CN117765628A

CN117765628A - Vehicle identification method, device, equipment and storage medium

Info

Publication number: CN117765628A
Application number: CN202311447688.3A
Authority: CN
Inventors: 张创军; 郭洁
Original assignee: Shenzhen Jimi Iot Co ltd
Current assignee: Shenzhen Jimi Iot Co ltd
Priority date: 2023-11-01
Filing date: 2023-11-01
Publication date: 2024-03-26

Abstract

The application discloses a vehicle identification method, a device, equipment and a storage medium, which are applied to an ETC system, wherein the ETC system comprises a lane card reader, and the vehicle identification method comprises the following steps: receiving a vehicle signal sent by an ETC card device of a vehicle to be identified through the lane card reader, wherein the vehicle signal is a wireless signal transmitted based on an ultra wideband UWB technology; calculating a signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal; judging whether the vehicle to be identified is positioned at a preset position or not according to the signal arrival angle and a preset threshold angle; and under the condition that the vehicle to be identified is positioned at the preset position, identifying the vehicle to be identified as a fee deduction release vehicle. The scheme of the application solves the problems that the existing ETC scheme is low in identification accuracy and easy to scratch and brush by mistake.

Description

Vehicle identification method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of communications technologies, and in particular, to a vehicle identification method, apparatus, device, and storage medium.

Background

An electronic toll collection system (ETC, electronic Toll Collection) is one of the service functions of intelligent traffic management systems, which typically uses Radio Frequency Identification (RFID) technology and a computer network to enable automatic identification, billing and management of vehicle traffic behavior. The automatic exchange of vehicle information and the bank card-locking business under the non-stop state can be realized through ETC. However, due to the limitation of the bottom technology of the RFID, in the prior art, the problem that the identification accuracy is low and the card is easy to be rubbed and swiped by mistake exists in the practical application, so that the use of ETC is expected to be low by people, and the popularization effect of ETC is greatly influenced.

Therefore, it is necessary to propose a vehicle identification scheme that improves accuracy.

Disclosure of Invention

The main purpose of the application is to provide a vehicle identification method, device, equipment and storage medium, and aims to solve the problems that the existing ETC scheme is low in identification accuracy and easy to scratch and swipe by mistake.

In order to achieve the above object, the present application provides a vehicle identification method applied to an electronic toll collection ETC system, the ETC system including a lane card reader, the vehicle identification method including:

receiving a vehicle signal sent by an ETC card device of a vehicle to be identified through the lane card reader, wherein the vehicle signal is a wireless signal transmitted based on an ultra wideband UWB technology;

Calculating a signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal;

judging whether the vehicle to be identified is positioned at a preset position or not according to the signal arrival angle and a preset threshold angle;

and under the condition that the vehicle to be identified is positioned at the preset position, identifying the vehicle to be identified as a fee deduction release vehicle.

Optionally, the step of determining whether the vehicle to be identified is located at the preset position according to the signal arrival angle and the preset threshold angle includes:

judging whether the signal arrival angle is smaller than the preset threshold angle or not, wherein the signal arrival angle is a relative angle of the ETC card device on a vertical space surface of the lane card reader;

if the signal arrival angle is smaller than the preset threshold angle, determining that the vehicle to be identified is located at the preset position;

and if the signal arrival angle is larger than the preset threshold angle, determining that the vehicle to be identified is not located at the preset position.

Optionally, the ETC system includes at least two lane card readers, the at least two lane card readers are configured to receive vehicle signals sent by an ETC card device of the same vehicle to be identified, and the step of calculating the signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signals includes:

Based on the received at least two vehicle signals, respectively calculating and obtaining the signal arrival angle and the signal arrival distance of the corresponding lane card reader to the ETC card device;

and carrying out position analysis on the calculated at least two signal arrival angles and distances based on a joint algorithm to obtain the lane information of the vehicle to be identified, the distance between the ETC card device and the release rod and the signal arrival angle of the ETC card device on the corresponding lane.

Optionally, before the step of determining whether the vehicle to be identified is located at the preset position according to the signal arrival angle and the preset threshold angle, the method further includes:

the determining of the preset threshold angle specifically includes:

acquiring the installation height of the lane card reader and a preset distance threshold value of the vehicle to the release lever;

extracting and obtaining the vehicle type of the vehicle to be identified according to the vehicle signal;

and determining the preset threshold angle according to the type of the vehicle, the installation height of the lane card reader and the threshold value of the distance from the vehicle to the release lever.

Optionally, the step of identifying the vehicle to be identified as the fee deduction release vehicle when the vehicle to be identified is located at the preset position includes:

Under the condition that the vehicle to be identified is located at a preset position, extracting according to the vehicle signal to obtain first identification information of the vehicle to be identified;

the camera is called to shoot a vehicle image positioned in front of the release rod, and second identification information is extracted according to the vehicle image;

judging whether the first identification information is matched with the second identification information or not;

and under the condition that the first identification information is matched with the second identification information, identifying the vehicle to be identified as a fee deduction release vehicle.

Optionally, after the step of calculating the signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal, the method further includes:

determining the position of the vehicle on each lane according to the signal arrival angle;

counting the queuing quantity of vehicles on each lane according to the vehicle position;

and generating lane queuing prompt according to the vehicle queuing quantity.

The embodiment of the application also provides a vehicle identification device, which is applied to an ETC system with electronic toll collection, wherein the ETC system comprises a lane card reader, and the vehicle identification device comprises:

the signal receiving module is used for receiving vehicle signals sent by an ETC card device of a vehicle to be identified through the lane card reader, wherein the vehicle signals are wireless signals transmitted based on an ultra wideband UWB technology;

The angle calculation module is used for calculating and obtaining the signal arrival angle of the ETC card device on the space surface of the lane card reader according to the vehicle signal;

the position judging module is used for judging whether the vehicle to be identified is positioned at a preset position or not according to the signal arrival angle and a preset threshold angle;

and the fee deduction release module is used for identifying the vehicle to be identified as the fee deduction release vehicle under the condition that the vehicle to be identified is positioned at the preset position.

Optionally, the position determining module is further configured to:

The embodiment of the application also provides vehicle identification equipment, which comprises a memory, a processor and a vehicle identification program stored in the memory and capable of running on the processor, wherein the vehicle identification program realizes the steps of the vehicle identification method when being executed by the processor.

The embodiments of the present application also propose a computer-readable storage medium on which a vehicle identification program is stored, which when executed by a processor implements the steps of the vehicle identification method as described above.

The vehicle identification method, the device, the equipment and the storage medium provided by the embodiment of the application receive the vehicle signal sent by the ETC card device of the vehicle to be identified through the lane card reader, wherein the vehicle signal is a wireless signal transmitted based on the ultra wideband UWB technology; calculating a signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal; judging whether the vehicle to be identified is positioned at a preset position or not according to the signal arrival angle and a preset threshold angle; under the condition that the vehicle to be identified is located at a preset position, the vehicle to be identified is identified as a fee deduction release vehicle, so that the accuracy of identification can be improved, the situation of card rubbing and false swiping is reduced, and the safety and reliability of an ETC system are improved; in addition, the ultra-wideband UWB technology is used for realizing high-precision positioning and tracking, optimizing traffic control scheduling, and the high-frequency characteristic of the traffic control scheduling has better anti-cracking capability for communication between the lane card reader and the ETC card device.

Drawings

FIG. 1 is a schematic diagram of functional modules of a device to which a vehicle identification apparatus of the present application belongs;

fig. 2 is a schematic diagram of a system structure of a first exemplary embodiment of a vehicle identification method according to the present application;

FIG. 3 is a flow chart of a first exemplary embodiment of a vehicle identification method of the present application;

FIG. 4 is a flow chart of a second exemplary embodiment of a vehicle identification method of the present application;

FIG. 5 is a schematic view of a scenario of effective vehicle identification according to a second exemplary embodiment of the vehicle identification method of the present application;

FIG. 6 is a flow chart of a third exemplary embodiment of a vehicle identification method of the present application;

FIG. 7 is a top view of a vehicle identification scenario including at least two lane readers according to a fourth exemplary embodiment of a vehicle identification method of the present application;

FIG. 8 is a schematic view of a scenario for determining a preset threshold angle according to a fifth exemplary embodiment of a vehicle identification method according to the present application;

fig. 9 is a flowchart of a sixth exemplary embodiment of the vehicle identification method of the present application.

The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The main solutions of the embodiments of the present application are: receiving a vehicle signal sent by an ETC card device of a vehicle to be identified through the lane card reader, wherein the vehicle signal is a wireless signal transmitted based on an ultra wideband UWB technology; calculating a signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal; judging whether the vehicle to be identified is positioned at a preset position or not according to the signal arrival angle and a preset threshold angle; under the condition that the vehicle to be identified is located at a preset position, the vehicle to be identified is identified as a fee deduction release vehicle, so that the accuracy of identification can be improved, the situation of card rubbing and false swiping is reduced, and the safety and reliability of an ETC system are improved; in addition, the ultra-wideband UWB technology is used for realizing high-precision positioning and tracking, optimizing traffic control scheduling, and the high-frequency characteristic of the traffic control scheduling has better anti-cracking capability for communication between the lane card reader and the ETC card device.

Specifically, referring to fig. 1, fig. 1 is a schematic functional block diagram of a device to which a vehicle identification apparatus of the present application belongs. The vehicle identification means may be a device independent means capable of signal reception and signal processing, which may be carried on the device in the form of hardware or software. In this embodiment, the apparatus to which the vehicle identification device belongs includes at least an output module 110, a processor 120, a memory 130, and a communication module 140.

The memory 130 stores an operating system and a vehicle recognition program, and the vehicle recognition device can store information such as a received vehicle signal sent by an ETC card device of a vehicle to be recognized, a signal arrival angle of the ETC card device on a space surface of a lane card reader calculated according to the vehicle signal, a judgment result of judging whether the vehicle to be recognized is located at a preset position according to the signal arrival angle and a preset threshold angle, and the like in the memory 130; the output module 110 may be a display screen or the like. The communication module 140 may include a wired network, a WIFI module, a mobile communication module, a bluetooth module, etc., and communicate with an external device or a server through the communication module 140.

Wherein the vehicle identification program in the memory 130 when executed by the processor performs the steps of:

Further, the vehicle identification program in the memory 130 when executed by the processor also performs the steps of:

the determining of the preset threshold angle specifically includes:

and generating lane queuing prompt according to the vehicle queuing quantity.

According to the scheme, the vehicle signal sent by the ETC card device of the vehicle to be identified is received by the lane card reader, wherein the vehicle signal is a wireless signal transmitted based on an ultra wideband UWB technology; calculating a signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal; judging whether the vehicle to be identified is positioned at a preset position or not according to the signal arrival angle and a preset threshold angle; under the condition that the vehicle to be identified is located at a preset position, the vehicle to be identified is identified as a fee deduction release vehicle, so that the accuracy of identification can be improved, the situation of card rubbing and false swiping is reduced, and the safety and reliability of an ETC system are improved; in addition, the ultra-wideband UWB technology is used for realizing high-precision positioning and tracking, optimizing traffic control scheduling, and the high-frequency characteristic of the traffic control scheduling has better anti-cracking capability for communication between the lane card reader and the ETC card device.

Based on the above device architecture, but not limited to the above architecture, the vehicle identification method embodiments of the present application are presented.

First embodiment

Referring to fig. 2, fig. 2 is a schematic system configuration diagram of a first exemplary embodiment of a vehicle identification method of the present application. The embodiment of the application is mainly applied to an Electronic Toll Collection (ETC) system, and the ETC system at least comprises a lane card reader, ETC card equipment and a traffic management system, wherein the ETC card equipment is a vehicle provided with an ETC card device, and the lane card reader is connected with the traffic management system through a communication line. The ETC card device comprises a card reading module and a UWB tag sending device, and the lane card reader comprises a UWB AoA base station module. The ETC card device can send vehicle signals based on ultra-wideband UWB technology to the lane card reader through the UWB tag sending device. The lane reader can receive vehicle signals sent by ETC card equipment through the UWB AoA base station module.

Referring to fig. 3, fig. 3 is a flowchart illustrating a first exemplary embodiment of a vehicle identification method according to the present application. In this embodiment, the vehicle identification method is applied to an electronic toll collection ETC system, the ETC system including a lane reader, the vehicle identification method including:

And step S10, receiving a vehicle signal sent by an ETC card device of the vehicle to be identified through the lane card reader, wherein the vehicle signal is a wireless signal transmitted based on ultra wideband UWB technology.

Specifically, when the ETC card device of the vehicle to be identified transmits the vehicle signal by adopting the ultra wideband UWB technology, the embodiment receives the vehicle signal transmitted by the ETC card device of the vehicle to be identified through the lane card reader of the ETC system. Wherein, the vehicle signal is a wireless signal transmitted based on ultra wideband UWB technology, and the content of the vehicle signal can include, but is not limited to, license plate number information, vehicle type information, vehicle color information, vehicle height information, signal strength parameters and the like.

In this embodiment, the lane reader may be installed at a position above the road passing bar; the ETC card device can be arranged at the position above the front windshield of the vehicle to be identified, wherein the installation position and the height of the ETC card device on the vehicle can be adjusted according to actual conditions for different vehicle types.

And step S20, calculating the signal arrival angle of the ETC card device on the space surface of the lane card reader according to the vehicle signal.

Specifically, according to the received vehicle signal based on the UWB technology, the signal Arrival Angle (AoA, angle of Arrival) of the ETC card device on the space surface of the lane card reader is calculated. More specifically, according to the received vehicle information, calculating to obtain the signal arrival angle of the ETC card device on the space surface of the lane card reader based on an AoA algorithm of UWB positioning. The space surface formed based on the lane card reader can be a vertical space surface passing through the lane card reader, a horizontal space surface passing through the lane card reader or a space surface passing through the lane card reader in other directions.

It should be noted that UWB AoA technology is a wireless technology that precisely tests distance and angle. From the perspective of safety, the UWB technology has the characteristics of difficult cracking and high time slot requirement, so that the propagation signal is less prone to be counterfeited, and the accuracy of vehicle identification and positioning is greatly enhanced.

And step S30, judging whether the vehicle to be identified is positioned at a preset position or not according to the signal arrival angle and a preset threshold angle.

Specifically, in this embodiment, a threshold angle value, that is, a preset threshold angle is preset or stored. And judging whether the vehicle to be identified is positioned at a preset position or not according to the calculated signal arrival angle and the signal arrival angle and a preset threshold angle. The preset position refers to a position where the vehicle moves to a preset distance of the release lever. For example, the preset position may be set to a position where the vehicle travels within 5 meters from the release lever.

And step S40, identifying the vehicle to be identified as a fee deduction release vehicle under the condition that the vehicle to be identified is located at a preset position.

Specifically, if the vehicle to be identified is judged to be located at the preset position, namely the vehicle to be identified currently located within the preset distance of the release rod meets the fee deduction release requirement, the vehicle to be identified is identified as the fee deduction release vehicle, and fee deduction is carried out on the vehicle to be identified and release is carried out.

According to the scheme, the vehicle signal sent by the ETC card device of the vehicle to be identified is received by the lane card reader, wherein the vehicle signal is a wireless signal transmitted based on an ultra wideband UWB technology; calculating a signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal; judging whether the vehicle to be identified is positioned at a preset position or not according to the signal arrival angle and a preset threshold angle; under the condition that the vehicle to be identified is located at a preset position, the vehicle to be identified is identified as a fee deduction release vehicle, so that the accuracy of identification can be improved, the situation of card rubbing and false swiping is reduced, and the safety and reliability of an ETC system are improved; in addition, the ultra wideband UWB technology can be used for realizing high-precision positioning and tracking, and the anti-interference capability for communication between the lane card reader and the ETC card device is good.

Second embodiment

Further, referring to fig. 4, fig. 4 is a schematic flow chart of a second exemplary embodiment of the vehicle identification method of the present application. Based on the first embodiment, in this embodiment, the step S30 of determining whether the vehicle to be identified is located at the preset position according to the signal arrival angle and the preset threshold angle may include:

Step S301, determining whether the signal arrival angle is smaller than the preset threshold angle, where the signal arrival angle is a relative angle of the ETC card device on a vertical space surface of the lane card reader;

step S302, if the signal arrival angle is smaller than the preset threshold angle, determining that the vehicle to be identified is located at the preset position.

Specifically, based on the calculated signal arrival angle of the ETC card device on the space surface of the lane card reader, comparing the signal arrival angle with a preset threshold angle, and judging whether the signal arrival angle is smaller than the preset threshold angle.

If the signal arrival angle is smaller than the preset threshold angle, determining that the vehicle to be identified is located at the preset position, namely determining that the vehicle to be identified is located in the preset distance of the release rod.

Optionally, in this embodiment, the signal arrival angle is a relative angle of the ETC card device on a vertical spatial plane of the lane card reader.

Optionally, in this embodiment, after determining in step S301 whether the signal arrival angle is smaller than the preset threshold angle, the method may further include:

step S303, if the signal arrival angle is greater than the preset threshold angle, determining that the vehicle to be identified is not located at the preset position.

Specifically, if the signal arrival angle is larger than the preset threshold angle, the vehicle to be identified is determined not to be located at the preset position, namely the vehicle to be identified is determined to be located outside the preset distance of the release rod. At this time, no fee deduction is performed for the vehicle to be identified which is not located at the preset position, and the vehicle is released without lifting the release lever.

Illustratively, as shown in FIG. 5, the lane reader is mounted in a position above the release lever, with the x-axis and the z-axis constituting a vertical spatial plane through the lane reader. The preset threshold angle is set as an angle A, the effective car is the current car to be identified, and a car signal is sent to the lane card reader through the ETC card device of the effective car. Receiving a vehicle signal sent by an ETC card device from an effective car through a lane card reader; calculating a signal arrival angle B of the ETC card device on a vertical space surface of the lane card reader according to the vehicle signal; then judging whether the signal arrival angle B is smaller than a preset threshold angle A or not; and under the condition that the signal arrival angle B is larger than the preset threshold angle A, determining that the effective car is not located at the preset position, at the moment, not deducting fees from the effective car, and not lifting the release rod to release the car. Therefore, by accurately identifying the position of the effective car, the card-rubbing error-brushing behavior of the car-rubbing car positioned in front of the effective car is avoided.

Compared with the prior art, the ETC scheme based on the UWB AoA technology of the embodiment greatly improves the identification accuracy and safety, and improves the ETC use experience and scene popularization coverage.

Third embodiment

Further, referring to fig. 6, fig. 6 is a schematic flow chart of a third exemplary embodiment of the vehicle identification method of the present application. Based on the embodiment shown above, in this embodiment, the step S40, when the vehicle to be identified is located at the preset position, of identifying the vehicle to be identified as a fee deduction release vehicle may include:

step S401, extracting, according to the vehicle signal, first identification information of the vehicle to be identified when the vehicle to be identified is located at a preset position.

Specifically, in order to further prevent the situation of card-rubbing and false-swiping, under the condition that the vehicle to be identified is judged to be located at the preset position, according to the received vehicle signal sent by the ETC card device of the vehicle to be identified, first identification information of the vehicle to be identified is extracted from the received vehicle signal. The identification information of the vehicle refers to information for identifying the identity of the vehicle, such as license plate number, vehicle model, vehicle color, vehicle brand mark and the like.

In the present embodiment, one or more of license plate number information, vehicle type information, vehicle color information, and vehicle brand information is extracted therefrom as first identification information of a vehicle to be identified, based on a received vehicle signal.

Step S402, a camera is called to shoot a vehicle image positioned in front of a release lever, and second identification information is extracted according to the vehicle image.

Specifically, the ETC system according to the present embodiment further includes a camera for capturing an image of the vehicle in front of the release lever. And under the condition that the vehicle to be identified is located at the preset position, the camera is called to shoot the image of the vehicle located in front of the release rod. And extracting second identification information of the vehicle positioned in front of the release lever according to the shot vehicle image. Wherein the second identification information may include one or more of license plate number information, vehicle type information, vehicle color information, and vehicle brand information.

Step S403, determining whether the first identification information and the second identification information match.

Specifically, whether the extracted first identification information is matched with the second identification information is judged, namely whether the identity information of the vehicle to be identified is matched with the identity information of the vehicle positioned in front of the release lever is judged.

And step S404, identifying the vehicle to be identified as a fee deduction release vehicle under the condition that the first identification information is matched with the second identification information.

Specifically, when the first identification information is matched with the second identification information, that is, when the identity information of the vehicle to be identified is matched with the identity information of the vehicle positioned in front of the release lever, the vehicle positioned in front of the release lever is the vehicle to be identified, and at the moment, the vehicle to be identified is identified as a fee deduction release vehicle, so that fee deduction is carried out on the vehicle to be identified and release is carried out.

According to the scheme, under the condition that the vehicle to be identified is located at the preset position, the first identification information of the vehicle to be identified is obtained through extraction according to the vehicle signal; the camera is called to shoot a vehicle image positioned in front of the release rod, and second identification information is extracted according to the vehicle image; judging whether the first identification information is matched with the second identification information or not; under the condition that the first identification information is matched with the second identification information, the vehicle to be identified is identified as a fee deduction release vehicle, the consistency of the vehicle positioned in front of the release rod and the current vehicle to be identified can be further ensured, accurate release is carried out, and the situation of card rubbing and false brushing is prevented.

Fourth embodiment

Further, based on the above-described embodiment, in this embodiment, the ETC system includes at least two lane readers for receiving the vehicle signals transmitted from the ETC card device of the same vehicle to be identified.

In this embodiment, the step S20 of calculating, according to the vehicle signal, a signal arrival angle of the ETC card device on the lane card reader space surface may include:

step S201, based on the received at least two vehicle signals, the signal arrival angle and the signal arrival distance of the corresponding lane card reader reaching the ETC card device are calculated respectively.

Specifically, at least two lane card readers included by the ETC system respectively receive at least two vehicle signals, and for the received at least two vehicle signals, the arrival angle and the arrival distance of signals of the corresponding lane card readers reaching the same ETC card device are respectively calculated.

Illustratively, referring to fig. 7, fig. 7 is a plan view of a vehicle identification scene including at least two lane readers according to a fourth exemplary embodiment of the vehicle identification method of the present application. The ETC system comprises a lane card reader 1 and a lane card reader 2, and receives a vehicle signal sent by an ETC card device of a vehicle to be identified through the lane card reader 1 to obtain the vehicle signal 1; which is received by the lane reader 2 to obtain a vehicle signal 2. And calculating a signal arrival angle theta 1 and a distance d1 of the lane card reader to the ETC card device according to the vehicle signal 1, and calculating a signal arrival angle theta 2 and a distance d2 of the lane card reader to the ETC card device according to the vehicle signal 2.

Step S202, carrying out position analysis on the calculated at least two signal arrival angles and distances based on a joint algorithm to obtain the lane information of the vehicle to be identified, the distance between the ETC card device and the release rod and the signal arrival angle of the ETC card device on the corresponding lane.

In particular, since the vehicle signals received by the (at least two) vehicle card readers of the ETC system are transmitted from the ETC card devices of the same vehicle to be identified, determining the transmission position intersection point of the (at least two) vehicle signals can accurately locate the actual position of the vehicle to be identified.

In this embodiment, in order to accurately determine the signal arrival angle and the position of the ETC card device of the vehicle to be identified, the positioning error is eliminated, and by adopting a joint algorithm, the position analysis is performed on the calculated at least two signal arrival angles and distances, so as to obtain the lane information of the lane to which the vehicle to be identified belongs, the distance of the ETC card device relative to the release lever, and the signal arrival angle of the ETC card device on the corresponding lane.

Illustratively, as shown in fig. 7, by adopting a joint algorithm, the position of the ETC card device of the vehicle to be identified relative to the lane card reader 1 is determined according to the calculated signal arrival angle 1 and the distance d1 of the lane card reader to the ETC card device; and determining the position of the ETC card device of the vehicle to be identified relative to the lane card reader 2 according to the calculated signal arrival angle 2 and the distance d2 of the lane card reader to the ETC card device. And then, carrying out joint analysis according to the position of the ETC card device relative to the lane card reader 1 and the position of the ETC card device relative to the lane card reader 2 to obtain the lane information of the vehicle to be identified, namely the lane 2, the distance of the ETC card device relative to the release rod of the lane 2 and the arrival angle of the signal of the ETC card device on the lane 2.

According to the scheme, under the condition that hardware cost is not increased, the lane card readers of a plurality of lanes are adopted to conduct joint algorithm analysis, so that the accuracy of a space algorithm is further optimized, accurate lane information and position information of a vehicle to be identified are calculated, positioning errors are eliminated, and the scheme accuracy is improved.

Fifth embodiment

Further, based on the above-mentioned embodiment, in this embodiment, before determining whether the vehicle to be identified is located at the preset position according to the signal arrival angle and the preset threshold angle in the step S30, the method may further include:

step S01, determining the preset threshold angle.

Specifically, the step of determining the preset threshold angle may include:

step S011, acquiring the installation height of the lane card reader and a preset distance threshold value of the vehicle to the release lever;

step S012, extracting and obtaining the vehicle type of the vehicle to be identified according to the vehicle signal;

step S013, determining the preset threshold angle according to the type of the vehicle, the installation height of the lane card reader and the distance threshold value of the vehicle to the release lever.

Specifically, the installation height of the lane card reader is obtained, and a preset distance threshold value of the vehicle to the release lever is obtained. And extracting the vehicle type of the vehicle to be identified from the received vehicle signal. Vehicle types may include, but are not limited to, cars, vans, buses, and the like, among others. And then, determining and obtaining a preset threshold angle according to the extracted vehicle type, the installation height of the lane card reader and a preset distance threshold value of the vehicle to the release lever.

More specifically, since different types of vehicles have different vehicle heights and ETC card device mounting heights, the present embodiment correspondingly configures different ETC card device mounting heights based on different vehicle types. When the vehicle type of the vehicle to be identified is extracted, determining the installation height of the ETC card device corresponding to the vehicle type. The ETC card device installation height may be an ETC card device installation height obtained according to actual installation experience values of different vehicle types, may be an average installation height obtained by measuring the ETC card device installation heights for a plurality of times for vehicles of the same vehicle type, or may be an accurate installation height obtained by measuring the ETC card device installation height for each vehicle.

Therefore, the installation height of the lane card reader and the preset distance threshold value of the vehicle to the release rod are obtained; extracting a vehicle type of a vehicle to be identified according to the received vehicle signal, and determining the corresponding ETC card device mounting height based on the vehicle type; and determining and obtaining a preset threshold angle according to the type of the vehicle, the installation height of the ETC card device corresponding to the vehicle, the installation height of the lane card reader and the distance threshold value of the vehicle to the release lever.

For example, referring to fig. 8, the lane reader is installed at a position above the release lever, the installation height of the lane reader is H with respect to the ground, and the distance threshold value of the preset vehicle reaching the release lever is x, where the distance threshold value x is used to determine that the vehicle to be identified is located at the preset position when the ETC card device of the vehicle to be identified is less than the distance threshold value x from the release lever, and at this time, the vehicle to be identified is deducted and released.

Assuming that the ETC card devices are all installed at the head cab position, the installation height of the ETC card device in the car is configured as Y1, and the installation height of the ETC card device in the large truck is configured as Y2. Note that the coordinates of Y1 and Y2 in the x direction are the same in fig. 8, but are placed at different positions at the time of picture display in order to more significantly label the description. In this example, the predetermined threshold angle A1 of the car may be determined by: tana1=x/(H-Y1); the method for determining the preset threshold angle A2 of the large truck can be as follows: tana2=x/(H-Y2).

According to the scheme, the corresponding preset threshold angle range can be determined for different vehicles according to the type of the vehicle, the installation height of the lane card reader and the distance threshold value of the vehicle to the release rod, so that the turn-passing vehicle can be accurately detected.

Sixth embodiment

In fig. 8, for simplicity of description, only a schematic calculation principle of an x-section plane is shown, in a practical solution, in combination with an angle of arrival and a distance of a signal, a three-dimensional calculation space model can be actually established in consideration of the width of a lane, and in this space, a three-dimensional legal card swiping space is preset through the angle of arrival and the distance of the signal, so that a vehicle signal located in the space can be identified as an effective card swiping signal; any vehicle signal outside the space is identified as an invalid card swiping signal.

Referring to fig. 9, in this embodiment, the ETC system includes a lane reader (e.g., a lane reader for receiving UWB signals), where the lane reader is provided with a multi-antenna receiving system (at least a dual antenna receiving system, such as Receiver1 and Receiver 2) for receiving vehicle signals sent from ETC card devices (e.g., transmitters) of the same vehicle to be identified.

In the step S20, calculating, according to the vehicle signal, a signal arrival angle of the ETC card device on the lane card reader space surface may include:

Step S203, based on a plurality of vehicle signals received by the multiple antennas, respectively calculating the arrival angles and the arrival distances of the signals of the multiple antennas reaching the ETC card device;

specifically, as UWB wireless is spatially and omnidirectionally propagated, a lane reader with a multi-antenna receiving system can receive vehicle signals sent by an ETC card device of the same vehicle to be identified through each antenna, and for a plurality of received vehicle signals, the arrival angle θ and the arrival distance d of signals of each antenna reaching the ETC card device are calculated respectively.

Step S204, determining the space positioning of the ETC card device through a preset space model based on a plurality of signal arrival angles and distances of the multi-antenna to the ETC card device;

specifically, a space model is pre-constructed for determining the accurate positioning of the vehicle to be identified according to the calculated angle of arrival and distance of the signal. According to the embodiment, for the received signal arrival angles and distances of a plurality of multiple antennas to the ETC card device, the spatial positioning of the ETC card device is determined through a preset spatial model.

And step S205, determining the arrival angle of the signal of the ETC card device reaching the lane card reader according to the space positioning of the ETC card device.

Specifically, according to the space positioning of the ETC card device, the arrival angle and the arrival distance of the signal of the ETC card device reaching the lane card reader are determined, and the lane information of the ETC card device and the distance relative to the release rod are determined.

The scheme of the embodiment is based on the UWB AoA technology, and the situation of the lanes and the vehicle positions of the vehicles to be recognized can be calculated through the single-lane card reader. And the result can be corrected to eliminate errors by further carrying out joint calculation through a plurality of lane card readers. Because Uwb's distance does not have shielding precision is 10cm, and the angle error is less than 5 degrees, so under the accurate circumstances of space model, can realize higher space positioning accuracy, satisfy the location recognition demand to large-scale articles such as vehicle.

Seventh embodiment

Further, based on the above-described embodiment, in this embodiment, after calculating the signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal in the above-described step S20, the vehicle identification method may further include:

And generating lane queuing prompt according to the vehicle queuing quantity.

Specifically, the scheme of the embodiment can also realize that the vehicle is given accurate lane queuing indication so as to quickly dredge the queuing vehicle and accelerate the turn passing efficiency.

In order to achieve the above objective, in this embodiment, after calculating the signal arrival angle of each ETC card device on the space surface of the lane card reader according to one or more received vehicle signals, the vehicle position on each lane is determined according to each calculated signal arrival angle. According to the vehicle position on each lane, counting the queuing quantity of the vehicles on each lane; and generating lane queuing prompt based on the current number of vehicles in each lane so as to indicate that the vehicles go to lanes with no or relatively few people for queuing, so that the vehicles in the queues are quickly dredged, and the turn passing efficiency is improved.

Compared with the RFID+camera scheme in the prior art, the problem that the number of vehicles in each lane turn opening is difficult to judge due to the problems of long distance, multiple vehicles, shielding of the view of the camera installation angle and the like can be avoided under the large-scale vehicle congestion queuing scene, the accurate recognition of the current vehicle position and the number of vehicles in each lane is realized, the accurate lane queuing indication is given to vehicles in advance, intelligent diversion of the vehicles is guided, and the situation that excessive vehicles are congested at the turn opening is avoided. Meanwhile, the UWB AoA scheme is adopted to replace the RFID+camera scheme, so that the whole solution has better cost advantage.

In addition, the embodiment of the application also provides a vehicle identification device, which is applied to an ETC system with electronic toll collection, wherein the ETC system comprises a lane card reader, and the vehicle identification device comprises:

Further, in this embodiment, the location determining module is further configured to:

The principle and implementation process of vehicle identification are implemented in this embodiment, please refer to the above embodiments, and will not be described in detail here.

In addition, the embodiment of the application also provides a vehicle identification device, which comprises a memory, a processor and a vehicle identification program stored on the memory and capable of running on the processor, wherein the vehicle identification program realizes the steps of the vehicle identification method when being executed by the processor.

Because all the technical solutions of all the embodiments are adopted when the vehicle identification program is executed by the processor, the vehicle identification program at least has all the beneficial effects brought by all the technical solutions of all the embodiments, and the description is omitted herein.

In addition, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a vehicle identification program, and the vehicle identification program realizes the steps of the vehicle identification method when being executed by the processor.

Compared with the prior art, the vehicle identification method, the device, the equipment and the storage medium provided by the embodiment of the application are characterized in that the vehicle identification method receives the vehicle signal sent by the ETC card device of the vehicle to be identified through the lane card reader, wherein the vehicle signal is a wireless signal transmitted based on the ultra wideband UWB technology; calculating a signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal; judging whether the vehicle to be identified is positioned at a preset position or not according to the signal arrival angle and a preset threshold angle; under the condition that the vehicle to be identified is located at a preset position, the vehicle to be identified is identified as a fee deduction release vehicle, so that the accuracy of identification can be improved, the situation of card rubbing and false swiping is reduced, and the safety and reliability of an ETC system are improved; in addition, the ultra-wideband UWB technology is used for realizing high-precision positioning and tracking, optimizing traffic control scheduling, and the high-frequency characteristic of the traffic control scheduling has better anti-cracking capability for communication between the lane card reader and the ETC card device.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as above, including several instructions for causing a device (which may be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) to perform the method of each embodiment of the present application.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.

Claims

1. A vehicle identification method, characterized by being applied to an electronic toll collection ETC system, the ETC system including a lane reader, the vehicle identification method comprising:

2. The vehicle identification method according to claim 1, wherein the step of judging whether the vehicle to be identified is located at a preset position according to the signal arrival angle and a preset threshold angle includes:

3. The vehicle identification method according to claim 1, wherein the ETC system includes at least two lane readers for receiving vehicle signals transmitted from ETC card devices of the same vehicle to be identified, and the step of calculating a signal arrival angle of the ETC card devices on a space plane of the lane readers according to the vehicle signals includes:

4. The vehicle identification method according to claim 1, wherein before the step of determining whether the vehicle to be identified is located at a preset position according to the signal arrival angle and a preset threshold angle, further comprises:

The determining of the preset threshold angle specifically includes:

5. The vehicle identification method according to claim 1, characterized in that the step of identifying the vehicle to be identified as a fee deduction release vehicle in the case where the vehicle to be identified is located at a preset position includes:

6. The vehicle identification method according to claim 1, wherein after the step of calculating the signal arrival angle of the ETC card device on the lane card reader space surface according to the vehicle signal, the method further comprises:

and generating lane queuing prompt according to the vehicle queuing quantity.

7. A vehicle identification device, characterized by being applied to an electronic toll collection ETC system including a lane reader, comprising:

8. The vehicle identification apparatus of claim 7, wherein the location determination module is further configured to:

9. A vehicle identification device comprising a memory, a processor and a vehicle identification program stored on the memory and executable on the processor, the vehicle identification program when executed by the processor implementing the steps of the vehicle identification method according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a vehicle identification program which, when executed by a processor, implements the steps of the vehicle identification method according to any one of claims 1-6.