior art only changes through the magnetic field and goes to carry out vehicle business turn over and judge, receives other magnetic object very easily and disturbs, if when other magnetic substance were close to and kept away from, the magnetic field also can change, judges as the vehicle business turn over, causes the wrong report, influences normal use.
Disclosure of Invention
The present invention is directed to a hybrid vehicle detection algorithm to solve the problems set forth above in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a composite type vehicle detection algorithm is provided,
the method comprises the following steps: firstly, sampling a magnetic field of a current parking space, and storing the sampled magnetic field into a magnetic field cache A after the sampling is finished;
step two: performing millimeter wave radar measurement on the current magnetic field, and starting to perform the next processing;
step three: judging the state of the parking space according to the measured magnetic field reference value and the judgment reference value;
step four: and after the parking space state result is judged, uploading the judged parking space state to an application server.
As a further scheme of the invention: in the first step, when the magnetic field of the current parking space is sampled, whether the current magnetic field is different from the magnetic field cache A stored before is judged, if so, the current magnetic field is continuously sampled, and if not, after the current magnetic field is stabilized, the stabilized magnetic field value is obtained and then stored in the magnetic field cache A.
As a still further scheme of the invention: in the first step, after the stabilized magnetic field value is obtained, the magnetic field data is stored in a cache, then millimeter wave radar data in the current magnetic field is obtained, and the millimeter wave radar data is stored in the cache.
As a still further scheme of the invention: and in the second step, when the next step is carried out, the magnetic field reference value and the radar reference value are judged at the same time, whether the magnetic field reference value and the radar reference value are accurate or not is judged, and if the magnetic field reference value and the radar reference value are both accurate, the third step is directly carried out.
As a still further scheme of the invention: in the second step, if the "magnetic field reference value" is inaccurate and the "radar reference value" is accurate, the "magnetic field reference value" is subjected to adaptive processing, and then the updated "magnetic field reference value" is obtained, and the third step is performed.
As a still further scheme of the invention: in the second step, if the 'magnetic field reference value' is accurate and the 'radar reference value' is inaccurate, the 'radar reference value' is subjected to self-adaptive processing, then the updated 'radar reference value' is obtained, and the third step is performed.
As a still further scheme of the invention: in the second step, if the "magnetic field reference value" and the "radar reference value" are inaccurate, both the "magnetic field reference value" and the "radar reference value" are subjected to self-adaptive processing, and then the updated "magnetic field reference value" and "radar reference value" are obtained, and the third step is performed.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention mainly judges the vehicle to enter and exit through a composite detection and judgment mode of 'magnetic field + millimeter wave radar', after the judgment of the magnetic field change, the millimeter wave radar is started to judge whether the vehicle actually exists above the detection point, the judgment of the actual vehicle entering and exiting by other magnetic substances can be avoided, and even if the magnetic substances are close to the parking space, the interference information can be filtered out through the radar, thereby greatly improving the detection accuracy rate of the vehicle entering and exiting;
2. according to the invention, the magnetic field value is acquired after the magnetic field is stabilized, so that the acquired magnetic field value is more accurate, the accuracy rate of finally detecting the vehicle in and out is higher, the 'magnetic field reference value' and the 'radar reference value' in the current time period are obtained by updating the 'magnetic field reference value' and the 'radar reference value' in real time, and the situation that the accuracy rate of finally detecting the vehicle in and out is poor due to the real-time change of the magnetic field can be effectively avoided;
3. the method comprises the steps of sampling current magnetic field data, comparing the current magnetic field data with magnetic field cache data A, judging whether the current magnetic field data and the magnetic field cache data A are different, continuing to sample if the current magnetic field data and the magnetic field cache data A are the same, waiting for the current magnetic field to be stable and then sampling if the current magnetic field data and the magnetic field cache data A are different, starting a millimeter wave radar after a stable magnetic field value is obtained, obtaining millimeter wave radar data and storing the radar data into a cache, enabling the stable magnetic field value to correspond to the millimeter wave radar data, and enabling the result to be more accurate;
4. the parking space state is judged by the magnetic field reference value and the radar reference value simultaneously, so that the final parking space state result is judged and reported, the existing vehicle in-out detection scheme is improved, the accuracy rate of vehicle in-out detection is greatly improved, accurate collection of parking cost is guaranteed, the parking management efficiency is improved, and the economic benefit of a parking management company is maintained.
Drawings
Fig. 1 is a schematic system structure diagram of a technical scheme of a composite vehicle detection algorithm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in the embodiment of the present invention, a composite vehicle detection algorithm includes the following steps: firstly, sampling a magnetic field of a current parking space, and storing the sampled magnetic field into a magnetic field cache A after the sampling is finished;
step two: performing millimeter wave radar measurement on the current magnetic field, and starting to perform the next processing;
step three: judging the state of the parking space according to the measured magnetic field reference value and the judgment reference value;
step four: according to the invention, the vehicle entering and exiting are judged mainly in a composite detection and judgment mode of 'magnetic field + millimeter wave radar', after the judgment of the magnetic field change, the millimeter wave radar is started to judge whether a vehicle actually exists above the detection point, the judgment of the actual vehicle entering and exiting by other magnetic substances can be avoided, and even if the magnetic substances are close to the parking space, interference information can be filtered out by the radar, so that the detection accuracy of the vehicle entering and exiting is greatly improved.
In the first step, when sampling the magnetic field of the current parking space, judging whether the current magnetic field is different from a previously stored magnetic field cache A, if the current magnetic field is the same as the previously stored magnetic field cache A, continuing to sample the current magnetic field, if the current magnetic field is different from the previously stored magnetic field cache A, obtaining the stabilized magnetic field value and then storing the stabilized magnetic field value into the magnetic field cache A, after obtaining the stabilized magnetic field value, storing the magnetic field data into the cache, then obtaining the millimeter wave radar data in the current magnetic field and storing the millimeter wave radar data into the cache, comparing the current magnetic field data with the magnetic field cache data A by sampling the current magnetic field data, judging whether the current magnetic field data and the stabilized magnetic field cache A are different, continuing to sample if the current magnetic field data and then sampling after waiting for the stabilization of the current magnetic field, enabling the stored magnetic field cache A to be more accurate, and starting the millimeter wave radar after obtaining the, the method and the device have the advantages that the magnetic field value is acquired after the magnetic field is stabilized, the acquired magnetic field value is more accurate, the accuracy of finally detecting the vehicle in and out is higher, the 'magnetic field reference value' and the 'radar reference value' in the current time period are obtained by updating the 'magnetic field reference value' and the 'radar reference value' in real time, and the real-time change of the magnetic field can be effectively avoided, so that the accuracy of finally detecting the vehicle in and out is not good.
And in the second step, when the next step is carried out, the magnetic field reference value and the radar reference value are judged at the same time, whether the magnetic field reference value and the radar reference value are accurate or not is judged, and if the magnetic field reference value and the radar reference value are both accurate, the third step is directly carried out.
If the 'magnetic field reference value' is inaccurate and the 'radar reference value' is accurate, the 'magnetic field reference value' is subjected to self-adaptive processing, then the updated 'magnetic field reference value' is obtained, and the step three is carried out.
And if the 'magnetic field reference value' is accurate and the 'radar reference value' is inaccurate, performing self-adaptive processing on the 'radar reference value', then obtaining an updated 'radar reference value', and then entering the third step.
If the 'magnetic field reference value' and the 'radar reference value' are not accurate, the 'magnetic field reference value' and the 'radar reference value' are subjected to self-adaptive processing, then the updated 'magnetic field reference value' and 'radar reference value' are obtained, and then the step III is carried out.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (7)
1. The composite vehicle detection algorithm is characterized in that:
the method comprises the following steps: firstly, sampling a magnetic field of a current parking space, and storing the sampled magnetic field into a magnetic field cache A after the sampling is finished;
step two: performing millimeter wave radar measurement on the current magnetic field, and starting to perform the next processing;
step three: judging the state of the parking space according to the measured magnetic field reference value and the judgment reference value;
step four: and after the parking space state result is judged, uploading the judged parking space state to an application server.
2. The hybrid vehicle detection algorithm of claim 1, wherein: in the first step, when the magnetic field of the current parking space is sampled, whether the current magnetic field is different from the magnetic field cache A stored before is judged, if so, the current magnetic field is continuously sampled, and if not, after the current magnetic field is stabilized, the stabilized magnetic field value is obtained and then stored in the magnetic field cache A.
3. The hybrid vehicle detection algorithm of claim 1, wherein: in the first step, after the stabilized magnetic field value is obtained, the magnetic field data is stored in a cache, then millimeter wave radar data in the current magnetic field is obtained, and the millimeter wave radar data is stored in the cache.
4. The hybrid vehicle detection algorithm of claim 1, wherein: and in the second step, when the next step is carried out, the magnetic field reference value and the radar reference value are judged at the same time, whether the magnetic field reference value and the radar reference value are accurate or not is judged, and if the magnetic field reference value and the radar reference value are both accurate, the third step is directly carried out.
5. The hybrid vehicle detection algorithm of claim 4, wherein: in the second step, if the "magnetic field reference value" is inaccurate and the "radar reference value" is accurate, the "magnetic field reference value" is subjected to adaptive processing, and then the updated "magnetic field reference value" is obtained, and the third step is performed.
6. The hybrid vehicle detection algorithm of claim 4, wherein: in the second step, if the 'magnetic field reference value' is accurate and the 'radar reference value' is inaccurate, the 'radar reference value' is subjected to self-adaptive processing, then the updated 'radar reference value' is obtained, and the third step is performed.
7. The hybrid vehicle detection algorithm of claim 4, wherein: in the second step, if the "magnetic field reference value" and the "radar reference value" are inaccurate, both the "magnetic field reference value" and the "radar reference value" are subjected to self-adaptive processing, and then the updated "magnetic field reference value" and "radar reference value" are obtained, and the third step is performed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011188900.5A CN112950957A (en) | 2020-10-30 | 2020-10-30 | Composite vehicle detection algorithm |
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| CN202011188900.5A CN112950957A (en) | 2020-10-30 | 2020-10-30 | Composite vehicle detection algorithm |
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| CN112950957A true CN112950957A (en) | 2021-06-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114387793A (en) * | 2022-03-04 | 2022-04-22 | 广州巨时信息科技股份有限公司 | Dual-mode hybrid vehicle detection method and device based on radar and geomagnetism |
Citations (6)
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| CN102651168A (en) * | 2011-02-23 | 2012-08-29 | 浙江钧普科技股份有限公司 | Wireless vehicle detector |
| CN105006170A (en) * | 2015-07-06 | 2015-10-28 | 中国船舶重工集团公司第七一〇研究所 | Parking stall detection system and method based on doppler radar and terrestrial magnetism detection |
| CN108877291A (en) * | 2018-08-09 | 2018-11-23 | 杭州朗米科技有限公司 | A kind of geomagnetic parking stall detection system based on fmcw radar and vehicle-mounted card-reading device |
| CN210775838U (en) * | 2019-08-10 | 2020-06-16 | 梁日强 | Composite vehicle detection device based on Doppler radar continuous wave and pulse wave |
| CN111583664A (en) * | 2020-05-07 | 2020-08-25 | 迈锐数据(无锡)有限公司 | Parking space detection method, system and terminal adopting geomagnetism and radar |
-
2020
- 2020-10-30 CN CN202011188900.5A patent/CN112950957A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102651168A (en) * | 2011-02-23 | 2012-08-29 | 浙江钧普科技股份有限公司 | Wireless vehicle detector |
| CN102280034A (en) * | 2011-05-27 | 2011-12-14 | 迈锐数据（北京）有限公司 | Vehicle detection method |
| CN105006170A (en) * | 2015-07-06 | 2015-10-28 | 中国船舶重工集团公司第七一〇研究所 | Parking stall detection system and method based on doppler radar and terrestrial magnetism detection |
| CN108877291A (en) * | 2018-08-09 | 2018-11-23 | 杭州朗米科技有限公司 | A kind of geomagnetic parking stall detection system based on fmcw radar and vehicle-mounted card-reading device |
| CN210775838U (en) * | 2019-08-10 | 2020-06-16 | 梁日强 | Composite vehicle detection device based on Doppler radar continuous wave and pulse wave |
| CN111583664A (en) * | 2020-05-07 | 2020-08-25 | 迈锐数据(无锡)有限公司 | Parking space detection method, system and terminal adopting geomagnetism and radar |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114387793A (en) * | 2022-03-04 | 2022-04-22 | 广州巨时信息科技股份有限公司 | Dual-mode hybrid vehicle detection method and device based on radar and geomagnetism |
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Application publication date: 20210611 |