CN114373306A - Vehicle passing detection method and system based on intelligent spike and storable medium - Google Patents
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- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The invention discloses a vehicle passing detection method, a vehicle passing detection system and a storable medium based on an intelligent spike, which belong to the technical field of intelligent traffic and comprise the following steps: after the intelligent spike is powered on, acquiring background magnetic field data, and generating an initial reference value according to the background magnetic field data; obtaining a reference value vector sum of each intelligent spike according to the initial reference value, and acquiring the magnetic field intensity after change in real time; and obtaining a magnetic field intensity change value caused by the influence of the vehicle on the earth magnetic field according to the reference value vector sum and the changed magnetic field intensity, and detecting whether the vehicle passes or not according to the magnetic field intensity change value. The intelligent spike integrates the collection and communication of traffic information, effectively improves the detection precision of the road traffic information, improves the operation efficiency and the travel service experience, and is easy to popularize and use.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a vehicle passing detection method and system based on an intelligent spike and a storage medium.
Background
The road traffic state is a basic variable reflecting traffic operation conditions, and comprises a plurality of traffic parameters such as flow, density, speed, occupancy rate and travel time. The perception and collection of traffic state information provide data support for intelligent road operation and management, and the basis is provided for a refined management and control strategy in an emergency.
Whether the traffic information is detected timely, comprehensively, effectively and accurately will seriously affect the traffic control and guidance strategy, the traffic information release and service, and the cause analysis of traffic accidents. Therefore, the perception and acquisition of traffic information is one of the important basic problems of the intelligent traffic system.
At present, the smart highway still has some problems in the aspect of information perception collection: the sensing means such as high definition camera, millimeter wave radar, laser radar are mainly used, these equipment cost are higher, lay the interval great, need install the pole setting, and receive bad weather influences such as night and rain and fog great, can't detect the vehicle flowrate, speed, the occupation ratio isoparametric in the whole road section lane comparatively accurately.
In the prior art, a triaxial geomagnetic sensor is a sensor for detecting an earth magnetic field and outputting a voltage value, and the earth magnetic field is converted into a digital quantity which is easy to calculate through analog-to-digital conversion to represent the local earth magnetic field strength; since the earth magnetic field can be affected by ferromagnetic metal (generally, iron, cobalt, nickel, etc.), the triaxial geomagnetic sensor can detect a vehicle containing ferromagnetic metal by detecting the change of the earth magnetic field, however, it is also important to determine whether to perform efficient, fast, and accurate transmission after acquiring traffic information by using the triaxial geomagnetic sensor.
Therefore, how to provide a vehicle passing detection method, system and storage medium based on an intelligent spike is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a vehicle passing detection method, system and storage medium based on an intelligent spike, which integrates the collection and communication of traffic information. The wireless Mesh communication network has the characteristics of multiple acquisition parameter types, low manufacturing cost, simplicity and convenience in installation and maintenance, strong environmental adaptability, no influence of severe weather and the like, can comprehensively obtain multiple important parameters of traffic information, such as speed, flow, time occupancy, vehicle stopping judgment, vehicle type classification and the like, and simultaneously realizes the bidirectional communication with ultra-strong interference resistance, low power consumption, low time delay and high reliability through the wireless Mesh communication network.
In order to achieve the above purpose, the invention provides the following technical scheme:
in one aspect, the invention provides a vehicle passing detection method based on an intelligent spike, wherein a geomagnetic sensor arranged in the intelligent spike is implemented, and the method comprises the following steps:
s100: after the intelligent spike is powered on, acquiring background magnetic field data, and generating an initial reference value according to the background magnetic field data;
s200: obtaining a reference value vector sum of each intelligent spike according to the initial reference value, and acquiring the magnetic field intensity after change in real time;
s300: and obtaining a magnetic field intensity change value caused by the influence of the vehicle on the earth magnetic field according to the reference value vector sum and the changed magnetic field intensity, and detecting whether the vehicle passes or not according to the magnetic field intensity change value.
Preferably, the S100 further includes: correcting the generated initial reference value:
after the initial reference value is generated, the background magnetic field data needs to be collected again every time the vehicle leaves, when the preset time is exceeded, the vehicle does not pass through, the background magnetic field data are stabilized within the preset error range of the reference value, and the background magnetic field data are corrected in real time.
Preferably, the S200 includes:
calculating to obtain a reference value vector sum B according to the initial reference valuebase：
In the formula, Bx-base、By-base、Bz-baseIndividual watchGenerating initial reference values by indicating background magnetic field data, wherein x, y and z respectively indicate different directions of a three-dimensional space;
and acquiring the magnetic field intensity after the change in real time.
Preferably, the S300 includes:
s310: obtaining the real-time magnetic field intensity B according to the changed magnetic field intensity1：
In the formula, Bx1、By1、Bz1Respectively the magnetic field intensity after the change;
s320: according to the reference value vector sum BbaseAnd the real-time magnetic field strength B1Calculating a magnetic field intensity change value delta B caused by the influence of the vehicle on the earth magnetic field:
s330: presetting a threshold value B of fluctuation generated by vehicle on the influence of the earth magnetic fieldthAccording to the magnetic field intensity change value Delta B and the threshold value BthThe relationship (2) is that the vehicle position is detected to determine whether the vehicle passes.
Preferably, the S330 includes:
when the magnetic field intensity change value delta B is larger than the threshold value BthIf so, indicating that the vehicle arrives at the detection point, and recording the starting time when the vehicle passes through the detection point;
when Δ B is less than threshold BthWhen the vehicle is within the reference value error allowable range, the vehicle is indicated to leave the detection point, and at the moment, the time when the first vehicle passes the detection point is recorded;
when the vehicle passes and the next vehicle arrives, recording the time when the second vehicle passes the detection point again;
when a vehicle reaches a detection point, the magnetic field intensity change value delta B is larger than the threshold value BthI.e. after detection of a determination of the arrival of a vehicleThe recorded time that the vehicle passes the detection point exceeds the preset time and the magnetic field intensity change value delta B is larger than the threshold value BthAnd if the vehicle still does not leave the detection point, the vehicle is stopped at the detection point.
Preferably, the method further comprises the step of carrying out data transmission by adopting a wireless Mesh communication network.
In another aspect, the present invention further provides a vehicle passing detection system based on the intelligent spike, including:
the intelligent spike power supply system comprises an initialization power supply module, an intelligent spike power supply module and a power supply module, wherein the initialization power supply module is used for acquiring background magnetic field data after the intelligent spike is powered on and generating an initial reference value according to the background magnetic field data;
the sensing module is used for acquiring a three-dimensional vector value of each intelligent spike and the magnetic field intensity of each intelligent spike after the change;
the main control module is connected with the sensing module and the initialization power supply module, obtains a magnetic field intensity change value caused by the influence of the vehicle on the earth magnetic field according to an initial reference value, a three-dimensional vector value and the changed magnetic field intensity, and detects whether the vehicle passes through the magnetic field intensity change value.
Preferably, the method further comprises the following steps: and the communication module is connected with the main control module and is used for carrying out data transmission by adopting a wireless Mesh communication network.
In still another aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the intelligent spike-based vehicle passage detection method described above.
Compared with the prior art, the invention discloses a vehicle passing detection method, a vehicle passing detection system and a storage medium based on the intelligent spike, and the intelligent spike integrates the collection and communication of traffic information. On one hand, the detection precision of the road traffic information is effectively improved, and compared with high-precision equipment schemes such as radars, videos and the like, a large amount of capital cost can be saved; on the other hand, the communication efficiency among the traffic information is effectively improved, and the transmission with low time delay and low power consumption is achieved. The invention can effectively improve the driving safety and the intellectualization level of the road, improve the operation efficiency and the trip service experience, and is easy to popularize and use.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for detecting the passing of a vehicle based on an intelligent spike provided by the invention;
FIG. 2 is a schematic flowchart of a method for detecting a vehicle position according to this embodiment;
fig. 3 is a flowchart of the wireless Mesh communication network provided in this embodiment;
fig. 4 is a schematic structural diagram of the vehicle passing detection system based on the intelligent spike provided in the embodiment.
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.
On one hand, referring to fig. 1, an embodiment of the present invention discloses a vehicle passing detection method based on an intelligent spike, wherein a geomagnetic sensor arranged inside the intelligent spike realizes the method, and the method includes:
s100: after the intelligent spike is powered on, acquiring background magnetic field data, and generating an initial reference value according to the background magnetic field data;
s200: obtaining a reference value vector sum of each intelligent spike according to the initial reference value, and acquiring the magnetic field intensity after change in real time;
s300: and obtaining a magnetic field intensity change value caused by the influence of the vehicle on the earth magnetic field according to the reference value vector sum and the changed magnetic field intensity, and detecting whether the vehicle passes or not according to the magnetic field intensity change value.
Specifically, magnetic field data is collected by a geomagnetic sensor.
In a specific embodiment, S100 further includes: correcting the generated initial reference value:
after the initial reference value is generated, the background magnetic field data needs to be collected again every time the vehicle leaves, when the preset time is exceeded, the vehicle does not pass through, the background magnetic field data are stabilized within the preset error range of the reference value, and the background magnetic field data are corrected in real time.
Specifically, in practical application, the environment is very complicated, the earth magnetic field is not only influenced by latitude, altitude, temperature difference (seasons) and the like, but also influenced by ferromagnetic metal, and the change of the content and the area of the ferromagnetic metal around the detection point (such as newly-added guardrail containing the ferromagnetic metal) also can cause the change of the earth magnetic field, so that the reference value of the triaxial geomagnetic sensor changes, and the reference value needs to be automatically adjusted at this time, so that the earth magnetic field can adapt to the change of the environment. Therefore, the reference value B is initially setbaseAnd then, acquiring background magnetic field data every time the vehicle leaves, and assigning the currently acquired reference value to B when the background magnetic field data are stabilized within the error range of the reference value in the vehicle-free state within the preset time of 2sbaseIn (3), the modification of the background magnetic field is completed.
More specifically, the preset time may be set to a time of 1s or more, and the error range of the reference value is an empirical parameter.
In a specific embodiment, S200 includes:
calculating to obtain a reference value vector sum B according to the initial reference value and the three-dimensional vector valuebase：
In the formula, Bx-base、By-base、Bz-baseRespectively representing background magnetic field data to generate initial reference values, wherein x, y and z respectively represent different directions of a three-dimensional space;
and the magnetic field intensity after the change is collected in real time.
In a specific embodiment, S300 includes:
s310: obtaining the real-time magnetic field intensity B according to the changed magnetic field intensity1：
In the formula, Bx1、By1、Bz1Respectively the magnetic field intensity after the change;
s320: according to the reference value vector sum BbaseAnd the real-time magnetic field strength B1Calculating a magnetic field intensity change value delta B caused by the influence of the vehicle on the earth magnetic field:
s330: presetting a threshold value B of fluctuation generated by vehicle on the influence of the earth magnetic fieldthAccording to the magnetic field intensity change value Delta B and the threshold value BthThe relationship (2) is that the vehicle position is detected to determine whether the vehicle passes.
In a particular embodiment, S330 includes:
when the magnetic field intensity change value delta B is larger than the threshold value BthIf so, indicating that the vehicle arrives at the detection point, and recording the starting time when the vehicle passes through the detection point;
when Δ B is less than threshold BthWhen the vehicle is within the reference value error allowable range, the vehicle is indicated to leave the detection point, and at the moment, the time when the first vehicle passes the detection point is recorded;
when the vehicle passes and the next vehicle arrives, recording the time when the second vehicle passes the detection point again;
when a vehicle reaches a detection point, the magnetic field intensity change value delta B is larger than a threshold valueBthThat is, after the vehicle arrival is detected, the recorded time when the vehicle passes the detection point exceeds a set time and the magnetic field intensity change value Delta B is greater than the threshold value BthAnd if the vehicle still does not leave the detection point, the vehicle is stopped at the detection point.
Specifically, referring to fig. 2, when the magnetic field strength variation Δ B is greater than the threshold BthWhen the magnetic field intensity changes, delta B is gradually reduced, and when delta B is smaller than a threshold B, the magnetic field intensity changes are gradually reducedthAnd when the vehicle is within the reference value error allowable range, the vehicle is considered to leave the detection point, and one time recorded by the timer is the time when the vehicle passes the detection point, namely the road surface occupation time T1 of the vehicle. After the vehicle passes through, when the next vehicle arrives, recording a time again, namely the time interval T2 of the vehicle, simultaneously resetting the timer to restart timing, and recording the occupied time of the vehicle and the time interval of the next vehicle again;
more specifically, the measured parameters can be used for calculating traffic parameters such as road occupancy and the like, and the traffic management is facilitated.
More specifically, when a vehicle reaches a detection point, the magnetic field strength variation Δ B is greater than the threshold BthWhen the arrival of the vehicle is determined, the timer starts counting time, and when a predetermined time (default value is 5s) is exceeded and the magnetic field intensity change value Δ B is larger than the threshold value BthAnd if the vehicle still does not leave the detection point, namely the detection point does not detect the leaving of the vehicle, the vehicle is identified to be stopped at the detection point, and at the moment, the intelligent spike generates a stopping alarm to inform other spikes and the upper computer and starts to flash a red light to warn other vehicles to pay attention to safety.
More specifically, when the magnetic field strength variation Δ B does not exceed the threshold BthJudging whether the background magnetic field changes, if so, modifying the background magnetic field, and if not, waiting for 5ms and then judging the magnetic field change delta B and the threshold B againthThe relationship (2) of (c).
Specifically, through the arrangement of the technical scheme, the traffic driving safety is favorably improved.
In a specific embodiment, the method further comprises the step of carrying out data transmission by adopting a wireless Mesh communication network.
Specifically, the intelligent spike adopts a wireless Mesh communication network, namely a wireless Mesh network, which is a multi-hop (multi-hop) network developed from an ad hoc network, and the wireless Mesh router forms an ad hoc network in a multi-hop interconnection mode, so that higher reliability, wider service coverage and lower early-stage investment cost can be provided.
More specifically, the wireless Mesh communication network has the following working procedures: the Mesh gateway sends a broadcast frame on a time slot with fixed intervals, the terminal nodes which do not access the network apply for network access competition after receiving the broadcast frame, the competition success is distributed to an idle time slot to work, the dormancy is continued when the competition fails, and the terminal nodes continue to participate in the competition after the random backoff time is reached.
Referring to fig. 3, node 1 as a source node sends a data packet to a destination node, and the data packet passes through a link e in sequence12、e23、e34To node 4;
more specifically, the wireless Mesh communication network wakes up to monitor a broadcast frame and participates in idle time slot competition, terminal nodes which are not networked are in a dormant state at ordinary times and do not transmit wireless signals, the nodes are only awake periodically in the occupied time slots after being networked and carry out information interaction with the gateway, and the nodes are also in the dormant state at other times, so that the networked node modules are not interfered by other terminals outside the network, the waking receiving times of the nodes operated in the time division multiple access mode are completely controlled, and the actual power consumption is very low.
On the other hand, referring to fig. 4, an embodiment of the present invention discloses an intelligent spike-based vehicle passing detection system, including:
the intelligent spike power supply system comprises an initialization power supply module, an intelligent spike power supply module and a power supply module, wherein the initialization power supply module is used for acquiring background magnetic field data after the intelligent spike is powered on and generating an initial reference value according to the background magnetic field data;
the sensing module is used for acquiring a three-dimensional vector value of each intelligent spike and the magnetic field intensity of each intelligent spike after the change;
and the main control module is connected with the sensing module and the initialization power supply module, obtains a magnetic field intensity change value caused by the influence of the vehicle on the earth magnetic field according to the initial reference value, the three-dimensional vector value and the changed magnetic field intensity, and detects whether the vehicle passes through the magnetic field intensity change value.
In a specific embodiment, the method further comprises the following steps: and the communication module is connected with the main control module and is used for carrying out data transmission by adopting a wireless Mesh communication network.
In still another aspect, an embodiment of the present invention discloses a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the above-mentioned intelligent spike-based vehicle passage detection method.
Compared with the prior art, the invention discloses a vehicle passing detection method, a vehicle passing detection system and a storage medium based on the intelligent spike, and the intelligent spike integrates the collection and communication of traffic information. On one hand, the detection precision of the road traffic information is effectively improved, and compared with high-precision equipment schemes such as radars, videos and the like, a large amount of capital cost can be saved; on the other hand, the communication efficiency among the traffic information is effectively improved, and the transmission with low time delay and low power consumption is achieved. The invention can effectively improve the driving safety and the intellectualization level of the road, improve the operation efficiency and the trip service experience, and is easy to popularize and use.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a vehicle based on intelligence spike passes through detection method, wherein the inside geomagnetic sensor who sets up of intelligence spike realizes, its characterized in that includes:
s100: after the intelligent spike is powered on, acquiring background magnetic field data, and generating an initial reference value according to the background magnetic field data;
s200: obtaining a reference value vector sum of each intelligent spike according to the initial reference value, and acquiring the magnetic field intensity after change in real time;
s300: and obtaining a magnetic field intensity change value caused by the influence of the vehicle on the earth magnetic field according to the reference value vector sum and the changed magnetic field intensity, and detecting whether the vehicle passes or not according to the magnetic field intensity change value.
2. The intelligent spike-based vehicle passage detection method according to claim 1, wherein the S100 further comprises: correcting the generated initial reference value:
after the initial reference value is generated, the background magnetic field data needs to be collected again every time the vehicle leaves, when the preset time is exceeded, the vehicle does not pass through, the background magnetic field data are stabilized within the preset error range of the reference value, and the background magnetic field data are corrected in real time.
3. The intelligent spike-based vehicle passage detection method according to claim 1, wherein the S200 comprises:
calculating to obtain a reference value vector sum B according to the initial reference valuebase：
In the formula, Bx-base、By-base、Bz-baseRespectively representing background magnetic field data to generate initial reference values, wherein x, y and z respectively represent different directions of a three-dimensional space;
and acquiring the magnetic field intensity after the change in real time.
4. The intelligent spike-based vehicle passage detection method according to claim 3, wherein the S300 comprises:
s310: obtaining the real-time magnetic field intensity B according to the changed magnetic field intensity1：
In the formula, Bx1、By1、Bz1Respectively the magnetic field intensity after the change;
s320: according to the reference value vector sum BbaseAnd the real-time magnetic field strength B1Calculating a magnetic field intensity change value delta B caused by the influence of the vehicle on the earth magnetic field:
s330: presetting a threshold value B of fluctuation generated by vehicle on the influence of the earth magnetic fieldthAccording to the magnetic field intensity change value Delta B and the threshold value BthThe relationship (2) is that the vehicle position is detected to determine whether the vehicle passes.
5. The intelligent spike-based vehicle passage detection method of claim 4, wherein the S330 comprises:
when the magnetic field intensity change value delta B is larger than the threshold value BthIf so, indicating that the vehicle arrives at the detection point, and recording the starting time when the vehicle passes through the detection point;
when Δ B is less than threshold BthWhen the vehicle is within the reference value error allowable range, the vehicle is indicated to leave the detection point, and at the moment, the time when the first vehicle passes the detection point is recorded;
when the vehicle passes and the next vehicle arrives, recording the time when the second vehicle passes the detection point again;
when a vehicle reaches a detection point, the magnetic field intensity change value delta B is larger than the threshold value BthThat is, after the determination that the vehicle is detected to arrive, the recorded time that the vehicle passes the detection point exceeds the preset time and the magnetic field intensity change value Delta B is greater than the threshold value BthAnd if the vehicle still does not leave the detection point, the vehicle is stopped at the detection point.
6. The intelligent spike-based vehicle passage detection method according to any one of claims 1 to 5, further comprising data transmission using a wireless Mesh communication network.
7. A vehicle passing detection system based on intelligent spikes comprises:
the intelligent spike power supply system comprises an initialization power supply module, an intelligent spike power supply module and a power supply module, wherein the initialization power supply module is used for acquiring background magnetic field data after the intelligent spike is powered on and generating an initial reference value according to the background magnetic field data;
the sensing module is used for acquiring a three-dimensional vector value of each intelligent spike and the magnetic field intensity of each intelligent spike after the change;
the main control module is connected with the sensing module and the initialization power supply module, obtains a magnetic field intensity change value caused by the influence of the vehicle on the earth magnetic field according to an initial reference value, a three-dimensional vector value and the changed magnetic field intensity, and detects whether the vehicle passes through the magnetic field intensity change value.
8. The intelligent spike based vehicle passage detection system of claim 7 further comprising: and the communication module is connected with the main control module and is used for carrying out data transmission by adopting a wireless Mesh communication network.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for intelligent spike-based vehicle passage detection according to any one of claims 1 to 5.
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