WO2021248655A1 - 多地磁传感器测速系统及其测速方法 - Google Patents
多地磁传感器测速系统及其测速方法 Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- the invention relates to a speed measurement system, and further relates to a multi-geomagnetic sensor speed measurement system and a speed measurement method thereof.
- Intelligent transportation system is the main means of intelligent transportation management, and information collection technology is widely used in intelligent transportation system. It is an indispensable part of the intelligent transportation system to measure the speed of the cars on the road through the vehicle speed measurement system, and to provide traffic data for the intelligent transportation system. After the intelligent transportation system obtains the speed information, it can identify the speeding vehicle and give warnings to the speeding vehicle, thereby avoiding traffic accidents caused by the speeding of the vehicle, thereby improving the level of traffic safety.
- the vehicle speed measurement system mainly used at home and abroad collects traffic data through optical, microwave radar, inductive coil and geomagnetic sensors, and the controller analyzes the data to obtain the driving speed of the vehicle.
- optical sensors have very high requirements on the environment, which will affect the speed measurement effect in bad weather such as haze; the life of the inductive coil sensor is short; when there are multiple vehicles running side by side in the same direction, or when there are large vehicles passing by in adjacent lanes ,
- the speed measurement system using microwave radar and traditional geomagnetic sensor is prone to fail to detect the vehicle or detect the vehicle incorrectly, resulting in speed measurement errors.
- the traditional vehicle speed measurement system lacks practicability, reliability, safety, and has large limitations, which cannot meet the requirements of large-scale deployment.
- the purpose of the present invention is to provide a multi-geomagnetic sensor speed measurement system and a speed measurement method for the above-mentioned shortcomings of the prior art, so as to improve the accuracy of speed measurement and promote the intelligent development of highways.
- the present invention discloses a speed measurement system with multiple geomagnetic sensors, including a geomagnetic vehicle detection module, a data transmission module, a data receiving module and a background data processing module.
- the geomagnetic vehicle detection module is connected to the data transmission module by wire, and the data transmission
- the module is wirelessly connected with the data receiving module, and the data receiving module is wiredly connected with the background data processing module.
- the multi-geomagnetic sensor speed measurement system includes M geomagnetic vehicle detection modules.
- the geomagnetic vehicle detection modules are arranged in groups along the roadside, and every two or more geomagnetic vehicle detection modules form a group.
- Each geomagnetic vehicle detection module is composed of a set of geomagnetic sensors and a controller.
- the geomagnetic sensor is used to collect road surface magnetic field data.
- the adjacent geomagnetic sensors are separated by d meters.
- the controller is used to receive the data collected by the geomagnetic sensor to analyze the vehicle passing through the geomagnetism.
- the time data used by the vehicle detection module, and the time data is transmitted to the data sending module at regular intervals. This period of time can be set to x seconds or y minutes according to actual needs;
- the data sending module uses a wireless transmitter to receive time data and sends it to the data receiving module by wireless communication;
- the data receiving module uses a wireless transmitter to receive the time data reported by the data sending module and transmit it to the background data processing module;
- the background data processing module is used to process the time data.
- the processing includes aligning the acquired data, matching the time data with the corresponding vehicles, and calculating the time when the car passes this group of geomagnetic sensors based on the aligned data speed.
- the speed measurement method using the multiple geomagnetic sensor speed measurement system of the present invention includes the following steps:
- the geomagnetic vehicle detection module uses the geomagnetic vehicle detection module to collect the geomagnetic data of the vehicle passing by to perform threshold detection processing to obtain time data.
- the time data includes the time data used by the vehicle approaching and leaving the geomagnetic sensor, and the geomagnetic vehicle detection module is used to collect the geomagnetic data of the vehicle passing by
- the steps for threshold detection processing include:
- the geomagnetic vehicle detection module Utilizing the geomagnetic vehicle detection module to merge the time data into a set of data, the combined time data is sent to the data receiving module through the data sending module, and the data receiving module sends the time data to the background processing module;
- the present invention has the following advantages:
- the present invention uses multiple geomagnetic sensors to collect road data, and makes full use of the advantages of multiple geomagnetic sensors to coordinate the results of each sensor and uses the minimum variance method to estimate the speed to improve accuracy, which is more advantageous and practical for vehicle speed measurement.
- the geomagnetic sensor used in the present invention has low cost and is easy to deploy on a large scale, and the geomagnetic sensor does not respond to non-ferromagnetic objects, so it can effectively reduce interference.
- the system of the present invention is less affected by environmental factors, and can still work normally in rain or haze weather.
- Figure 1 is a structural block diagram of the system of the present invention
- Figure 2 is a flow chart of the implementation of the method of the present invention.
- the multi-geomagnetic sensor speed measurement system of the present invention includes a geomagnetic vehicle detection module 1, a data transmission module 2, a data receiving module 3, and a background data processing module 4.
- the geomagnetic vehicle detection module 1 and the data transmission module 2 are wiredly connected, and the data is sent
- the module 2 is wirelessly connected with the data receiving module 3, and the data receiving module 3 is connected with the background data processing module 4 by wire.
- the multi-geomagnetic sensor speed measurement system includes M geomagnetic vehicle detection modules 1, and the geomagnetic vehicle detection modules 1 are arranged in groups along the roadside, and every two or more geomagnetic vehicle detection modules 1 are a group.
- Each geomagnetic vehicle detection module 1 is composed of a set of geomagnetic sensors 11 and a controller 12.
- the geomagnetic sensors 11 are used to collect road surface magnetic field data.
- the adjacent geomagnetic sensors 11 are separated by d meters, and the controller is used to receive the data collected by the geomagnetic sensors 11 , In order to analyze the time data used by the vehicle to pass the geomagnetic vehicle detection module 1, and transmit the time data to the data sending module 2 at regular intervals. This period of time can be set to x seconds or y minutes according to actual needs;
- data sending module 2 Use a wireless transmitter to receive time data and send it to the data receiving module 3 by wireless communication; the data receiving module 3 uses a wireless transmitter to receive the time data reported by the data sending module 3 and transmit it to the background data processing module 4; background data processing
- the module 4 is used to process the time data.
- the processing includes aligning the acquired data, matching the time data with the corresponding vehicles, and calculating the speed when the car passes this group of geomagnetic sensors based on the aligned data.
- Step 1 Use the geomagnetic vehicle detection module 1 to collect geomagnetic data when the vehicle passes by to perform threshold detection processing to obtain time data.
- the time data includes time data for the vehicle to approach and leave the geomagnetic sensor 11.
- the steps of using the geomagnetic vehicle detection module 1 to collect geomagnetic data when the vehicle passes by to perform threshold detection processing include:
- the magnetic flux of the detection area of the geomagnetic sensor 11 will change sharply, and the change of the magnetic flux is reflected as the corresponding increase or decrease of the output data of the geomagnetic sensor 11.
- the passing situation of the vehicle can be detected in real time by the change of the output data of the geomagnetic sensor 11.
- the geomagnetic sensor 11 transmits the output data to the controller 12 of the geomagnetic vehicle detection module 1.
- the geomagnetic data from the sensor 11 is higher than the high geomagnetic data threshold Th1, then continue to determine whether the transmitted data is higher than the high geomagnetic data threshold Th1 for a period of time ⁇ t; if so, record by the timer, and then perform step 1.4 ), if it is not, it is deemed to be the interference of the adjacent reverse lane, and no recording is made;
- the geomagnetic data from the geomagnetic sensor 11 is lower than the high geomagnetic data threshold Th1, it is determined that the vehicle is not approaching the geomagnetic sensor 11 and no processing is performed;
- the values of the high geomagnetic threshold Th1 and the time threshold ⁇ t are determined according to the waveform results obtained from the actual field test.
- the geomagnetic data from the geomagnetic sensor 11 is lower than the low geomagnetic data threshold Th2, then continue to determine whether the transmitted data is below the low geomagnetic threshold Th2 within a period of time ⁇ t; if it is, it will be recorded by the timer, if not, then It is determined that the vehicle has not left the detection area of the geomagnetic sensor 11, and no recording is made;
- the geomagnetic data from the geomagnetic sensor 11 is higher than the low geomagnetic data threshold Th2, it is determined that the vehicle has not left the geomagnetic sensor 11 and waits until the geomagnetic data from the geomagnetic sensor 11 is lower than the low geomagnetic data threshold Th2;
- the value of the low geomagnetic threshold Th2 is determined according to the waveform results obtained from the actual field test
- Step 2 Use the geomagnetic vehicle detection module 1 to combine the time data into a set of data, and send the combined time data to the data receiving module 3 through the data sending module 2, and the data receiving module 3 sends the time data to the background processing module 4 .
- the geomagnetic vehicle detection module 1 merges time data into a set of data, which means to merge time data in a period of time into a set of data. This period of time can be set to x seconds or y minutes according to actual needs.
- Step 3 Use the background processing module 4 to perform data cleaning processing on the received time data.
- the steps of using the background processing module 4 to perform data cleaning processing on the received time data include:
- the background processing module 4 uses the background processing module 4 to set the upper data threshold Th3, the lower data threshold Th4, and the data increase threshold Th.
- the data increase threshold Th is the ratio of the distance between adjacent sensors and the road speed limit
- the upper data threshold Th3 is the last time data in a group of data
- the lower data threshold Th4 is the first in a group of data.
- Step 4. Use the background processing module 4 to regroup the time data after data cleaning.
- the background processing module 4 is used to regroup the time data after data cleaning, so that the value of the a-th group of data is sequentially the a-th time data in each group of time data.
- Step 5 Use the background processing module 4 to select reference sensors for the same set of time data, and open up various time windows.
- the steps of using the background processing module 4 to select reference sensors for the same set of time data and opening up various time windows include:
- Step 6 Use the background processing module 4 to perform corresponding processing according to the number of time data in the time window;
- Step 7 when there are multiple time data corresponding to the time window, set the measurement threshold ⁇ and merge the time data according to the measurement threshold ⁇ .
- the steps of setting the measurement threshold ⁇ and combining time data according to the measurement threshold ⁇ include:
- the measurement threshold ⁇ is not obtained, place the geomagnetic sensor 11 next to the road, and record the output waveform generated by the geomagnetic sensor 11 when the vehicle passes by the geomagnetic sensor 11 when a vehicle is detected as multiple vehicles, and the output waveform generated by the geomagnetic sensor 11 is obtained through waveform analysis
- ⁇ is the variance
- ⁇ is the mean value
- the difference between each adjacent time data is not less than the measurement threshold ⁇ , the time data in the time data that is closest in value to the time data of the reference sensor is retained, and other time data is deleted.
- Step 8 When there is no time data corresponding to the time window, it is confirmed that the missed detection occurs, that is, the vehicle passes by but is not detected, and the missing data is supplemented by interpolation.
- the steps of using interpolation method to complete the missing data include:
- Use background processing module 4 according to time data Perform different interpolation operations at positions in the vehicle lineup
- Step 9 When there is a time data corresponding to the time window, it is determined that the data at this time is correct. After the data alignment result is obtained according to steps 5 to 8, it is judged whether each group of data has been aligned. If so, go to step 10. , If not, go to step 5.
- Step 10 Use the minimum variance method to estimate the speed of the vehicle according to the alignment result, and calculate the speed of the vehicle.
- the minimum variance method is used to estimate the vehicle speed, that is, the vehicle speed is calculated by the following formula:
- v k is the speed of the k-th vehicle
- x k0 refers to the position of the k-th vehicle at time 0
- the position of the first geomagnetic sensor 11 in each group of geomagnetic sensors 11 is set as the origin
- L i is the i th geomagnetic sensor 11 to the distance from the origin.
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- 一种多地磁传感器测速系统,包括:地磁车辆检测模块(1),数据发送模块(2),数据接收模块(3),和后台数据处理模块(4),其中,所述地磁车辆检测模块(1)与所述数据发送模块(2)有线连接,所述数据发送模块(2)与所述数据接收模块(3)无线连接,所述数据接收模块(3)与所述后台数据处理模块(4)有线连接,其特征在于:所述多地磁传感器测速系统包括M个所述地磁车辆检测模块(1),所述地磁车辆检测模块(1)沿道路旁分组部署,其中每两个或更多个所述地磁车辆检测模块(1)为一组,每个所述地磁车辆检测模块(1)由一组地磁传感器(11)和控制器(12)构成,所述地磁传感器(11)用于采集道路面磁场数据相邻的所述地磁传感器(11)间隔d米,所述控制器(12)用于接收由所述地磁传感器(11)采集的数据,以分析出车辆经过所述地磁车辆检测模块(1)所用的时间数据,并每隔一段时间,将时间数据传输给所述数据发送模块(2),所述一段时间根据实际需求设为x秒或者y分钟;所述数据发送模块(2)使用无线传输器接收时间数据并以无线通信方式发送给所述数据接收模块(3);所述数据接收模块(3)使用所述无线传输器接收由所述数据发送模块(3)上报的时间数据并传输给所述后台数据处理模块(4);所述后台数据处理模块(4)用于对时间数据进行处理,所述处理包括将获取到的数据进行对齐,将时间数据与对应的车辆相互对应,并根据对齐后的数据计算出汽车经过这一组所述地磁传感器(11)时的速度。
- 一种利用根据权利要求1所述的多地磁传感器测速系统的测速方法,其特征在于,所述测速方法包括如下步骤:1)利用所述地磁车辆检测模块(1)收集车辆经过时的地磁数据以进行阈值检测处理,得到时间数据,时间数据包括车辆接近和离开所述地磁传感器(11)所用的时间数据,利用所述地磁车辆检测模块(1)收集车辆经过时的地磁数据以进行阈值检测处理的步骤包括:1a)利用所述地磁车辆检测模块(1)中的所述地磁传感器(11)实时采集相应的地磁数据,发送给所述地磁车辆检测模块(1)中的所述控制器(12);以及1b)利用所述地磁车辆检测模块(1)的所述控制器(12)将采集完毕的数据与设定的阈值进行比较,以判断车辆是否接近或者离开所述地磁传感器(11),并且得到车辆接近或者离开所述地磁传感器(11)所用的时间数据;2)利用所述地磁车辆检测模块(1)将时间数据合并为一组数据,合并后的时间数据借由所述数据发送模块(2)发送给所述数据接收模块(3),所述数据接收模块(3)将时间数据发送所述给后台处理模块(4);3)利用所述后台处理模块(4)对接收到的时间数据进行数据清洗,利用所述后台处理模块(4)对接收到的时间数据进行数据清洗的步骤包括:3a)利用所述后台处理模块(4)根据上限阈值Th3、数据下限阈值Th4和数据增幅阈值Th,并且去掉明显异常的数据;以及3b)利用所述后台处理模块(4)对每相邻两个时间数据根据数据增幅阈值Th判断是否出现一辆车经过时有多个数据产生的情况,即多检,并在出现多检时删除这部分的数据;4)利用所述后台处理模块(4)对数据清洗后的时间数据重新分组;5)利用所述后台处理模块(4)对同组时间数据选取参考传感器,并开辟各个时间窗;6)利用所述后台处理模块(4)根据时间窗内时间数据的个数进行相应处理;7)当时间窗内有多个时间数据对应时,设置测量阈值δ并根据测量阈值δ合并时间数据;8)当时间窗内没有时间数据对应时,确认发生漏检,即车辆经过但没有被检测到,对漏检数据使用插值法进行补齐;9)当时间窗内有一个时间数据对应时,认定此时的数据正确,根据步骤5)到步骤8)得到数据对齐结果后,判断是否每组数据都已进行数据对齐,若是,则执行步骤10),若否,则返回到步骤5);10)根据对齐结果使用最小方差法对车辆行驶进行速度估计,计算出车辆的行驶速度。
- 根据权利要求2所述的测速方法,其特征在于,在步骤1a)中,利用所述地磁车辆检测模块(1)中的所述地磁传感器(11)实时采集相应的地磁数据包括采集车辆经过所述地磁传感器(11)时输出到所述地磁车辆检测模块(1)的所述控制器(12)中的由磁通量变化而引起的地磁数据相应增减的数值。
- 根据权利要求2所述的测速方法,其特征在于,在步骤1b)中,利用所述地磁车辆检测模块(1)的所述控制器(12)将采集完毕的数据与设定的阈值进行比较,以判断车辆是否接近或者离开所述地磁传感器(11),并且得到车辆接近或者离开所述地磁传感器(11)的时间数据,通过以下步骤实现:1b1)将所述地磁传感器(11)传来的地磁数据与高地磁数据阈值Th1进行比较;如果所述地磁传感器(11)传来的地磁数据高于高地磁数据阈值Th1,则持续判断传来的数据是否在一段时间Δt内都高于高地磁数据阈值Th1;若是,则通过定时器记录,并且执行步骤1b2),若不是,则认定是相邻逆向车道的干扰,不记录该时间数据;如果所述地磁传感器(11)传来的地磁数据低于高地磁数据阈值Th1,则认定车辆没有接近所述地磁传感器(11),不进行处理;1b2)将所述地磁传感器(11)传来的地磁数据与低地磁数据阈值Th2进行比较;如果所述地磁传感器(11)传来的地磁数据低于低地磁数据阈值Th2,则续判断传来的数据是否在一段时间Δt内都低于低地磁阈值Th2;若是,则通过定时器记录,若不是,则认定车辆还没有离开所述地磁传感器(11)的 检测区域,不记录该时间数据;如果所述地磁传感器(11)传来的地磁数据高于低地磁数据阈值Th2,则认定车辆还没有离开所述地磁传感器(11),持续等待直到所述地磁传感器(11)传来的地磁数据低于低地磁数据阈值Th2;其中,所述高地磁阈值Th1、所述低地磁阈值Th2和时间阈值Δt的值根据现场实际测试得到的波形结果而定。
- 根据权利要求2所述的测速方法,其特征在于,在步骤3)中,利用所述后台处理模块(4)对接收到的时间数据进行数据清洗,通过以下步骤实现:3a)利用所述后台处理模块(4)设置数据上限阈值Th3、数据下限阈值Th4和数据增幅阈值Th,当所述地磁传感器(11)汇报的数据高于数据上限阈值Th3以及低于数据下限阈值Th4时,舍弃掉所述数据,以此去掉明显异常的数据;所述数据增幅阈值Th为相邻的所述地磁传感器(11)之间的距离与道路限速之比,所述数据上限阈值Th3为一组数据中最后一个时间数据,所述数据下限阈值Th4为一组数据中第一个时间数据;3b)利用所述后台处理模块(4)对每两个相邻的所述地磁传感器(11)的数据进行处理,在后一个数据低于前一个数据加上数据增幅阈值Th时,认定此时出现将一辆车检测为多辆车的情况,将相邻两个数据中的后一个数据删除。
- 根据权利要求2所述的测速方法,其特征在于,在步骤5)中,对同组时间数据选取参考传感器,并开辟各个时间窗,通过以下步骤实现:5a)利用所述后台处理模块(4)默认处理第一组时间数据,当再次执行步骤5)时处理第二组数据,以此类推,每次处理时将同组时间数据中上传时间数据值最小的所述地磁传感器(11)设为参考传感器;
- 根据权利要求2所述的测速方法,其特征在于,在步骤7)中,设置测量阈值δ并根据测量阈值δ合并时间数据,通过以下步骤实现:7a)若已得到测量阈值δ,则执行步骤7b);若未得到测量阈值δ,则在道路旁放置所述地磁传感器(11),记录在一辆车被检测成多辆车的情况下,车辆经过所述地磁传感器(11)时,所述地磁传感器(11)产生的输出波形,通过波形分析得到相邻检测时间的差值数据,重复操作数次,根据差值数据建立高斯分布模型 其中,σ为方差,μ为均值,取f(x=μ-3σ)记为测量阈值δ;7b)将各相邻时间数据的差值与测量阈值δ进行比较;若各相邻时间数据的差值小于测量阈值δ,则保留值最小的时间数据,删除其他时间数据;若各相邻时间数据的差值不小于测量阈值δ,则保留时间数据中数值上最接近参考传感器的时间数据的时间数据,删除其他时间数据。
- 根据权利要求2所述的测速方法,其特征在于,在步骤8)中,对漏检数据使用插值法进行补齐,通过以下方法实现:其中, 为每组中第k辆车经过每组第i个所述地磁传感器(11)的测量时间, 为每组中第k辆车经过每组第j个所述地磁传感器(11)的测量时间, 为每组中第1辆车经过每组第j个所述地磁传感器(11)的测量时间, 为每组中第k-1辆车经过每组第j个所述地磁传感器(11)的测量时间, 为每组中第1辆车经过每组第i个所述地磁传感器(11)的测量时间, 为每组中第k+1辆车经过每组第j个所述地磁传感器(11)的测量时间, 为每组中第k-2辆车经过每组第j个所述地磁传感器(11)的测量时间, 为每组中第k-1辆车经过每组第i个所述地磁传感器(11)的测量时间, 为每组中第k-2辆车经过每组第i个所述地磁传感器(11)的测量时间, 为每组中第2辆车经过每组第i个所述地磁传感器(11)的测量时间, 为每组中第3辆车经过每组第i个所述地磁传感器(11)的测量时间, 为每组中第2辆车经过每组第j个所述地磁传感器(11)的测量时间, 为每组中第3辆车经过每组第j个所述地磁传感器(11)的测量时间。
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