CN117152856A - Barrier gate control method, vehicle communication method and device - Google Patents
Barrier gate control method, vehicle communication method and device Download PDFInfo
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- CN117152856A CN117152856A CN202210565366.8A CN202210565366A CN117152856A CN 117152856 A CN117152856 A CN 117152856A CN 202210565366 A CN202210565366 A CN 202210565366A CN 117152856 A CN117152856 A CN 117152856A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- 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]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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Abstract
The invention relates to the technical field of vehicle no-stop charging, and particularly provides a barrier gate control method, a vehicle communication method and a vehicle communication device. According to the barrier gate control method, the vehicle communication method and the vehicle communication device, communication is established with the target vehicle in the preset range, vehicle identification information of the target vehicle is obtained, meanwhile, vehicle position information is obtained, the distance between the barrier gate and the vehicle in front is detected through the distance measuring device arranged on the barrier gate, after the vehicle identification information is checked, the vehicle position information is matched with the distance detected by the distance measuring device, and the barrier gate is controlled to be opened and closed according to whether the matching is successful or not, so that the necessary condition of opening the barrier gate is increased, the time of opening the barrier gate is changed, and the condition that vehicles escape through preemption and fee charging are caused due to the fact that the barrier gate is opened too early and the current passing vehicle is not accurately identified is avoided.
Description
Technical Field
The invention relates to a vehicle no-stop toll collection technology, in particular to a barrier gate control method, a vehicle communication method and a vehicle communication device.
Background
ETC (Electronic Toll Collection), which may also be referred to as an electronic toll collection system, is a technology applied to automatic toll collection on highways or bridges. The vehicle-mounted electronic tag (OBU) arranged on the vehicle windshield and the microwave antenna (RSU) arranged on the ETC lane of the toll station are in special short-range communication, and the computer networking technology is utilized to carry out background settlement processing with banks, so that the purpose that the vehicle can pay the toll of the expressway or the bridge through the expressway or the bridge toll station without stopping the vehicle is achieved. The toll collection system takes less than two seconds per vehicle, and the traffic capacity of the toll collection channel is 5 to 10 times that of the manual toll collection channel. However, since the currently used ETC system can immediately open the front barrier gate after the roadside unit detects the legal vehicle-mounted unit, and a longer distance is provided between the vehicle and the front barrier gate, this results in that some illegal vehicle owners utilize the leak to open the front barrier gate and accelerate the overtaking to pass through the front barrier gate at the same time, thereby realizing the purpose of fee escaping by swiping other people's ETC. The barrier gate can fall after detecting that a vehicle passes, so that the vehicle with normal communication can not pass by the barrier gate when being blocked against the barrier gate. The act of rubbing the ETC of other people to pass is not only illegal, but also brings great potential safety hazard to other people, and increases the risk of vehicle scratch or accident, so that the improvement of the current ETC passing method is needed to restrain the occurrence of the act.
Disclosure of Invention
Accordingly, the present invention is directed to a barrier control method, a vehicle communication method and a device for improving the control of the present ETC system to limit the passing behavior by robbery swiping others ETC.
In a first aspect, an embodiment of the present invention provides a method for controlling a barrier gate, where the method includes: establishing communication with a target vehicle, wherein the target vehicle is a vehicle entering a preset range; acquiring vehicle identification information and vehicle position information of the target vehicle; controlling a distance measuring device arranged on the barrier gate to detect the distance between the barrier gate and a vehicle in front of the barrier gate; matching the vehicle location information with the distance in response to the vehicle identification information verification passing; and controlling the barrier gate to be kept closed in response to the failure of matching the vehicle position information with the distance.
Further, the method further comprises: and controlling the barrier gate to open in response to the successful matching of the vehicle position information and the distance.
Further, the vehicle identification information includes a vehicle identification, and the vehicle location information includes satellite positioning information and/or distance information to the barrier gate measured by the target vehicle.
Further, said matching said vehicle location information with said distance comprises: judging whether the vehicle position information is consistent with the position of the vehicle in front of the barrier gate represented by the distance; determining that the vehicle location information fails to match the distance in response to a location inconsistency; and determining that the vehicle position information is successfully matched with the distance in response to the position agreement.
Further, the determining whether the vehicle position information and the position of the vehicle in front of the barrier characterized by the distance are consistent includes: determining an included angle value of a connecting line of the roadside unit and the vehicle and a lane according to the vehicle position information, wherein the included angle value is more than 90 degrees and less than 150 degrees, and the distance is within a preset distance range, so that the positions are consistent; or determining that the distance value from the vehicle to the barrier gate and the distance are in a preset distance range according to the vehicle position information, and determining that the positions are consistent.
Further, the distance is in the range of 1 meter to 5 meters.
Further, the determining the value of the included angle between the road side unit and the connecting line of the vehicle and the lane according to the vehicle position information includes: determining a first coordinate of the roadside unit and a second coordinate of the barrier gate in a plane projection coordinate system; determining a third coordinate of the target vehicle in the plane projection coordinate system according to the vehicle position information; and determining an included angle value between a connecting line of the roadside unit and the vehicle and a lane according to the first coordinate, the second coordinate and the third coordinate.
Further, determining a third coordinate of the target vehicle in the planar projection coordinate system according to the vehicle position information includes: obtaining a third coordinate of the target vehicle in the plane projection coordinate system according to satellite positioning information mapping; or determining the third coordinate according to the distance information to the barrier gate, the second coordinate and the lane direction information measured by the target vehicle.
Further, the establishing communication with the target vehicle includes: detecting that a vehicle enters a communication range or a vehicle is driven into a target lane, determining the vehicle as a target vehicle, and generating a communication establishment instruction; responding to the communication establishment instruction, and sending a communication signal to the target vehicle; in response to receiving the valid feedback signal, communication is successfully established with the target vehicle.
In a second aspect, an embodiment of the present invention further provides a vehicle communication method, where the method includes: establishing communication connection with roadside units; transmitting vehicle identification information and vehicle position information through the communication connection; wherein the vehicle location information includes satellite positioning information and/or distance information of the vehicle to the barrier gate.
In a third aspect, an embodiment of the present invention further provides a toll collection passing device, including: the roadside unit is arranged above or beside the lane and is used for receiving and transmitting communication signals and acquiring vehicle identification information and vehicle position information; the barrier gate is arranged at the outlet end of the lane; the distance measuring device is arranged on the barrier gate and used for measuring and uploading the distance between the barrier gate and the vehicle in front in real time; and the computer equipment is respectively in communication connection with the roadside unit, the barrier gate and the distance measuring device and is used for controlling the roadside unit, the distance measuring device and the barrier gate so as to realize the barrier gate control method.
Further, the apparatus further comprises: the loop sensor is arranged below the lane entrance end, is in communication connection with the computer equipment, and is used for sensing whether a vehicle enters an ETC lane or not, and sending a starting signal to the computer equipment when the vehicle enters, and the computer equipment responds to the receiving of the starting signal and controls the roadside unit, the distance measuring device and the barrier gate so as to realize the barrier gate control method.
In a fourth aspect, an embodiment of the present invention further provides an in-vehicle apparatus, including: the positioning device is used for acquiring vehicle position information; and the vehicle-mounted unit is used for storing the vehicle position information and the vehicle identification information and executing the vehicle communication method.
Further, the positioning device includes: the satellite positioning signal receiving device is used for receiving satellite positioning signals and storing the satellite positioning information in the vehicle-mounted unit; and/or a vehicle-mounted distance measuring device is used for measuring the distance between the vehicle and the barrier gate and storing the distance information in the vehicle-mounted unit.
In a fifth aspect, embodiments of the present invention also provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described barrier gate control method or vehicle communication method.
According to the barrier gate control method, the vehicle communication method and the vehicle communication device, communication is established with the target vehicle in the preset range, vehicle identification information of the target vehicle is obtained, meanwhile, vehicle position information is obtained, the distance between the barrier gate and the vehicle in front is detected through the distance measuring device arranged on the barrier gate, after the vehicle identification information is checked, the vehicle position information is matched with the distance detected by the distance measuring device, and the barrier gate is controlled to be opened and closed according to whether the matching is successful or not, so that the necessary condition of opening the barrier gate is increased, the time of opening the barrier gate is changed, and the condition that vehicles escape through preemption and fee charging are caused due to the fact that the barrier gate is opened too early and the current passing vehicle is not accurately identified is avoided.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a usage scenario of a barrier control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle-mounted device and a toll collection passing device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a barrier control method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of information interaction between a vehicle-mounted device and a toll collection passing device according to an embodiment of the present invention;
FIG. 5 is a flowchart of a method for controlling a barrier gate according to an embodiment of the present invention;
FIG. 6 is a schematic diagram showing steps of a method for controlling a barrier according to an embodiment of the present invention for matching the vehicle position information with the distance;
FIG. 7 is a flowchart of another embodiment of a barrier control method according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating the steps of a method for controlling a barrier according to an embodiment of the present invention for establishing communication with a target vehicle;
FIG. 9 is a schematic diagram showing specific steps of determining an angle value between a road side unit and a line of the vehicle and a lane according to the vehicle position information in the road gate control method according to the embodiment of the present invention;
fig. 10 is a schematic diagram of method steps of a vehicle communication method according to an embodiment of the present invention.
Detailed Description
The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in detail. The present invention will be fully understood by those skilled in the art without the details described herein. Well-known methods, procedures, flows, components and circuits have not been described in detail so as not to obscure the nature of the invention.
Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
Unless the context clearly requires otherwise, the words "comprise," "comprising," and the like in the description are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The ETC system adopts the vehicle automatic identification technology to complete wireless data communication between the vehicle and the toll station, and performs vehicle automatic induction identification and exchange of related toll data. The computer network is used for processing charging data, so that the full-automatic electronic charging system can be realized without stopping and setting a charging window.
The ETC system performs wireless communication and information exchange between an in-vehicle device mounted on a vehicle and an antenna mounted on a toll booth lane. Mainly comprises an automatic vehicle identification system, a central management system, other auxiliary facilities and the like. The vehicle automatic identification system is composed of an On Board Unit (OBU) also called a transponder or an electronic tag, a Road Side Unit (RSU), a loop sensor and the like. The OBU stores identification information of the vehicle, and is generally mounted on a windshield in front of the vehicle, the RSU is mounted beside a toll station, and the loop sensor is mounted under the ground of a lane. The central management system has a large database storing a large amount of registered vehicle and user information. When the vehicle passes through the toll gate, the loop sensor senses the vehicle, the RSU sends out an inquiry signal, the OBU responds, and bidirectional communication and data exchange are carried out; the central management system obtains the vehicle identification information, such as the information of the ID number of the automobile, the automobile type and the like, and the corresponding information in the database for comparison and judgment, and controls the management system to generate different actions according to different conditions, such as the computer charge management system deducts the road charge which should be paid from the pre-paid account of the automobile or sends out instructions to other auxiliary facilities for working.
Fig. 1 is a schematic diagram of a usage scenario of a barrier control method according to an embodiment of the present invention. As shown in fig. 1, a and b are vehicles running on a lane, wherein lane 1 is an ETC lane, lane 2 is a non-ETC lane, when a vehicle a with an on-board unit OBU is normally driven into the ETC lane, the OBU is identified by an RSU set on the lane, and when the verification is passed, the ETC system controls a gate in front of lane 1 to automatically open so that vehicle a passes. If the vehicle b attempts to illegally escape, when the OBU of the vehicle a is identified by the RSU and the lane 1 gate is opened, the vehicle b can rapidly change lanes, 1 lane is inserted in front of the vehicle a, and then the vehicle a is preempted to pay and then the gate is opened, so that the purpose of escaping the fee is realized. And because the barrier gate is opened only one vehicle can be released once, after the b vehicle passes, the a vehicle can be reversely fallen and blocked in front of the barrier gate, and can not pass, the vehicle can not pass through the barrier gate, and can not be recognized again after backing, and at the moment, if other vehicles behind the a vehicle are driven into the 1 lane, the great traffic jam can be brought. And in the process of merging and robbing b vehicles, great potential safety hazards can be brought. Therefore, the embodiment of the invention provides a barrier gate control method capable of avoiding the occurrence of the condition of the robbing and escaping fee.
Fig. 2 is a schematic structural diagram of a vehicle-mounted device 01 and a toll collection passing device 02 according to an embodiment of the present invention. As shown in fig. 2, the toll collection passing device 02 of the present embodiment includes a roadside unit 4, a barrier 6, a distance measuring device 5, and a computer device 7. The roadside unit 4 is disposed above or beside the lane, and is used for receiving and transmitting communication signals and acquiring vehicle identification information and vehicle position information. The barrier 6 is arranged at the exit end of the lane. The distance measuring device 5 is arranged on the barrier gate 6 and is used for measuring and uploading the distance between the barrier gate 6 and the vehicle in front in real time. The computer device 7 is respectively in communication connection with the roadside unit 4, the road gate 6 and the distance measuring device 5, and is used for controlling the roadside unit 4, the distance measuring device 5 and the road gate 6 to realize a road gate control method as described below, so as to prevent the occurrence of the robbery and fee escaping behavior in the ETC passing process.
In some alternative embodiments, the apparatus further comprises a loop inductor 3. The loop sensor 3 is disposed below the entrance end of the lane, and is in communication connection with the computer device 7, and is configured to sense whether a vehicle is driving into the ETC lane, and send a start signal to the computer device 7 when the vehicle is driving into the ETC lane, where the computer device 7 controls the roadside unit 4, the distance measuring device 5, and the barrier gate 6 to perform a barrier gate control method described below in response to receiving the start signal. According to the embodiment, the loop sensor 3 is arranged, so that a vehicle can be timely and accurately perceived to enter the ETC lane, the roadside unit 4 does not need to always send a broadcast signal, and the energy consumption of the system is reduced.
The in-vehicle apparatus 01 of the embodiment of the present invention includes a positioning device 1 and an in-vehicle unit 2. Wherein the positioning device 1 is used for acquiring vehicle position information. The in-vehicle unit 2 is configured to store vehicle position information and vehicle identification information, and to perform a vehicle communication method described below.
In a specific real-time manner, the positioning device 1 is a satellite positioning signal receiving device or a vehicle-mounted distance measuring device, the satellite positioning signal receiving device is used for receiving satellite positioning signals and storing satellite positioning information in the vehicle-mounted unit 4, and the vehicle-mounted distance measuring device is used for measuring the distance between the vehicle and the barrier 6 and storing distance information in the vehicle-mounted unit.
Fig. 3 is a schematic diagram of a barrier gate control method according to an embodiment of the invention. As shown in fig. 3, in fig. 2, point a is the position of the barrier gate, point B is the position of the RSU, C, C', and point C "are vehicles running normally, and point D is vehicles for rescuing the fee. In the embodiment of the present invention, since the positions of the barrier gate and the RSU are fixed, the positions of the two points A, B may be predetermined, and then after the running vehicle C enters the ETC lane, the RSU will establish communication connection with the OBU on the vehicle C, and the RSU may acquire the vehicle identification information from the OBU and also acquire the position information of the vehicle C. The location information of the vehicle C may be determined by an onboard satellite positioning system (such as a GPS or a beidou satellite positioning system) and stored in the OBU. Meanwhile, a distance measuring device (such as a laser distance measuring device or an ultrasonic distance measuring device) is further arranged on the barrier gate at the point A and used for measuring the distance between the barrier gate and a vehicle in front, when no vehicle is robbed to escape, the distance is the distance between the barrier gate A and the vehicle C, and when the vehicle D is inserted into the front of the vehicle C, the distance is the distance between the AD. In this embodiment, when the vehicle C passes the identification at point C or point C', the road gate a will not open immediately, and the toll collection passing device will match the vehicle position information read from the OBU with the distance between the road gate a and the vehicle in front measured by the distance measuring device. When no vehicle is robbed to escape, the distance between the AC obtained by distance measurement and the vehicle position displayed by the vehicle position information read from the OBU can be successfully matched (for example, the distance between the AC obtained by distance measurement is 1-5 m, and the distance between the C point coordinate and the A point coordinate obtained after the vehicle C is positioned by the vehicle position information is 1-5 m), and at the moment, the computer equipment can control the lifting of the barrier gate, so that the C vehicle can normally pass. When a D vehicle attempting to rob to run and escape is inserted in front of a C vehicle, when the AD distance obtained through distance measurement is 1-5 meters, the distance between the coordinate of the C point and the coordinate of the A point obtained from the vehicle position information read from the OBU is larger than 5 meters, and at the moment, the matching of the vehicle position information and the distance fails, a barrier gate is not opened, so that the vehicle D cannot escape and pass.
Fig. 4 is a schematic diagram of information interaction between a vehicle-mounted device and a toll collection passing device according to an embodiment of the present invention. As shown in fig. 4, the information interaction steps in this embodiment are as follows:
s010, the toll collection passing device detects that the vehicle enters a communication range or the vehicle enters a target lane, and the vehicle is determined to be a target vehicle.
S020, the toll collection passing device sends a communication signal to the vehicle-mounted device.
S030, the vehicle-mounted device feeds back a signal to the toll collection passing device.
And S040, the toll collection passing device responds to the receipt of the effective feedback signal, and successfully establishes communication with the target vehicle.
S050, detecting the distance between the road gate and the vehicle in front by the toll collection passing device.
S060, the vehicle-mounted device receives satellite positioning signals or measures the distance between the vehicle and the barrier gate and stores the signals.
It is easy to understand that the steps S040, S050, and S060 are not sequential.
S070, the vehicle-mounted device sends vehicle identification information and vehicle positioning information to the toll collection passing device.
S080, checking the vehicle identification information by the parking charge passing device and matching the vehicle position information with the distance.
And S090, the toll collection passing device controls the barrier gate to be kept closed or opened according to the matching result.
According to the embodiment of the invention, the information interaction steps are executed through the vehicle-mounted device and the toll collection passing device, so that the time for opening the barrier gate is changed, and the situation that vehicles pass through the toll collection passing through the rush and the plug due to the fact that the barrier gate is opened too early and the current passing vehicles are not identified accurately is avoided.
The following specifically describes and introduces the barrier gate control method and the vehicle communication method according to the device, the principle and the information interaction steps.
Fig. 5 is a flowchart of a method for controlling a barrier gate according to an embodiment of the invention. According to the above principle, the method for controlling the barrier gate on the RSU side according to the embodiment of the present invention is shown in fig. 5, and includes the following steps:
s100, establishing communication with a target vehicle, wherein the target vehicle is a vehicle entering a preset range.
After the vehicle enters a predetermined range recognizable by the RSU, the RSU establishes communication with the OBU.
S200, acquiring vehicle identification information and vehicle position information of the target vehicle.
The RSU acquires vehicle identification information and vehicle position information of the target vehicle from the OBU and uploads the vehicle identification information and the vehicle position information to the computer system.
S300, controlling a distance measuring device arranged on the barrier gate to detect the distance between the barrier gate and a vehicle in front.
The distance measuring device on the barrier gate measures the distance between the barrier gate and the nearest vehicle in front and uploads the distance to the system.
And S400, matching the vehicle position information with the distance in response to the verification of the vehicle identification information.
The system checks the vehicle identification information obtained from the OBU, and matches the vehicle position information with the distance between the barrier gate and the vehicle in front after the verification is passed. The specific matching process is shown in fig. 4.
Fig. 6 is a schematic diagram of specific steps of matching vehicle position information with the distance, where the matching is located, in the method for controlling a barrier gate according to the embodiment of the present invention, as shown in fig. 6, the matching process specifically includes the following steps:
s410, judging whether the vehicle position information is consistent with the position of the vehicle in front of the barrier gate represented by the distance.
As illustrated in the schematic diagram of fig. 3, the position of the target vehicle may be represented by an angle value of the angle BCA, for example, the angle BCA is greater than 90 degrees and less than 150 degrees, and if the corresponding distance is 1 to 5 meters, it is determined that the distances are consistent, step S420 is performed, and if the distances are not consistent, step S430 is performed. The position of the target vehicle may be represented by an AC space value according to the vehicle position information, and if the AC space determined according to the position is 1-5 meters and the distance measured by the distance measuring device is 1-5 meters, the step S420 is executed if the determined AC space is consistent, and if the determined AC space is inconsistent, the step S430 is executed.
S420, determining that the vehicle position information fails to match the distance in response to the position inconsistency;
if the positions are inconsistent, that is, the vehicle position information obtained from the OBU is inconsistent with the vehicle position actually measured by the ranging device at the barrier gate, it is indicated that the vehicle at the distance measured by the ranging device (that is, the vehicle in front of the barrier gate) is not the target vehicle that establishes communication with the RSU, that is, the vehicle is inserted between the target vehicle and the barrier gate, so that the vehicle cannot pass through, and the step S500 is skipped, and the barrier gate is not opened.
And S430, determining that the vehicle position information is successfully matched with the distance in response to the position coincidence.
The consistent position indicates that the vehicle in front of the barrier is the target vehicle and can be released, and therefore the process goes to step S600 to open the barrier.
S500, judging whether the vehicle position information is successfully matched with the distance.
If the matching between the vehicle position information and the distance fails, executing the following step S600;
if the vehicle position information matches the distance successfully, the following step S700 is executed.
And S600, responding to failure of matching the vehicle position information with the distance, and keeping the barrier gate closed.
When the vehicle with the charge evasion is in the robbery state, the barrier gate is kept closed, so that the vehicle with the charge evasion attempt can not pass smoothly, the charge evasion is prevented, and the probability of traffic jam and accident occurrence is reduced.
And S700, controlling the barrier gate to open in response to the successful matching of the vehicle position information and the distance.
When no fee-escaping vehicle exists, the vehicle can normally pass, and the passing efficiency of the ETC lane is not affected.
FIG. 7 is a flowchart of a method for controlling a barrier according to another embodiment of the present invention. As shown in fig. 7, in this embodiment, the steps of the barrier control method are as follows:
s100', establishing communication with the target vehicle.
Fig. 8 is a schematic diagram showing specific steps of the method for controlling a barrier gate according to an embodiment of the present invention, in which the specific steps of establishing communication with a target vehicle are shown in fig. 8, and the method includes the following specific steps:
s110', detecting that the vehicle enters a communication range or detecting that the vehicle enters a target lane, determining the vehicle as a target vehicle, and generating a communication establishment instruction.
The system may detect whether an OBU is in its communication range by the RSU antenna continuously transmitting broadcast signals to determine the target vehicle. The method can also detect whether a vehicle drives into the ETC lane or not through a loop sensor arranged underground at the entrance of the ETC lane, and when the vehicle is detected to drive into the ETC lane, the vehicle is determined to be a target vehicle, and a communication establishment instruction is generated to control the RSU to send a communication signal to the OBU. Specifically, whether the OBU enters the communication range of the RSU antenna to detect is detected by continuously sending the broadcast signal through the RSU antenna, so that other devices are not required to be additionally arranged in a mode of determining the target vehicle, equipment installation is simple, and equipment cost is low. The loop sensor is adopted, the installation process is complex, the equipment cost is high, but the loop sensor can timely and accurately sense that the vehicle enters the ETC lane, and the roadside unit RSU does not need to always send broadcast signals, so that the energy consumption of the system is reduced.
S120', responding to the communication establishment instruction, and sending a communication signal to the target vehicle.
After the system generates a communication establishment instruction, the RSU is controlled to send a communication signal to the target vehicle.
S130', in response to receiving the valid feedback signal, successfully establishing communication with the target vehicle.
After the OBU on the target vehicle receives the communication signal sent by the RSU, the signal is fed back to the RSU, and after the RUS receives the feedback signal, if the signal is an effective signal conforming to the communication protocol, the communication connection between the RSU and the OBU can be successfully established. After the communication connection is established successfully, the step S200' can be skipped.
S200' acquires vehicle identification information and vehicle position information of the target vehicle.
After the communication connection is established, the RSU can acquire the vehicle information and the vehicle position information stored in the OBU through communication. The vehicle identification information can be information such as a vehicle type and a license plate number, the vehicle position information can be position information obtained through a vehicle-mounted satellite positioning system, and the vehicle position information can also be the distance of a vehicle gateway measured through a distance measuring device on a vehicle.
S300', controlling a distance measuring device arranged on the barrier gate to detect the distance between the barrier gate and the vehicle in front.
It will be appreciated that the sequence of step S200 'and step S300' is not sequential, and the distance measuring device can continuously detect the distance between the vehicle in front of the barrier and the barrier.
S400', checking whether the vehicle identification information passes.
In some cases, for example, in the case that the actual vehicle type of the vehicle type target vehicle displayed by the vehicle identification information is not consistent, or the payment cannot be completed by the arrearage of the bank card bound by the on-board unit OBU, the vehicle identification information cannot be checked, and the target vehicle can only walk through the manual payment channel. The subsequent steps S500 'or S700' can be performed only after the vehicle identification information passes the verification.
S500', determining an included angle value between a roadside unit and a vehicle connecting line and a lane according to the vehicle position information;
fig. 9 is a schematic diagram of specific steps of determining an angle value between a road side unit and a line of the vehicle and a lane according to the vehicle position information, and as shown in fig. 9, the specific steps of step S500' are as follows:
s510', determining a first coordinate of the roadside unit and a second coordinate of the barrier gate in a plane projection coordinate system.
Because the road gate and the road side units are pre-installed, the positions of the road gate and the road side units cannot be changed, and after a coordinate system is established, the first coordinates of the road side units and the second coordinates of the road gate can be obtained easily in a measuring mode.
S520', determining a third coordinate of the target vehicle in the plane projection coordinate system according to the vehicle position information.
Taking the vehicle position information as satellite positioning information as an example, after a coordinate system is established, the position of the vehicle can be marked as a third coordinate in the coordinate system through satellite positioning information acquired by the RSU. Specifically, when the user receives the navigation message, the satellite time is extracted and compared with the own clock to obtain the distance between the satellite and the user, and then the satellite ephemeris data in the navigation message is used to calculate the position of the satellite when transmitting the message, and the position and speed of the user in the WGS-84 geodetic coordinate system can be obtained. The WGS-84 coordinate system (World Geodetic System-1984 Coordinate System) is an internationally adopted geocentric coordinate system. The origin of coordinates is the earth centroid, the Z axis of the earth centroid space rectangular coordinate system points to the direction of the protocol earth polar (CTP) defined by BIH (International time service organization) 1984.0, the X axis points to the intersection point of the zero meridian plane of BIH 1984.0 and the CTP equator, and the Y axis is perpendicular to the Z axis and the X axis to form a right-hand coordinate system. After the coordinate position of the vehicle on the geocentric coordinate system is obtained by satellite positioning, the coordinates thereof are converted into the planar projection coordinate system of the present embodiment by computer calculation, thereby obtaining the third coordinates of the vehicle in the planar projection coordinate system.
S530', determining an included angle value between a connecting line of the roadside unit and the vehicle and a lane according to the first coordinate, the second coordinate and the third coordinate.
Referring to fig. 3 for explanation, in fig. 2, the coordinates of the point B are the first coordinates, the coordinates of the point a are the second coordinates, the third coordinates change along C, C ', C "… … as the vehicle advances, the connection line between the roadside unit and the vehicle is BC, BC', BC" … …, the lane is the straight line AC, the value of the included angle between the roadside unit and the vehicle and the lane is the value of the angle BCA, BC 'A, BC "a … …, the value of the included angle can be calculated according to the trigonometric function through the coordinate values of three points ABC, and the system detects the value of the included angle in real time as the vehicle C advances, and then step S600' is executed.
S600', judging whether the included angle value is larger than 90 degrees and smaller than 150 degrees, and the distance is within a preset distance range.
If the angle value is greater than 90 ° and less than 150 ° and the distance is within a predetermined distance range (e.g., 1 to 5 meters), the process jumps to step S1000', otherwise the process jumps to step S900'. Specifically, according to the second coordinate of the roadside unit in the plane projection coordinate system, it can be known through calculation that when the included angle value is larger than 90 degrees and smaller than 150 degrees, the distance between the target vehicle and the barrier gate is between 1 and 5 meters. In the distance range, the front part has no space for other vehicles to insert, so that the possibility of robbing and escaping fees can be eliminated, namely, the barrier gate can be opened for the target vehicles to pass.
S900', matching fails, and the barrier gate is kept closed.
And the matching fails, and the fact that the vehicle tries to rob and pay fees is proved, and the barrier gate is kept closed so that the vehicle cannot pass through the barrier gate.
S1000', matching is successful, and the barrier gate is opened.
And the successful matching proves that no vehicle attempts to rob to escape fees, the barrier gate is opened, and the vehicle normally passes.
In some alternative embodiments, steps S500 'and S600' described above may also be replaced with steps S700 'and S800'. Specific:
s700', determining the vehicle value and the distance value of the barrier gate according to the vehicle position information.
The distance value can be directly measured by a vehicle-mounted distance measuring device, and can also be calculated by a coordinate system according to satellite positioning information.
S800', determining whether the distance value and the distance are both within a predetermined distance range.
The predetermined distance range may be 1 to 5 meters, if the distance measured by the vehicle-mounted distance measuring device and the distance measuring device on the barrier gate are both 1 to 5 meters, the step S1000 'is skipped, otherwise the step S900' is skipped. Preferably, in order to avoid erroneous judgment, the vehicle-mounted distance measuring device can measure the distance in a communication manner, such as bluetooth distance measurement, UWB (ultra wide band) distance measurement and the like, and a corresponding transponder capable of communicating with the vehicle-mounted distance measuring device should be arranged at the barrier gate position.
Fig. 10 is a schematic diagram of method steps of a vehicle communication method according to an embodiment of the present invention. The method steps shown in fig. 10 are performed by an in-vehicle apparatus comprising an in-vehicle unit OBU and a positioning device, the method comprising the steps of:
s1010, establishing communication connection with the roadside units;
specifically, the OBU responds to the communication signal of the RSU, and feeds back the signal to establish a connection, which will not be described herein.
S1020, transmitting vehicle identification information and vehicle position information through the communication connection.
Specifically, the vehicle identification information includes information of a vehicle type, a vehicle ID (e.g., license plate number), and the like. The vehicle position information comprises satellite positioning information acquired by a vehicle-mounted satellite positioning system and stored in the OBU, and/or distance information between the vehicle and the barrier gate, which is measured by a vehicle-mounted distance measuring device on the vehicle.
In summary, the toll collection passing device and the vehicle-mounted device according to the embodiments of the present invention establish communication with a target vehicle entering a predetermined range by executing the above-mentioned barrier control method and communication method, acquire vehicle identification information of the target vehicle, and also acquire vehicle position information at the same time, and detect a distance between the barrier and a vehicle in front through a ranging device provided at the barrier, after the vehicle identification information is verified, match the vehicle position information with the distance detected by the ranging device, and control opening and closing of the barrier according to whether the matching is successful, thereby increasing a necessary condition for opening the barrier, changing a time for opening the barrier, and avoiding a situation that the vehicle escapes through preemption and stopover due to premature opening of the barrier and inaccurate identification of the current passing vehicle.
Furthermore, as will be appreciated by one skilled in the art, aspects of embodiments of the present invention may be implemented as a system, method, or computer program product. Accordingly, aspects of embodiments of the invention may take the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," module "or" system. Furthermore, aspects of embodiments of the invention may take the form of: a computer program product embodied in one or more computer-readable media having computer-readable program code embodied thereon.
The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of embodiments of the present invention, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
1. A method for controlling a barrier gate, the method comprising:
establishing communication with a target vehicle, wherein the target vehicle is a vehicle entering a preset range;
acquiring vehicle identification information and vehicle position information of the target vehicle;
controlling a distance measuring device arranged on the barrier gate to detect the distance between the barrier gate and a vehicle in front of the barrier gate;
matching the vehicle location information with the distance in response to the vehicle identification information verification passing;
and controlling the barrier gate to be kept closed in response to the failure of matching the vehicle position information with the distance.
2. The method according to claim 1, wherein the method further comprises:
and controlling the barrier gate to open in response to the successful matching of the vehicle position information and the distance.
3. The method of claim 1, wherein the vehicle identification information comprises a vehicle identification, and the vehicle location information comprises satellite positioning information and/or distance information to the barrier gate measured by the target vehicle.
4. The method of claim 1, wherein said matching said vehicle location information to said distance comprises:
judging whether the vehicle position information is consistent with the position of the vehicle in front of the barrier gate represented by the distance;
determining that the vehicle location information fails to match the distance in response to a location inconsistency;
and determining that the vehicle position information is successfully matched with the distance in response to the position agreement.
5. The method of claim 4, wherein said determining whether the vehicle location information and the location of the vehicle in front of the barrier characterized by the distance agree comprises:
determining an included angle value of a connecting line of the roadside unit and the vehicle and a lane according to the vehicle position information, wherein the included angle value is more than 90 degrees and less than 150 degrees, and the distance is within a preset distance range, so that the positions are consistent; or (b)
And determining that the distance value from the vehicle to the barrier gate and the distance are within a preset distance range according to the vehicle position information, and determining that the positions are consistent.
6. The method of claim 5, wherein the distance is in the range of 1 meter to 5 meters.
7. The method of claim 5, wherein determining an angle value between a line connecting a roadside unit and the vehicle and a lane based on the vehicle position information comprises:
determining a first coordinate of the roadside unit and a second coordinate of the barrier gate in a plane projection coordinate system;
determining a third coordinate of the target vehicle in the plane projection coordinate system according to the vehicle position information;
and determining an included angle value between a connecting line of the roadside unit and the vehicle and a lane according to the first coordinate, the second coordinate and the third coordinate.
8. The method of claim 7, wherein determining a third coordinate of the target vehicle in the planar projected coordinate system based on the vehicle location information comprises:
obtaining a third coordinate of the target vehicle in the plane projection coordinate system according to satellite positioning information mapping; or alternatively
And determining the third coordinate according to the distance information to the barrier gate, the second coordinate and the lane direction information measured by the target vehicle.
9. The method of claim 1, wherein establishing communication with a target vehicle comprises:
detecting that a vehicle enters a communication range or a vehicle is driven into a target lane, determining the vehicle as a target vehicle, and generating a communication establishment instruction;
responding to the communication establishment instruction, and sending a communication signal to the target vehicle;
in response to receiving the valid feedback signal, communication is successfully established with the target vehicle.
10. A method of vehicle communication, the method comprising:
establishing communication connection with roadside units;
transmitting vehicle identification information and vehicle position information through the communication connection;
wherein the vehicle location information includes satellite positioning information and/or distance information of the vehicle to the barrier gate.
11. A toll collection transit apparatus, the apparatus comprising:
the roadside unit is arranged above or beside the lane and is used for receiving and transmitting communication signals and acquiring vehicle identification information and vehicle position information;
the barrier gate is arranged at the outlet end of the lane;
the distance measuring device is arranged on the barrier gate and used for measuring and uploading the distance between the barrier gate and the vehicle in front in real time; and
computer device, in communication with the roadside unit, the barrier gate and the distance measuring device, respectively, for controlling the roadside unit, the distance measuring device and the barrier gate to implement the method of any one of claims 1-9.
12. The apparatus of claim 11, wherein the apparatus further comprises:
the loop sensor is arranged below the lane entrance end, is in communication connection with the computer equipment, and is used for sensing whether a vehicle enters an ETC lane or not and sending a starting signal to the computer equipment when the vehicle enters.
13. An in-vehicle apparatus, characterized by comprising:
the positioning device is used for acquiring vehicle position information;
an in-vehicle unit configured to store the vehicle position information and the vehicle identification information, and to perform the vehicle communication method according to claim 10.
14. The apparatus of claim 13, wherein the positioning device comprises:
the satellite positioning signal receiving device is used for receiving satellite positioning signals and storing the satellite positioning information in the vehicle-mounted unit; and/or the number of the groups of groups,
and the vehicle-mounted distance measuring device is used for measuring the distance from the vehicle to the barrier gate and storing the distance information in the vehicle-mounted unit.
15. A computer readable storage medium, on which computer program instructions are stored, which computer program instructions, when executed by a processor, implement the method of any one of claims 1-10.
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| CN202210565366.8A CN117152856A (en) | 2022-05-23 | 2022-05-23 | Barrier gate control method, vehicle communication method and device |
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| CN202210565366.8A CN117152856A (en) | 2022-05-23 | 2022-05-23 | Barrier gate control method, vehicle communication method and device |
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| CN202210565366.8A Pending CN117152856A (en) | 2022-05-23 | 2022-05-23 | Barrier gate control method, vehicle communication method and device |
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