CN209281480U - Free flow charging system - Google Patents
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- CN209281480U CN209281480U CN201822189109.0U CN201822189109U CN209281480U CN 209281480 U CN209281480 U CN 209281480U CN 201822189109 U CN201822189109 U CN 201822189109U CN 209281480 U CN209281480 U CN 209281480U
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Abstract
The utility model provides a kind of free flow charging system, the system includes: radar fix module, video acquisition module, roadside unit RSU and control module, wherein, radar fix module, respectively with RSU, control module connection, RSU is connect with control module, video acquisition module is connect with control module, system provided by the utility model passes through the position of radar fix module real-time tracking vehicle, and merge positioning and the trading function of RSU unit, non-parking charge is carried out to ETC vehicle, the information of vehicles of non-ETC vehicle is acquired using radar fix module and video acquisition module, so as to deduct tranaction costs in the payment account that control module is bound according to collected information of vehicles by the vehicle, to realize that free flow is charged, improve the traffic efficiency of vehicle.
Description
Technical Field
The utility model relates to an intelligent transportation technical field especially relates to a free flow charging system.
Background
With the development of urbanization, traffic infrastructure is also continuously improved, a highway network mainly based on an expressway covers the whole country, but with the increase of traffic flow, the phenomena of vehicle queuing and traffic jam at the toll station port of the expressway often occur, so that the traffic capacity of a road section is reduced. An Electronic Toll collection system (ETC system for short) is developed, microwave communication is carried out between an On Board Unit (OBU) and a Road Side Unit (RSU) mounted On an ETC vehicle, vehicle identity recognition and Electronic fee deduction are automatically carried out in the vehicle advancing process, and the phenomena of vehicle queuing and traffic jam at an expressway Toll station entrance are greatly relieved.
However, at present, a large number of non-ETC vehicles exist, and therefore, how to realize free flow charging and improve the passing efficiency of the vehicles is a problem to be solved at present.
SUMMERY OF THE UTILITY MODEL
The utility model provides a free flow charging system to realize that ETC vehicle and non-ETC vehicle all can accomplish the receipts and payment of toll in driving, the current efficiency of vehicle of improvement.
The utility model provides a free flow charging system, this system includes:
the system comprises a radar positioning module, a video acquisition module, a Road Side Unit (RSU) and a control module; wherein,
the radar positioning module is respectively connected with the RSU and the control module, and is used for acquiring a first position of a vehicle entering a preset area and transmitting the first position to the RSU and the control module;
the RSU is connected with the control module and is used for acquiring on-board unit (OBU) information of the vehicle and a second position of the vehicle, establishing a corresponding relation between the OBU information of the vehicle and the first position when the first position and the second position meet preset conditions, and sending the corresponding relation to the control module;
the video acquisition module is connected with the control module and is used for acquiring picture information of the vehicle according to an acquisition instruction sent by the control module and transmitting the picture information to the control module;
the control module is used for controlling the video acquisition module to acquire the picture information of the vehicle according to the first position, the corresponding relation and the payment state of the vehicle.
Further, the radar positioning module comprises: the device comprises an antenna element, a local oscillator, a phase-locked loop, a frequency mixer and a processor; wherein,
the antenna oscillator is connected with the first end of the mixer and used for transmitting and receiving signals;
the local oscillator is connected with the second end of the frequency mixer through the phase-locked loop;
the processor is connected with a third end of the mixer and is used for controlling the antenna oscillator to output continuous microwave signals; the processor is used for receiving the signal transmitted by the mixer; and the processor is configured to send the first location to the RSU.
Further, the frequency of the continuous microwave signal output by the antenna element varies with time.
Further, the radar positioning module further comprises: a memory;
the memory is coupled to the processor and is configured to store program instructions and corresponding data processing results generated by the processor.
Further, the radar positioning module is connected with the RSU through a cable.
Further, the RSU comprises: a microwave antenna and a radio frequency control module; the microwave antenna is connected with the radio frequency control module;
the microwave antenna is used for receiving microwave signals;
the radio frequency control module is used for acquiring the OBU information of the vehicle and the second position of the vehicle according to the microwave signal, and establishing the corresponding relation between the OBU information of the vehicle and the first position when the first position and the second position meet preset conditions; and sending the corresponding relation to the control module;
correspondingly, the radar positioning module is connected with the radio frequency control module.
Further, the radar location module is the same as a reference point of the RSU.
Further, the video acquisition module comprises at least one shooting device and a video acquisition control sub-module;
each shooting device is connected with the video acquisition control submodule, the video acquisition control submodule is used for controlling the shooting devices to be opened and closed according to the received acquisition instruction, and the shooting areas of each shooting device are different.
Further, when the number of the shooting devices is one, the shooting devices can rotate at multiple angles.
Further, when the number of the photographing devices is plural, the angle of each photographing device is different, so that the photographing area of each photographing device is different.
The utility model provides a free flow charging system, this system includes: the system comprises a radar positioning module, a video acquisition module, a Road Side Unit (RSU) and a control module, wherein the radar positioning module is respectively connected with the RSU and the control module and is used for acquiring a first position of a vehicle entering a preset area and transmitting the first position to the RSU and the control module; the RSU is connected with the control module and used for acquiring vehicle-mounted unit (OBU) information of the vehicle and a second position of the vehicle, establishing a corresponding relation between the OBU information of the vehicle and the first position when the first position and the second position meet preset conditions, and sending the corresponding relation to the control module; the video acquisition module is connected with the control module and is used for acquiring picture information of the vehicle according to an acquisition instruction sent by the control module and transmitting the picture information to the control module; and the control module is used for controlling the video acquisition module to acquire the picture information of the vehicle according to the first position, the corresponding relation and the payment state of the vehicle. The utility model provides a system passes through the position of radar orientation module real-time tracking vehicle to fuse the location and the transaction function of RSU unit, carry out the charge of not stopping to the ETC vehicle, utilize radar orientation module and video acquisition module to gather the vehicle information of non-ETC vehicle, so that the payment account that makes control module bind by this vehicle according to the vehicle information of gathering deducts the transaction expense, thereby realize the free flow charge, improve the current efficiency of vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a first embodiment of a free-flow charging system provided by the present invention;
fig. 2 is a schematic structural diagram of a second embodiment of the free flow charging system provided by the present invention;
fig. 3 is a schematic structural diagram of a third embodiment of the free flow charging system provided by the present invention;
fig. 4 is a schematic structural diagram of a first embodiment of a radar positioning module provided by the present invention;
FIG. 5 is a schematic diagram of the range and azimuth of a vehicle obtained by a radar location module;
fig. 6 is a schematic structural diagram of a second embodiment of the radar positioning module provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a first embodiment of the free flow charging system provided by the present invention. As shown in fig. 1, the free flow charging system 10 of the present embodiment includes: radar positioning module 11, video acquisition module 12, road side unit RSU13, and control module 14.
The radar positioning module 11 is connected with the road side unit RSU13 and the control module 14, respectively, and the radar positioning module 11 is configured to acquire a first position of a vehicle entering a preset area and transmit the first position to the RSU13 and the control module 14. The preset area is a preset identification area of the radar positioning module 11.
It is understood that, in the present embodiment, the radar positioning module 11 is a physical functional unit that finds the target and determines the position of the target by using a radio method. Specifically, the radar positioning module 11 irradiates a target in a preset area by emitting an electromagnetic wave, receives the reflected wave, obtains information such as a distance, an azimuth, a radial velocity, and a height from the target to an electromagnetic wave emitting point according to the reflected wave, and can obtain a position coordinate of the target in a preset coordinate system in real time according to the distance, the azimuth, the radial velocity, and the like, where the position coordinate is a first position, and the preset coordinate system can be set according to actual requirements.
In this embodiment, the radar positioning module 11 can continuously track the vehicle entering the preset area, obtain the first position of the vehicle entering the preset area in real time, and the radar positioning module 11 transmits the obtained first position of the vehicle to the RSU13 and the control module 14, respectively. The radar positioning module 11 may track a plurality of vehicles entering a preset area in real time, and obtain first positions of the plurality of vehicles respectively; and transmitting the first positions of the plurality of vehicles to the RSU13 and the control module 14, respectively. It should be noted that the preset region is a preset identification region of the radar positioning module 11, and in a specific implementation process, the size of the preset region may be set according to actual requirements, and preferably, the identification region of the radar positioning module 11 is usually larger than the identification region of the RSU.
The RSU13, coupled to the control module 14, the RSU13 is configured to obtain the OBU information of the vehicle and the second location of the vehicle.
The manner in which the RSU13 obtains the OBU information of the vehicle and the second position of the vehicle is similar to that in the prior art, and will not be described herein again.
Further, the RSU13 is further configured to establish a corresponding relationship between the OBU information of the vehicle and the first position when the first position and the second position satisfy a preset condition; and sends the correspondence to the control module 14.
It can be understood that the coordinate system corresponding to the first position and the coordinate system corresponding to the second position may be the same coordinate system or different coordinate systems; if the coordinate system corresponding to the first position and the coordinate system corresponding to the second position are the same coordinate system, the RSU13 may directly determine whether the first position and the second position directly satisfy the predetermined condition, and if the coordinate system corresponding to the first position and the coordinate system corresponding to the second position are different coordinate systems, the RSU13 may further convert the first position to the coordinate system corresponding to the second position according to a relationship between the coordinate system corresponding to the first position and the coordinate system corresponding to the second position before determining whether the first position and the second position satisfy the predetermined condition, or convert the second position to the coordinate system corresponding to the first position, and then determine whether the first position and the second position satisfy the predetermined condition according to a result of the conversion.
In this embodiment, the purpose of the RSU13 to determine whether the first position and the second position satisfy the predetermined condition is to accurately determine whether the radar positioning module 11 and the RSU13 identify the same vehicle. When the first position and the second position satisfy the preset condition, it is determined that the radar positioning module 11 and the RSU13 identify the same vehicle, and then the RSU13 establishes a corresponding relationship between the OBU information of the vehicle and the first position, and then sends the corresponding relationship to the control module 14.
The video acquisition module 12 is connected to the control module 14, and the video acquisition module 12 is configured to acquire image information of the vehicle according to an acquisition instruction sent by the control module 14, and transmit the image information to the control module 14.
Specifically, the control module 14 sends a collection instruction to the video collection module 12, the collection instruction carries a first position of the vehicle, the video collection module 12 determines a target shooting area according to the first position in the collection instruction, starts a shooting device to shoot the vehicle in the target shooting area, obtains picture information of the vehicle, and then the video collection module 12 transmits the picture information to the control module 14.
And the control module 14 is configured to control the video acquisition module 12 to acquire the picture information of the vehicle according to the first position, the corresponding relationship and the payment state of the vehicle.
In practical applications, there are vehicles with or without OBUs, and the free-flow charging system provided in this embodiment will be described in detail below, which is how to charge two different types of vehicles:
(1) vehicle with OBU (ETC vehicle)
When the ETC vehicle enters the lane, a communication link is established between the RSU13 and the OBU installed on the vehicle, and the RSU13 acquires the OBU information of the vehicle and the second position of the vehicle according to the received microwave signals. The charging system deducts transaction fees according to the OBU information of the vehicle, and then the OBU installed on the vehicle enters a dormant state.
When the vehicle enters the identification area of the radar positioning module 11, the radar positioning module 11 acquires the first position of the vehicle in real time and sends the first position to the RSU13 and the control module 14, respectively. The RSU13 establishes a correspondence between the OBU information of the vehicle and the first position when the first position and the second position satisfy a predetermined condition, and transmits the correspondence to the control module 14.
The control module 14 determines the OBU information of the vehicle according to the first position and the corresponding relationship obtained by the radar positioning module 11, and then determines the payment status of the vehicle according to the OBU information. If the payment state is the payment state, the control module 14 does not need to send a collection instruction to the video acquisition module 12, if the payment state of the vehicle is the payment failure, the control module 14 sends the collection instruction to the video acquisition module 12, after receiving the collection instruction, the video acquisition module 12 controls the shooting device to shoot the vehicle to acquire the picture information of the vehicle, and the control module 14 can acquire the license plate information of the vehicle according to the picture information and deduct the corresponding toll from the payment account bound to the license plate.
(2) Vehicle without OBU (i.e. non ETC vehicle)
When a non-ETC vehicle enters a preset area, the radar positioning module 11 acquires a first position of the vehicle in real time and transmits the first position to the control module 14.
Since the vehicle without the OBU cannot communicate with the RSU13, the RSU13 cannot acquire the second position of the vehicle, and the corresponding relationship cannot be established. When a vehicle enters a preset area and reaches a time period of a handrail, the control module 14 can only receive a first position sent by the radar positioning module 11, and no related payment state exists in the control module 14, the vehicle is considered, the control module 14 sends a collection instruction to the video collection module 12, the video collection module 12 controls the shooting device to shoot the vehicle after receiving the collection instruction, picture information of the vehicle is obtained, the control module 14 can obtain license plate information of the vehicle according to the picture information, and corresponding toll is deducted from a payment account bound to the license plate.
In this embodiment, the charging system includes: the system comprises a radar positioning module, a video acquisition module, a Road Side Unit (RSU) and a control module, wherein the radar positioning module is respectively connected with the RSU and the control module and is used for acquiring a first position of a vehicle entering a preset area and transmitting the first position to the RSU and the control module; the RSU is connected with the control module and used for acquiring vehicle-mounted unit (OBU) information of the vehicle and a second position of the vehicle, establishing a corresponding relation between the OBU information of the vehicle and the first position when the first position and the second position meet preset conditions, and sending the corresponding relation to the control module; the video acquisition module is connected with the control module and is used for acquiring picture information of the vehicle according to an acquisition instruction sent by the control module and transmitting the picture information to the control module; and the control module is used for controlling the video acquisition module to acquire the picture information of the vehicle according to the first position, the corresponding relation and the payment state of the vehicle. The free flow charging system provided by the embodiment tracks the position of the vehicle in real time through the radar positioning module, integrates the positioning and transaction functions of the RSU unit, charges ETC vehicles without stopping the vehicle, collects the vehicle information of non-ETC vehicles through the radar positioning module and the video collection module, and enables the control module to deduct the passing fee from the payment account bound by the vehicle according to the collected vehicle information, so that the free flow charging is realized, and the passing efficiency of the vehicle is improved.
In addition, the free flow charging system provided by the embodiment can also enable the control module to firstly communicate and trade with the ETC vehicle closest to the vehicle according to the distance between the vehicle and the RSU and the radar positioning module, and effectively solves the problems of adjacent lane interference and following interference.
On the basis of the embodiment shown in fig. 1, the radar localization module 11 is optionally identical to the reference point of the RSU 13.
Because the reference points of the radar positioning module 11 and the RSU13 are the same, when the radar positioning module 11 and the RSU13 identify the same vehicle in the lane, the first position of the vehicle obtained by the radar positioning module 11 is the same as the second position of the vehicle obtained by the RSU13, and then the RSU13 can determine whether the vehicle identified by the radar positioning module 11 and the vehicle identified by the RSU13 are the same vehicle by simply judging the first position and the second position, and if the vehicle is the same vehicle, the corresponding relationship between the OBU information of the vehicle and the first position is established. The utility model discloses in, radar orientation module 11's reference object is RSU13, and radar orientation module 11's reference point is the mounted position of RSU13 promptly, and RSU 13's reference object is radar orientation module, and RSU 13's reference point is radar orientation module 11's mounted position promptly, and consequently, radar orientation module 11 is the same with RSU 13's reference point, and the mounted position that represents radar orientation module 11 promptly is the same with RSU 13's mounted position. By arranging the radar positioning module 11 and the RSU13 at the same installation position, the data determination process can be simplified, the data processing speed of the RSU13 can be increased, and the work efficiency of the charging system 10 can be improved.
Considering whether the radar positioning module 11 and the RSU13 can emit microwave signals simultaneously, and the error caused by the microwave signals during transmission, the preset condition may be numerically set as an error threshold value, and the distance between the first position and the second position is smaller than the error threshold value, which means that the radar positioning module 11 and the RSU13 identify that the vehicles are the same vehicle.
Fig. 2 is a schematic structural diagram of a second embodiment of the free-flow charging system provided by the utility model. As shown in fig. 2, in the charging system 20 of the present embodiment, based on the embodiment shown in fig. 1, the RSU13 includes a microwave antenna 132 and an rf control module 131, and the microwave antenna 132 is connected to the rf control module 131.
Wherein, the microwave antenna 132 is used for receiving microwave signals; the radio frequency control module 131 is configured to obtain the OBU information of the vehicle and a second position of the vehicle according to the microwave signal; when the first position and the second position meet preset conditions, establishing a corresponding relation between the OBU information of the vehicle and the first position; and, sending the correspondence to the control module 14.
Accordingly, the radar positioning module 11 is connected with the radio frequency control module 131.
Optionally, the radar positioning module 11 and the RSU13 are connected by a cable, that is, the radar positioning module 11 and the rf control module 131 are connected by a cable.
Because the operating frequency of the radar positioning module 11 is different from the operating frequency of the RSU13, wireless communication cannot be directly performed, and therefore, the radar positioning module 11 is connected with the RSU13 through a cable, so that data interaction between the radar positioning module 11 and the RSU13 is realized. And, through the cable connection, data transmission reliability is higher, stability is higher.
Optionally, the video capture module 12 comprises: the shooting device 121 is connected with the video acquisition control submodule 122, and the video acquisition control submodule 122 is used for controlling the shooting device 121 to be opened or closed according to a received acquisition instruction. Wherein, the shooting device can be the high definition camera, of course, the shooting device also can be other devices that can shoot, the utility model discloses do not restrict to the specific type of shooting device.
In this embodiment, the number of the photographing devices 121 is one, and the photographing devices 121 can rotate at multiple angles. In practical application, the video acquisition control sub-module 122 analyzes the received acquisition instruction to extract a first position therein, then the video acquisition control sub-module 122 adjusts the angle of the photographing device 121 to a direction corresponding to the first position, then the video acquisition control sub-module 122 starts the photographing device 121 to photograph the vehicle to obtain picture information of the vehicle, the video acquisition control sub-module 122 transmits the picture information of the vehicle to the control module 14, the control module 14 can obtain license plate information of the vehicle according to the picture information, and then corresponding toll is deducted from a payment account bound to the license plate.
The free flow charging system provided by the embodiment tracks the position of the vehicle in real time through the radar positioning module, integrates the positioning and transaction functions of the RSU unit, charges the ETC vehicle without stopping the vehicle, collects the vehicle information of the non-ETC vehicle by utilizing the radar positioning module and the video collection module, and deducts the passing fee from the payment account bound by the vehicle according to the collected vehicle information, so that the free flow charging is realized, and the passing efficiency of the vehicle is improved.
In addition, the free flow charging system provided by the embodiment can also enable the control module to firstly communicate and trade with the ETC vehicle closest to the vehicle according to the distance between the vehicle and the RSU and the radar positioning module, and effectively solves the problems of adjacent lane interference and following interference.
Fig. 3 is a schematic structural diagram of a third embodiment of the free flow charging system provided by the present invention. As shown in fig. 3, the system shown in the present embodiment is different from the embodiment shown in fig. 2 in that in the system 30 of the present embodiment, the number of the cameras 121 included in the video capture module 12 is multiple, and the angle of each camera 121 is different, so that the shooting area of each camera 121 is different.
In the present embodiment, the number of the photographing devices 121 is illustrated as two. In practical application, the video acquisition control sub-module 122 analyzes the received acquisition instruction to extract a first position, then the video acquisition control sub-module 122 determines a target shooting device from the plurality of shooting devices 121 according to the first position, then the video acquisition control sub-module 122 starts the target shooting device to shoot the vehicle to obtain picture information of the vehicle, the video acquisition control sub-module 122 transmits the picture information of the vehicle to the control module 14, the control module 14 can obtain license plate information of the vehicle according to the picture information, and then corresponding toll is deducted from a payment account bound to the license plate.
The system that this embodiment provided tracks along the position of vehicle in real time through radar orientation module to fuse the location and the transaction function of RSU unit, carry out the non-stop toll collection to the ETC vehicle, utilize radar orientation module and video acquisition module to gather the vehicle information of non-ETC vehicle, so that control module deducts the toll in the payment account that the vehicle binds according to the vehicle information of gathering, thereby realize the free flow charge, improve the current efficiency of vehicle. In addition, the free flow charging system provided by the embodiment can also enable the control module to firstly communicate and trade with the ETC vehicle closest to the vehicle according to the distance between the vehicle and the RSU and the radar positioning module, and effectively solves the problems of adjacent lane interference and following interference.
Fig. 4 is a schematic structural diagram of a first embodiment of a radar positioning module provided by the present invention. As shown in fig. 4, the radar positioning module shown in this embodiment includes: antenna element 141, local oscillator 142, phase locked loop 143, mixer 144, and processor 145.
Antenna element 141 is connected to a first end of mixer 144, and antenna element 141 transmits and receives signals.
The local oscillator 142 is connected to the second terminal of the mixer 144 through the phase-locked loop 143, the processor 145 is connected to the third terminal of the mixer 144, and the processor 145 is configured to control the antenna element 141 to output a continuous microwave signal, and process a signal transmitted to the processor 145 by the mixer 144, obtain a first position, and transmit the first position to the RSU.
The radar positioning module 41 irradiates a vehicle entering a lane by emitting electromagnetic waves, after the electromagnetic waves reach the vehicle, part of the electromagnetic waves are reflected, and the radar positioning module 11 acquires information of the vehicle, such as speed, distance, azimuth angle and the like, according to the emitted microwave signals and reflected signals, and further acquires a first position of the vehicle according to the information of the vehicle, such as speed, distance, azimuth angle and the like.
Fig. 5 is a schematic diagram of the distance and the azimuth angle of the vehicle acquired by the radar positioning module. As shown in fig. 5, h is the distance between the radar positioning module and the ground, d is the distance between the radar positioning module and the vehicle, and ω is the azimuth angle between the radar positioning module and the vehicle.
In an actual application process, when the processor 145 is configured to control the antenna element 141 to output a continuous microwave signal, in a possible implementation manner, the processor 145 controls the antenna element 141 to output a microwave signal with a frequency varying with time according to a chirped continuous wave LFMCW technique, and then the processor 145 may obtain information of a distance, a speed, an azimuth angle, and the like of the vehicle according to a phase difference and a frequency difference between the output microwave signal and a reflected signal of the microwave signal after reaching the vehicle, and further perform calculation according to the information of the distance, the speed, the azimuth angle, and the like of the vehicle to obtain a first position of the vehicle.
The radar positioning module 11 outputs a chirped continuous wave by: first, the processor 145 continuously outputs a first low frequency signal of a first frequency according to a chirp continuous wave technique; meanwhile, the local oscillator 142 continuously generates a second low-frequency signal of a second frequency, and the second low-frequency signal is transmitted to the mixer 144 through the phase-locked loop 143; the mixer 144 performs mixing processing on the first low-frequency signal and the second low-frequency signal that arrive successively to generate a microwave signal whose frequency changes with time successively, and then the antenna element 141 radiates the microwave signal whose frequency changes with time.
The radar localization module 11 obtains a first position of the vehicle by:
the microwave signal with the frequency changing with time radiated by the antenna element 141 continuously reaches the vehicle, and then a part of the microwave signal is reflected to form a reflected signal.
The antenna element 141 receives the reflected signal and transmits the reflected signal to the mixer 144, meanwhile, the local oscillator 142 generates a local oscillator signal, the local oscillator signal is transmitted to the mixer 144 through the phase-locked loop 143, and the mixer 144 performs frequency mixing processing on the reflected signal and the local oscillator signal to obtain an intermediate frequency signal. In order to improve the accuracy of the data processing result and the data processing speed, the reflected signal with higher frequency is processed by the method, so that the intermediate frequency signal with lower frequency is obtained. Further, the intermediate frequency signal transmitted to the processor 145 by the mixer 144 is subjected to analog-to-digital conversion, acquisition, filtering and fast fourier transform FFT, so as to obtain an amplitude-phase characteristic function of the reflected signal, and then the distance, speed and azimuth angle of the vehicle are obtained according to the microwave signal output by the antenna element 141 and the amplitude-phase characteristic function of the reflected signal, and the processor 145 calculates the first position of the vehicle in the preset coordinate system according to the distance, speed and azimuth angle of the vehicle.
Taking the example that the processor 145 controls the antenna element 141 to output the multi-period sawtooth chirp continuous wave as an example, the radar positioning module 41 obtains the distance, the speed, and the azimuth angle of the vehicle from the reflection signal of the multi-period sawtooth chirp continuous wave in detail.
The antenna element 141 receives a reflected signal of the multi-cycle sawtooth linear continuous wave, the local oscillator 142 generates a local oscillator signal, the local oscillator signal is transmitted to the mixer 144 through the phase-locked loop 143, and the mixer 144 performs frequency mixing processing on the reflected signal and the local oscillator signal, thereby acquiring an intermediate frequency signal. The processor 145 performs analog-to-digital conversion, acquisition and filtering on the intermediate frequency signal to obtain a processed intermediate frequency signal, and obtains the distance d, the speed v and the azimuth angle ω of the vehicle according to the processed intermediate frequency signal, and further, the processor 145 calculates the first position of the vehicle in the preset coordinate system according to the distance d, the speed v and the azimuth angle ω of the vehicle.
After obtaining the processed intermediate frequency signal, the processor 145 obtains the distance, the speed, and the azimuth angle of the vehicle by performing the following steps:
step 1, the processor 145 samples the M periods of the reflected signal, and obtains the peak value of the reflected wave of each period, that is, obtains M peak values. And further, performing fast Fourier transform on the M peak values to obtain the Doppler frequency shift of the vehicle, and further obtaining the speed v of the vehicle according to the Doppler frequency shift of the vehicle.
And 2, the processor 145 acquires the distance d between the radar positioning module 41 and the vehicle according to the speed of the vehicle, the difference frequency signal of the transmitted microwave signal and the received reflection signal.
And 3, the processor 145 acquires phase differences among the signals according to the reflected signals received by the antenna elements 141, performs fast fourier transform on the phase differences, and acquires an azimuth angle omega between the radar positioning module 41 and the vehicle.
In this embodiment, the radar positioning module includes: the antenna oscillator is connected with the first end of the mixer and used for receiving and transmitting signals; the local oscillator is connected with the second end of the frequency mixer through a phase-locked loop; and the processor is connected with the third end of the frequency mixer and is used for controlling the antenna oscillator to output continuous microwave signals, processing the signals transmitted to the processor by the frequency mixer, acquiring a first position and transmitting the first position to the RSU. The radar positioning module can continuously track the position of a vehicle entering a lane, and transmits the first position of the vehicle to the control module, so that the control module can accurately judge the payment state of the vehicle arriving at the railing according to the first position of the vehicle in the lane, the corresponding relation and the payment state of the vehicle, and the railing is controlled to automatically rise and fall.
On the basis of the embodiment shown in fig. 4, optionally, the radar positioning module includes N antenna elements, where N is an integer greater than 1. The radar positioning module acquires the azimuth angle of the vehicle according to the phase difference of the reflected signals received by the antenna elements. Therefore, at least two antenna elements are typically included in a radar positioning module.
Fig. 6 is a schematic structural diagram of a second embodiment of the radar positioning module provided by the present invention. As shown in fig. 6, the radar positioning module shown in this embodiment includes N antenna elements 141, where N is an integer greater than 1. In this embodiment, N is 3 as an example.
In this embodiment, the number of mixers 144 and phase-locked loops 143 is the same as the number of antenna elements 141. It should be noted that, in the radar positioning module, the greater the number of the antenna elements 141, the higher the accuracy of the obtained azimuth angle ω, and thus the more accurate the first position of the vehicle, but correspondingly, the greater the calculation amount, and therefore, in practical application, the number of the antenna elements 141 may be set according to practical requirements.
It is understood that when the radar positioning module includes more than 3 antenna elements, the connection manner is similar to that shown in the present embodiment.
Optionally, the radar positioning module further comprises: a memory 146 (not shown in fig. 6), wherein the memory 146 is connected to the processor 145, and the memory 146 is used for storing program instructions, corresponding data processing results generated by the processor 145, and the like.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A free-flow charging system, characterized in that the system comprises: the system comprises a radar positioning module, a video acquisition module, a Road Side Unit (RSU) and a control module; wherein,
the radar positioning module is respectively connected with the RSU and the control module, and is used for acquiring a first position of a vehicle entering a preset area and transmitting the first position to the RSU and the control module;
the RSU is connected with the control module and is used for acquiring on-board unit (OBU) information of the vehicle and a second position of the vehicle, establishing a corresponding relation between the OBU information of the vehicle and the first position when the first position and the second position meet preset conditions, and sending the corresponding relation to the control module;
the video acquisition module is connected with the control module and is used for acquiring picture information of the vehicle according to an acquisition instruction sent by the control module and transmitting the picture information to the control module;
the control module is used for controlling the video acquisition module to acquire the picture information of the vehicle according to the first position, the corresponding relation and the payment state of the vehicle.
2. The system of claim 1, wherein the radar positioning module comprises: the device comprises an antenna element, a local oscillator, a phase-locked loop, a frequency mixer and a processor; wherein,
the antenna oscillator is connected with the first end of the mixer and used for transmitting and receiving signals;
the local oscillator is connected with the second end of the frequency mixer through the phase-locked loop;
the processor is connected with a third end of the mixer and is used for controlling the antenna oscillator to output continuous microwave signals; the processor is used for receiving the signal transmitted by the mixer; and the processor is configured to send the first location to the RSU.
3. The system of claim 2, wherein the frequency of the continuous microwave signal output by the antenna element varies over time.
4. The system of claim 2, wherein the radar positioning module further comprises: a memory;
the memory is coupled to the processor and is configured to store program instructions and corresponding data processing results generated by the processor.
5. The system of claim 1, wherein the radar positioning module and the RSU are connected by a cable.
6. The system of claim 1, wherein the RSU comprises: a microwave antenna and a radio frequency control module; the microwave antenna is connected with the radio frequency control module;
the microwave antenna is used for receiving microwave signals;
the radio frequency control module is used for acquiring the OBU information of the vehicle and the second position of the vehicle according to the microwave signal, and establishing the corresponding relation between the OBU information of the vehicle and the first position when the first position and the second position meet preset conditions; and sending the corresponding relation to the control module;
correspondingly, the radar positioning module is connected with the radio frequency control module.
7. The system of claim 1, wherein the radar location module is the same reference point as the RSU.
8. The system of claim 1, wherein the video capture module comprises at least one camera and a video capture control sub-module;
each shooting device is connected with the video acquisition control submodule, the video acquisition control submodule is used for controlling the shooting devices to be opened and closed according to the received acquisition instruction, and the shooting areas of each shooting device are different.
9. The system of claim 8, wherein when the number of the photographing devices is one, the photographing devices are rotatable at a plurality of angles.
10. The system of claim 9, wherein when the number of the cameras is plural, the angle of each of the cameras is different so that the photographing area of each of the cameras is different.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822189109.0U CN209281480U (en) | 2018-12-25 | 2018-12-25 | Free flow charging system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822189109.0U CN209281480U (en) | 2018-12-25 | 2018-12-25 | Free flow charging system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110807950A (en) * | 2019-11-13 | 2020-02-18 | 腾讯科技（深圳）有限公司 | Risk assessment method and device based on vehicle collision and computer equipment |
| CN111582174A (en) * | 2020-05-09 | 2020-08-25 | 广西信路威科技发展有限公司 | RSU and multi-target radar detection result matching method based on image recognition |
-
2018
- 2018-12-25 CN CN201822189109.0U patent/CN209281480U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110807950A (en) * | 2019-11-13 | 2020-02-18 | 腾讯科技（深圳）有限公司 | Risk assessment method and device based on vehicle collision and computer equipment |
| CN110807950B (en) * | 2019-11-13 | 2024-02-23 | 腾讯科技（深圳）有限公司 | Risk assessment method and device based on vehicle collision and computer equipment |
| CN111582174A (en) * | 2020-05-09 | 2020-08-25 | 广西信路威科技发展有限公司 | RSU and multi-target radar detection result matching method based on image recognition |
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