CN106097734A - A kind of plane perception detection method controlled for crossing traffic signal and system - Google Patents
A kind of plane perception detection method controlled for crossing traffic signal and system Download PDFInfo
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- CN106097734A CN106097734A CN201610701215.5A CN201610701215A CN106097734A CN 106097734 A CN106097734 A CN 106097734A CN 201610701215 A CN201610701215 A CN 201610701215A CN 106097734 A CN106097734 A CN 106097734A
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The present invention provides a kind of plane perception detection method controlled for crossing traffic signal and system, direction each to crossing stop line is followed the tracks of continuously to the motor vehicles of road between the outlet at crossing, upstream, realize the continuous detecting i.e. collection of panel data to motor vehicles current location track, compared with existing detection technique arranges on section several test points i.e. transverse section testing result, motor vehicles can be obtained more accurately by continuous print real time running state during crossing, and in this, as the basis of control signal lamp, crossing traffic efficiency can be improved by Signalized control.And, in this programme, when the time of acquisition motor vehicles to stop line, the time arriving stop line of the motor vehicles before this motor vehicles is together taken into account, for comparing the time individually arriving stop line according to this motor vehicles of current time, more agree with reality, more accurately.
Description
Technical field
The present invention relates to technical field of intelligent traffic, a kind of plane perception inspection controlled for crossing traffic signal
Survey method and system.
Background technology
Improve crossing traffic signal control effect it is crucial that: can wagon detector detect that vehicle is logical from crossing, upstream
The state of continuous path during crossing this crossing and arriving downstream road junction.Current wagon detector both domestic and external have employed multiple mould
Formula, such as: earth magnetism, coil, microwave, video etc., its ultimate principle is all to use transverse section detection, with vehicle by transverse section time institute
By the various algorithms of research, the data of detection, namely by sampled data, infer that vehicle is by the whole section of stop line even
The state of continuous track.Due to the vehicle condition difference of vehicle, the level difference of driver, visibility variation, road surface slippery situation, round the clock etc. because of
Element impact, the speed during causing vehicle to be swum on crossing by crossing stop line is being continually changing.Therefore, use
The occupation rate of transverse section detection or speed, calculate that vehicle is swum over to pass through crossing under various different road conditions on crossing
Time required during stop line, determine the time span of all-clear, be not clearance overlong time, clearance direction without
Traffic passes through, and causes green time to be wasted, and crossing is declined by efficiency；Be exactly the time of letting pass too short, cause motor vehicles to connect
Need during shortcut mouth to bring to a halt.
It addition, in prior art when judging vehicle location and speed, with the data that radar or video detector obtain be
Standard, it practice, the position of radar or video detector is probably because a variety of causes causes shake or displacement, so collect
Data are also likely to be and there is certain error, or because fault does not has data, the simple testing result utilizing detector
The vehicle location being analyzed obtaining also is inaccurate, time faulty can not and alarm.
Summary of the invention
Present invention mainly solves existence when motor vehicles being detected in prior art by the track during crossing
Two problems: one be transverse section i.e. put detection can not actual response motor vehicles by crossing time whole continuous paths, two be inspection
Survey device to occur can not revise in time or report to the police when shake or fault.
Solving above-mentioned technical problem, technical scheme is as follows:
A kind of plane perception detection method controlled for crossing traffic signal, comprises the steps:
S1: by the installation site coordinate data (X of detectorj,Yj), the coordinate data (X of stop linet,Yt) mark electronics
On map, detector therein is for following the tracks of continuously motor vehicles；
S2: on the basis of center, arbitrary crossing, in each detection cycle detection cycle TsIn, to around this center, crossing one
All motor vehicles in the range of Ding, complete following detecting step:
S21: obtain the actual coordinate data (X of motor vehicles current locationdj,Ydj), and marked on electronic chart；
S22: obtain motor vehicles from current location to distance L of junction ahead stop lined:
Ld=(Xt,Yt)-(Xdj,Ydj)；
S23: obtain the instantaneous velocity V that motor vehicles is currents=(Lq-Ld)/Ts, wherein LqRefer to motor vehicles previous detection week
Distance between phase and stop line；
S24: judge whether to have between motor vehicles and stop line other motor vehicles, if otherwise entering step S25, if then entering
Enter step S26；
S25: the time needed for acquisition motor vehicles arrival stop line:
Tt1=Ld/Vs；
S26: the time needed for acquisition motor vehicles arrival stop line:
Tt2=(Ld-Ldq)/Vs+Ttq；
Wherein LdqFor the distance between front motor vehicles and the stop line adjacent with this motor vehicles, TtqFor front motor vehicles
Arrive the time required for stop line.
The described plane perception detection method controlled for crossing traffic signal, described detector uses detection radar,
And also comprise the steps: between step S1 and step S2
SA1: selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark electronic chart
On, and actual instrumentation radar detector is to distance L of calibration marklbDistance L with calibration mark position to stop linejt；
SA2: judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), if reading, according to school
The positive changing coordinates data of flag bit and the actual coordinate data of calibration mark position obtain current detection error: (Xc,Yc)=
(Xbd, Ybd)-(Xb, Yb), enter step SA3 afterwards；Otherwise enter step S3；
SA3: judge current detection error (Xc,Yc) whether in setting threshold range, if then entering step S2, otherwise
Enter step S3；
In the step s 21, the actual coordinate data (X of motor vehicles current location is obtaineddj,Ydj) step as follows:
S211: utilize radar detector to obtain the coordinate data (X of motor vehicles current locationd,Yd)；
S212: according to coordinate data and the reality of current detection error acquisition motor vehicles current location of motor vehicles current location
Border coordinate data: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)；
S3: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.
The described plane perception detection method controlled for crossing traffic signal, described detector uses video tracking list
Unit, and also comprise the steps: between step S1 and step S2
SB1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation
Fi, and obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic chart, and each two is adjacent
Distance L between separationfi；
SB2: obtain the monitoring image of lines in video monitoring picture, the most manually marks each separation Fi,
And obtain number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain:
Distance L that every one-row pixels between the adjacent separation of each two is correspondingfi/Hh；
Or distance L that every string pixel between the adjacent separation of each two is correspondingfi/Cl；
Enter step S2 afterwards；
Described step S21 specifically includes:
S21A: utilize video detector to obtain the coordinate data (X of motor vehicles current locationd,Yd)；
S21B: according to the coordinate data (X of motor vehicles current locationd,Yd) judge that motor vehicles current location is drawn at video monitoring
Between any two adjacent separations in face, and determine whether that this coordinate data is to should which between adjacent separation
Row pixel or which row pixel；
S21C: according to the coordinate data (X of motor vehicles current locationd,Yd), in conjunction with the phase of each separation in practice
Coordinate data (X to position coordinates and motor vehicles current locationd,Yd) distance corresponding to the every one-row pixels in region or
The distance that every string pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current locationdj,Ydj) reality away from stop line away from
From；
S21D: in video monitoring picture in real time the display distance of each motor-driven current distance stop line, current vehicle speed,
Run into the number of times of red light.
The described plane perception detection method controlled for crossing traffic signal, between step SB2 and step S2 also
Comprise the steps:
SB3: with the actual coordinate data (X of each separationf, Yf) as the actual coordinate data (X of calibration mark positionb,
Yb)；
SB4: judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), if detecting,
According to the actual coordinate data of each calibration mark position changing coordinates data detected He this calibration mark position, obtain and this mark
The detection error that will position is corresponding: (Xc,Yc)=(Xbd, Ybd)-(Xb, Yb), enter step SB5 afterwards；Otherwise enter step S3；
SB5: judge the detection error (X that each flag bit is correspondingc,Yc) whether in setting threshold range, if all corrections
The detection error that flag bit is corresponding all then enters step S2 in setting threshold range；Otherwise enter step S3；
In step S21B, also comprise the steps: the coordinate data (X according to motor vehicles current locationd,Yd) obtain with
The calibration mark position that motor vehicles is closest, using the detection error of the calibration mark position closest with motor vehicles as motor vehicles
Current detection error (Xc,Yc)；
In step S21C, also comprise the steps: the coordinate data according to motor vehicles current location and current detection by mistake
Difference, it is thus achieved that the actual coordinate data of motor vehicles current location: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)；
In step S25 and step S26, motor vehicles current location and the actual range L of stop linedEqual to motor vehicles away from
From nearest separation, i.e. distance between calibration mark position and stop line is plus motor vehicles current location and this separation i.e. school
Number of lines of pixels between positive flag bit or the distance representated by pixel columns；
S3: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.
The described plane perception detection method controlled for crossing traffic signal, described step S2 also includes:
S27: obtain each motor vehicles by the number of times H stopped owing to running into red light to cause before stop linet；
S28: in obtaining each time during red light, after stop line, the dwell time of all motor vehicles adds up to,Wherein N is the vehicles number stopped, TihIt it is the dwell time of i-th motor vehicles.
The described plane perception detection method controlled for crossing traffic signal, described step S2 also includes:
S29: obtain each motor vehicles required during this crossing stop line arrives next crossing stop line
Time Tx。
The described plane perception detection method controlled for crossing traffic signal, described step S2 also includes:
S210: judge that the motor vehicle speed in exit at crossing, whether less than setting threshold value, sets threshold value if being less than, then sentences
Other motor vehicles whether are had after this motor vehicles disconnected；If this vehicle back does not has other motor vehicles, then this motor vehicles present bit
Put the distance between the outlet at crossing as exporting the vehicle the queued up length away from crossing, it is judged that the car that can accommodate in this length
Number, and according to vehicle number control signal lamp, determine that controlling clearance vehicle enters this section quantity, it is to avoid crossing plug is dead.
The described plane perception detection method controlled for crossing traffic signal, described step S2 also includes:
S213: every the motor vehicles that detection the is queued up time by downstream road junction stop line, draw and motor vehicles can be allowed to continue
The continuous quantity entering this section, and according to this quantity control signal lamp.
The described plane perception detection method controlled for crossing traffic signal, described step S2 also includes:
S21: real-time tracking detection clearance steering wheel motor-car quantity, if:
(motor vehicles parking number of units N of the directionFTClearance time t is estimated with other directionLYProduct)-(other direction stops
Motor vehicles number of units N waitedDTWith the clearance time t that this direction needs delayFYProduct) difference equal to set threshold value time, keep
All-clear is constant, until it reaches time threshold limit value of letting pass；Otherwise, change immediately to other direction be all-clear.
The present invention also provides for a kind of plane perception detecting system controlled for crossing traffic signal, including:
Data capture unit, by the coordinate data (X of detectorj,Yj), the coordinate data (X of stop linet,Yt) mark electricity
On sub-map, detector therein is for following the tracks of continuously motor vehicles；
Processing unit, on the basis of center, arbitrary crossing, in each detection cycle detection cycle TsIn, to this center, crossing
A range of all motor vehicles around, complete following detecting step:
Obtain the actual coordinate data (X of motor vehicles current locationdj,Ydj), and marked on electronic chart；
Obtain motor vehicles from current location to distance L of junction ahead stop lined:
Ld=(Xdj,Ydj)+(Xt,Yt)；
Obtain the instantaneous velocity V that motor vehicles is currents=(Lq-Ld)/Ts, wherein LqRefer to previous detection cycle motor vehicles with
Distance between stop line；
Judge whether to have between motor vehicles and stop line other motor vehicles, if needed for otherwise obtaining motor vehicles arrival stop line
Time: Tt1=Ld/Vs；If then obtaining motor vehicles to arrive the time needed for stop line: Tt2=(Ld-Ldq)/Vs+Ttq；Wherein
LdqFor the distance between front motor vehicles and the stop line adjacent with this motor vehicles, TtqStop line institute is arrived for front motor vehicles
The time needed.
Compared with prior art, the such scheme of the present invention at least has the advantages that
(1) the plane perception detection method controlled for crossing traffic signal of the present invention and system, every to crossing
Between individual direction stop line exports to crossing, upstream, the motor vehicles of road is followed the tracks of continuously, it is achieved the collection of panel data, with
Transverse section of the prior art testing result is compared, it is possible to obtain vehicle more accurately by the real-time row of continuous print during crossing
Sail state, and in this, as the basis of control signal lamp, it is possible to improve crossing traffic efficiency by Signalized control.And,
In this programme, when the distance of acquisition motor vehicles to stop line, the travel speed of the vehicle before this vehicle is together considered
Enter, compare for individually obtaining according to the travel speed of this vehicle of current time, more agree with reality, more accurately.
(2) the plane perception detection method controlled for crossing traffic signal of the present invention and system, when using thunder
When reaching detector, select calibration mark position on road surface, electronic chart marks the actual position coordinate of calibration mark position, right
When vehicle location detects, the coordinate data obtaining calibration mark position in real time compares with actual coordinate data, when the two
Between deviation when exceeding certain threshold value, send fault alarm information and remind staff.When deviation therebetween is in threshold value
In the range of time, according to deviation value, the vehicle location coordinate collected is corrected, therefore, trembles even if detector there occurs
Dynamic, also can guarantee that the vehicle location coordinate data of final acquisition is accurately.
(3) the plane perception detection method controlled for crossing traffic signal of the present invention and system, when employing regards
Frequently during detector, owing to video detector is when detecting the scene of different distance, two the most adjacent row pixels or two row pictures
The distance represented between element differs.Because, in video pictures, in-plant video image ratio and remote video figure
As ratio is different, therefore, in this application, according to the physical length size of the lines on road surface, by artificial at video
The separation arranged on picture is as calibration mark position, no matter when separation is in remote position with in in-plant position
Time, the distance of each separation to stop line is known, and is the most accurately, simply adjacent point of the scene of different distance
Number of lines of pixels between boundary's point is different with columns, and the distance of representative is different, by this method, can increase substantially it
The precision of detection position, when the position of motor vehicles is between two separations of arbitrary neighborhood, it becomes possible to according to motor vehicles
The separation actual range away from stop line in place adds that the motor vehicles number of lines of pixels away from this separation or columns obtain machine accurately
The motor-car actual range away from stop line.
(4) the plane perception detection method controlled for crossing traffic signal of the present invention and system, work as detector
When using video detector, if video detector there occurs that the positional information that shake causes video detector to detect there occurs
Skew, owing to each separation is calibration mark position, the most no matter which two separation motor vehicles is between, can
The correction error of calibration mark position is obtained according to the separation that longitudinal maneuver car is nearest.In this programme, by whole video pictures
Monitoring distance divide into some sections with separation, and the distance of every section is the most comparatively short, therefore uses the distance between two separations
The position of motor vehicles is corrected by deviation, can obtain data the most accurately.
Accompanying drawing explanation
In order to make present disclosure be more likely to be clearly understood, below according to the specific embodiment of the present invention and combine
Accompanying drawing, the present invention is further detailed explanation, wherein
Fig. 1 is the flow process of the plane perception detection method controlled for crossing traffic signal described in one embodiment of the invention
Figure；
Fig. 2 is the crossing schematic diagram in one concrete scheme of the present invention；
Fig. 3 is the schematic diagram at crossing, one embodiment of the invention concrete scheme center；
Fig. 4 is video detecting unit video pictures schematic diagram described in one embodiment of the invention；
Fig. 5 is video detecting unit video pictures schematic diagram described in another embodiment of the present invention；
Fig. 6 is the principle of the plane perception detecting system controlled for crossing traffic signal described in one embodiment of the invention
Block diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is clearly and completely described, it is clear that described enforcement
Example is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
As long as and technical characteristic involved in invention described below difference embodiment does not just constitute conflict each other
Can be combined with each other.Before each embodiment is described in detail, it should be noted that the present invention relates to is all
Coordinate data each means the coordinate data under same preferred coordinates system.It addition, plane perception of the present invention detection is phase
Saying for section detection in prior art, to adopting of the i.e. panel data of continuous detecting of motor vehicles current location track
Collection can be described as plane perception detection.
Embodiment 1
The present embodiment provides a kind of plane perception detection method controlled for crossing traffic signal, as it is shown in figure 1, include
Following steps:
S1: by the installation site coordinate data (X of detectorj,Yj), the coordinate data (X of stop linet,Yt) mark electronics
On map, detector therein is for following the tracks of continuously motor vehicles.It should be noted that for installation site and stopping
For line, it is all to occupy certain area, then when obtaining its coordinate data, can be according to the central point position of occupied area
The coordinate data put uses as actual coordinate data.
Being illustrated in figure 2 the schematic diagram of real road, crossing centered by middle crossroad, in two direction
Upstream and downstream all has a crossroad.This is intended merely to schematically illustrate, it practice, crossing, center and other four
Crossing can be T-shaped road junction or other forms according to practical situation.The most clearly indicate detector arranges position
Put, identify the detection range of detector.It can be seen that the detection range of adjacent two detectors is to have overlap
Region, use this setup can ensure that and motor vehicles can be carried out continuous print tracing detection, i.e. when vehicle is from one
Before the detection range of detector is rolled away from, detected by adjacent detector.It is emphasized that the present embodiment is applied
Crossing be all by the crossing of Signalized control, be therefore both provided with signal lights (the present embodiment Zhi center at each crossing
Id signal lamp at crossing, the most all there is setting at other crossings).For the set-up mode of signal lights compared with technology.
S2: on the basis of center, arbitrary crossing, in each detection cycle TsIn, in certain limit around this center, crossing
All motor vehicles, complete following detecting step.Each detection cycle TsCan the most rationally arrange, it is clear that
The result that the detection cycle is more so short that is the most accurate, but data processing amount is the biggest, and the requirement to system is the highest, is originally embodiment
In be chosen to Millisecond, such as 10ms detect once, so can ensure that the measuring and calculating to the time can be accurate to the second.
S21: obtain the actual coordinate data (X of motor vehicles current locationdj,Ydj), and marked on electronic chart.
Similarly, motor vehicles itself is to have certain area, then the coordinate data of motor vehicles is the most not a point value, in reality
During the application of border, the position coordinates position coordinates as motor vehicles of motor vehicles central point foremost can be selected.
S22: obtain motor vehicles from current location to distance L of junction ahead stop lined:
Ld=(Xt,Yt)-(Xdj,Ydj)；
Circular is referred to the practical situation shown in Fig. 3, as can be drawn from Figure 3, motor vehicles and stop line it
Between distance be Ld, the coordinate of both motor vehicles and stop line is under the same coordinate system.It practice, distance therebetween, can
To obtain according to Pythagorean theorem, it may be assumed that
With L in the present embodimentd=(Xt,Yt)-(Xdj,Ydj) represent.
S23: obtain the instantaneous velocity V that motor vehicles is currents=(Lq-Ld)/Ts, wherein LqRefer to that the previous detection cycle is motor-driven
Distance between car and stop line；
S24: judge whether to have between motor vehicles and stop line other motor vehicles, if otherwise entering step S25, if then entering
Enter step S26；
S25: the time needed for acquisition motor vehicles arrival stop line:
Tt1=Ld/Vs；Obviously, if motor vehicle front does not has other motor vehicles, then can be directly according to distance and speed
Degree obtains motor vehicles and arrives the time required for the stop line of front.
S26: the time needed for acquisition motor vehicles arrival stop line:
Tt2=(Ld-Ldq)/Vs+Ttq, wherein LdqFor between front motor vehicles and the stop line adjacent with this motor vehicles away from
From, TtqThe time required for stop line is arrived for front motor vehicles.If obviously motor vehicle front has other motor vehicles, then when
Time required for front motor vehicles arrival stop line certainly will be affected by front motor vehicles.
In the present embodiment, direction each to crossing stop line is carried out even to the motor vehicles of road between the outlet at crossing, upstream
Continuous tracking, it is achieved the collection of the motor vehicles whole process i.e. panel data of running orbit continuous detecting, examines with transverse section of the prior art
Survey result is compared, it is possible to obtains vehicle more accurately and passes through continuous print real time running state during crossing, and in this, as control
The basis of signal lights processed, it is possible to improve crossing traffic efficiency by Signalized control.And, in this programme, motor-driven obtaining
When car is to the distance of stop line, the travel speed of the motor vehicles before this motor vehicles is together taken into account, compare individually
For travel speed according to this motor vehicles of current time obtains, more agree with reality, more accurately.
Embodiment 2
The present embodiment, on the basis of embodiment 1, improves as follows, and described detector uses and detects radar, and
Also comprise the steps: between step S1 and step S2
SA1: selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark electronic chart
On, and actual instrumentation radar detector is to distance L of calibration marklbDistance L with calibration mark position to stop linejt.Correcting mark
Will position can be the position at the fixed signal thing place arranged on road surface, such as display board, overline bridge bridge, electric pole etc., these
Object will not be subjected to displacement easily.
SA2: judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), if reading, according to school
The positive changing coordinates data of flag bit and the actual coordinate data of calibration mark position obtain current detection error: (Xc,Yc)=
(Xbd, Ybd)-(Xb, Yb), enter step SA3 afterwards；Otherwise enter step S3, herein, Xc=Xbd-Xb；Yc=Ybd-Yb。
SA3: detection error (X before judgingc,Yc) whether in setting threshold range, if then entering step S2, otherwise enter
Enter step S3.
In the step s 21, the actual coordinate data (X of motor vehicles current location is obtaineddj,Ydj) step as follows:
S211: utilize radar detector to obtain the coordinate data (X of motor vehicles current locationd,Yd)；
S212: according to coordinate data and the reality of current detection error acquisition motor vehicles current location of motor vehicles current location
Border coordinate data: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
S3: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.
In the present embodiment, select calibration mark position on road surface, electronic chart marks the physical location of calibration mark position
Coordinate, when detecting vehicle location, the coordinate data obtaining calibration mark position in real time compares with actual coordinate data
Relatively, when the deviation when therebetween exceedes certain threshold value, send fault alarm information and remind staff.Inclined when therebetween
When difference is in threshold range, according to deviation value, the vehicle location coordinate collected is corrected, therefore, even if detector is sent out
Give birth to shake, also can guarantee that the vehicle location coordinate data of final acquisition is accurately.
Embodiment 3
The present embodiment, on the basis of embodiment 1, improves as follows, and described detector uses video tracking unit, and
And also comprise the steps: between step S1 and step S2
SB1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation
Fi, and obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic chart, and each two is adjacent
Distance L between separationfi.It is illustrated in figure 4 a kind of scheme, on road, executes the end points of the lines drawn as separation.
Because lines are dashed line form, all there are regulation, generally solid line for solid line length therein and blank space
A length of 2 meters, blank space is 4 meters, if therefore directly using two end points of solid line as separation, being then readily available every
The coordinate figure of one separation, the distance between F1 and F2 is 2 meters as shown in FIG., and the distance between F2 and F3 is 4 meters, F3 and
Distance between F4 is two meters.
SB2: obtain the monitoring image of lines in video monitoring picture, the most manually marks each separation Fi,
Wherein stop line is as one of separation, and determines the actual range between each two separation, and it is adjacent to obtain each two
Number of lines of pixels H between separationhOr pixel columns Hl, obtain:
Distance L that every one-row pixels between the adjacent separation of each two is correspondingfi/Hh；
Or distance L that every string pixel between the adjacent separation of each two is correspondingfi/Cl；
Enter step S2 afterwards；
Fig. 5 gives the testing result schematic diagram in Video Detection picture；The detection in a track it is shown in figure
Result schematic diagram.It can be seen that when video detecting unit is when detecting the target of different distance, with one-row pixels and
Entirely different with the distance represented by string pixel.The width of road is fixing, but road width takies below picture
43 row pixels, have only taken up 28 row pixels, it is assumed that its width is 3 meters, then for string every below picture above picture
The distance that pixel represents is 3/430.07 meter, and the distance that above road, every string pixel represents is 3/280.1 meter.Same road
Reason, road surface is executed draw lines, a length of two meters of solid line, below picture 15 row pixels represent between F1 and F2 away from
From, above picture, 7 row pixels can represent the distance between F5 and F6, then between F1 and F2, often row pixel represent away from
From for 2/150.133 meter, between F5 and F6, the distance that often row pixel represents is 2/70.286 meter.
Described step S21 specifically includes:
S21A: utilize video detector to obtain the coordinate data (X of motor vehicles current locationd,Yd)；
S21B: according to the coordinate data (X of motor vehicles current locationd,Yd) judge that motor vehicles current location is drawn at video monitoring
Between any two adjacent separations in face, and determine whether that this coordinate data is to should which between adjacent separation
Row pixel or which row pixel；The step for implement fairly simple, the just coordinate of the most direct use motor vehicles current location
Data (Xd,Yd) compare with the coordinate data of each separation and just can draw, again it is not described in detail.
S21C: according to the coordinate data (X of motor vehicles current locationd,Yd), in conjunction with the phase of each separation in practice
Coordinate data (X to position coordinates and motor vehicles current locationd,Yd) distance corresponding to the every one-row pixels in region or
The distance that every string pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current locationdj,Ydj) reality away from stop line away from
From.
Motor vehicles current location and the actual range L of stop linedEqual to the calibration mark position closest with motor vehicles with
Distance between stop line is plus the number of lines of pixels between motor vehicles current location and this calibration mark position or pixel columns institute's generation
The distance of table.It will be understood that draw on road surface because stop line, lines are all actual executing, therefore it is easy to measure
Arrive actual range therebetween.Assuming current time, motor vehicles is between F5 and F6, and two separations of F5 and F6 are to front
The distance of side's stop line actual can be measured and obtain, and is distance the most accurately, then if we obtain motor vehicles and F5 or
Distance between person F6 can be obtained by the distance of motor vehicles and front stop line.Because we have obtained, F5 and F6 it
Between have 7 row pixels, the distance represented by every one-row pixels is 0.286 meter, if now the spacing of motor vehicles and F5 is 4 row
Distance between pixel, and F6 is 3 row pixels, then can obtain the distance between motor vehicles and F6 is 0.2863=0.858
Rice, then the distance of motor vehicles and front stop line is exactly that the distance between F6 and stop line adds 0.858 meter.Another kind of feelings
Condition, it is assumed that the distance of motor vehicles and F5 closer to, then the distance of motor vehicles to front stop line should be just that F5 stops to front
The distance of line deducts the distance between F5 and motor vehicles.
S21D: in video monitoring picture in real time the display distance of each motor-driven current distance stop line, current vehicle speed,
Run into the number of times of red light.
It is further preferred that also comprise the steps: between step SB2 and step S2
SB3: with the actual coordinate data (X of each separationf, Yf) as calibration mark position actual coordinate data (Xb,
Yb)；
SB4: judge whether to read the changing coordinates data (X of each calibration mark positionbd, Ybd), if reading,
The actual coordinate data of the changing coordinates data according to each calibration mark position and this calibration mark position obtain and this flag bit pair
The detection error answered: (Xc,Yc)=(Xbd, Ybd)-(Xb, Yb), enter step SB5 afterwards；Otherwise enter step S3；
SB5: judge the detection error (X that each flag bit is correspondingc,Yc) whether in setting threshold range, if a certain correction
The detection error that flag bit is corresponding does not then enter step S3 in setting threshold range；If the detection that all calibration mark positions are corresponding
Error all then enters step S2 in setting threshold range；
In step S21B, also comprise the steps: the coordinate data (X according to motor vehicles current locationd,Yd) obtain with
The calibration mark position that motor vehicles is closest, using the detection error of the calibration mark position closest with motor vehicles as motor vehicles
Current detection error (Xc,Yc)；
In step S21C, also comprise the steps: the coordinate data according to motor vehicles current location and current detection by mistake
The actual coordinate data of difference acquisition motor vehicles current location: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)；
S3: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.
The principle of the present embodiment is similar to the correction principle in embodiment 2, except for the difference that, in the present embodiment, by each
Individual separation is all as calibration mark position, and no matter motor vehicles current location is at which, can immediately determine that with motor vehicles distance
Near calibration mark position, utilize the detection error of this calibration mark position that the position of motor vehicles is corrected so as to get motor-driven
The actual position coordinate of car is more accurate, thus the motor vehicles obtained is the most accurate with the distance of stop line.
Embodiment 4
Optimize further on the basis of any of the above-described embodiment, obtain the scheme of the present embodiment:
Also include in described step S2:
S27: obtain each motor vehicles by the number of times H stopped owing to running into red light to cause before stop linet；Need herein
Noting, must be to obtain the stop frequency that motor vehicles red light whenever causes, during red light, no matter motor vehicles moves several times,
Only note is stopped once.
S28: in obtaining each time during red light, after stop line, the down time of all motor vehicles adds up to,Wherein N is the vehicles number of parking waiting, TihIt it is the waiting time of i-th motor vehicles.Obtain above-mentioned parameter,
Purpose is for selecting signal to control parametric scheme, by cycle, split, the selection of phase contrast, makes green light lost time
Little, stop frequency is minimum, waiting time sum is minimum.
Also include in described step S2:
S29: obtain each motor vehicles when arriving during next crossing stop line required from this center, crossing
Between Tx。
S210: obtain each crossing, if on red light direction every motor vehicles parking time sum with on green light direction
When being converted into red light immediately, sum down time of every motor vehicles compares, according to described comparative result control signal lamp,
Improve the traffic efficiency at crossing.
S211: judge that the motor vehicle speed in exit at crossing, whether less than setting threshold value, sets threshold value if being less than, then sentences
Other motor vehicles whether are had after this motor vehicles disconnected；If not having other motor vehicles after this motor vehicles, then this motor vehicles is current
The motor vehicles length that distance between position and crossing is queued up as outlet, it is judged that the vehicle number that can accommodate in this length, and root
According to motor vehicles number control signal lamp, determine that controlling clearance motor vehicles enters this section quantity, it is to avoid crossing plug is dead；
S213: every the motor vehicles that detection the is queued up time by downstream road junction stop line, draw and motor vehicles can be allowed to continue
The continuous quantity entering this section, and according to this quantity control signal lamp.
Also include in described step S2:
S214: real-time tracking detection clearance steering wheel motor-car quantity, when:
(motor vehicles parking number of units N of the directionFTClearance time t is estimated with other directionLYProduct)-(other direction stops
Motor vehicles number of units N waitedDTWith the clearance time t that this direction needs delayFYProduct) difference equal to set threshold value time, keep
All-clear is constant, until it reaches time threshold limit value of letting pass；Otherwise, change immediately to other direction be this enforcement of all-clear
In example, it is thus achieved that above each parameter is for traffic controller, according to the clearance phase place of above parameter control signal lamp, it is possible to make
Intersection signal control is operated in optimum state, improves the efficiency of intersection signal control, it is possible to accurately calculate this cycle loss of energy many
Few time, make that green light lost time is minimum, stop frequency is minimum, waiting time sum is minimum.
Embodiment 5
The present embodiment provides a kind of plane perception detecting system controlled for crossing traffic signal, as shown in Figure 6, bag
Include:
Data capture unit, by the coordinate data (X of detectorj,Yj), the coordinate data (X of stop linet,Yt) mark electricity
On sub-map, detector therein is for following the tracks of continuously motor vehicles；
Processing unit, on the basis of center, arbitrary crossing, in each detection cycle TsIn, to certain around this center, crossing
In the range of all motor vehicles, complete following detecting step:
Vehicle position obtains subelement, obtains the actual coordinate data (X of motor vehicles current locationdj,Ydj), and by it
Mark on electronic chart；
Distance obtains subelement, obtains motor vehicles from current location to distance L of junction ahead stop lined:
Ld=(Xdj,Ydj)+(Xt,Yt)；
Speed obtains subelement, obtains the instantaneous velocity V that motor vehicles is currents=(Lq-Ld)/Ts, wherein LqRefer to previous
Distance between detection cycle motor vehicles and stop line；
First judgment sub-unit, it is judged that whether have other motor vehicles between motor vehicles and stop line, if otherwise obtaining motor-driven
Car arrives the time needed for stop line: Tt1=Ld/Vs；If then obtaining motor vehicles to arrive the time needed for stop line: Tt2=
(Ld-Ldq)/Vs+Ttq；Wherein LdqFor the distance between front motor vehicles and the stop line adjacent with this motor vehicles, TtqFor front
Motor vehicles arrives the time required for stop line.
Further, described detector selects radar detector, and described processing unit also includes syndrome unit, is used for holding
The following operation of row:
Selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark on electronic chart, and
Actual instrumentation radar detector is to distance L of calibration marklbDistance L with calibration mark position to stop linejt.Calibration mark position
Can be the position at the fixed signal thing place arranged on road surface, such as display board, overline bridge bridge, electric pole etc., these objects
Will not be subjected to displacement easily.
Judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), if reading, according to correcting mark
The changing coordinates data of will position and the actual coordinate data of calibration mark position obtain current detection error: (Xc,Yc)=(Xbd,
Ybd)-(Xb, Yb), herein, Xc=Xbd-Xb；Yc=Ybd-Yb。
Detection error (X before judgingc,Yc) whether in setting threshold range, if do not existed, send alarm signal, prompting
Cannot accurately obtain calibration mark position coordinate data.
The above-mentioned actual coordinate data (X obtaining motor vehicles current locationdj,Ydj) step as follows:
Radar detector is utilized to obtain the coordinate data (X of motor vehicles current locationd,Yd)；
Coordinate data according to motor vehicles current location and the actual seat of current detection error acquisition motor vehicles current location
Mark data: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
In the present embodiment, select calibration mark position on road surface, electronic chart marks the physical location of calibration mark position
Coordinate, when detecting vehicle location, the coordinate data obtaining calibration mark position in real time compares with actual coordinate data
Relatively, when the deviation when therebetween exceedes certain threshold value, send fault alarm information and remind staff.Inclined when therebetween
When difference is in threshold range, according to deviation value, the vehicle location coordinate collected is corrected, therefore, even if detector is sent out
Give birth to shake, also can guarantee that the vehicle location coordinate data of final acquisition is accurately.
In the case of another kind, described detector uses video tracking unit, and the operation adjustment that syndrome unit performs is:
In the video monitoring range of video tracking unit, execute division diatom, described lines are provided with separation Fi,
And obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic chart, and the adjacent boundary of each two
Distance L between pointfi.It is illustrated in figure 4 a kind of scheme, on road, executes the end points of the lines drawn as separation.Because
Lines are dashed line form, all have regulation, generally solid line length for solid line length therein and blank space
Being 2 meters, blank space is 4 meters, if therefore directly using two end points of solid line as separation, being then readily available each
The coordinate figure of separation, the distance between F1 and F2 is 2 meters as shown in FIG., and the distance between F2 and F3 is 4 meters, F3 and F4 it
Between distance be two meters.
In video monitoring picture, obtain the monitoring image of lines (including stop line), the most manually mark each point
Boundary point Fi, and obtain number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain:
Distance L that every one-row pixels between the adjacent separation of each two is correspondingfi/Hh；
Or distance L that every string pixel between the adjacent separation of each two is correspondingfi/Cl；
When obtaining motor vehicles with stop line distance, concrete operations are as follows:
Video detector is utilized to obtain the coordinate data (X of motor vehicles current locationd,Yd)；
Coordinate data (X according to motor vehicles current locationd,Yd) judge that motor vehicles current location is in video monitoring picture
Any two adjacent separations between, and determine whether this coordinate data is to should which picture between adjacent separation
Vegetarian refreshments or which row pixel；The step for implement fairly simple, the just coordinate data of the most direct use motor vehicles current location
(Xd,Yd) compare with the coordinate data of each separation and just can draw, again it is not described in detail.
Coordinate data (X according to motor vehicles current locationd,Yd), in conjunction with the relative position of each separation in practice
Coordinate data (the X of coordinate and motor vehicles current locationd,Yd) distance corresponding to the every one-row pixels in region or every string
The distance that pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current locationdj,Ydj) actual range away from stop line.
It is further preferred that described processor can also proceed as follows:
Actual coordinate data (X with each separationf, Yf) as calibration mark position actual coordinate data (Xb, Yb)；
Judge whether to read the changing coordinates data (X of each calibration mark positionbd, Ybd), if reading, basis
The changing coordinates data of each calibration mark position obtain corresponding with this flag bit with the actual coordinate data of this calibration mark position
Detection error: (Xc,Yc)=(Xbd, Ybd)-(Xb, YbIf) do not exist, alarm unit carry out alarm；
Judge the detection error (X that each flag bit is correspondingc,Yc) whether in setting threshold range, if a certain calibration mark
The detection error of position correspondence is not then reported to the police in setting threshold range；
When obtaining motor vehicles actual position coordinate, according to the coordinate data (X of motor vehicles current locationd,Yd) obtain with motor-driven
The calibration mark position that spacing is nearest, using detection error the working as motor vehicles of the calibration mark position closest with motor vehicles
Front detection error (Xc,Yc)；
Coordinate data according to motor vehicles current location and the actual seat of current detection error acquisition motor vehicles current location
Mark data: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)。
In the present embodiment, using each separation as calibration mark position, no matter motor vehicles current location is at which, all
It can be determined immediately that the calibration mark position closest with motor vehicles, utilize the detection error of this calibration mark position to motor vehicles
Position be corrected so as to get the actual position coordinate of motor vehicles more accurate, thus the motor vehicles obtained and stop line away from
From the most accurate.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into all changes and the amendment of the scope of the invention.
Claims (10)
1. the plane perception detection method controlled for crossing traffic signal, it is characterised in that comprise the steps:
S1: by the installation site coordinate data (X of detectorj,Yj), the coordinate data (X of stop linet,Yt) mark electronic chart
On, detector therein is for following the tracks of continuously motor vehicles；
S2: on the basis of center, arbitrary crossing, in each detection cycle detection cycle TsIn, to model certain around this center, crossing
Enclose interior all motor vehicles, complete following detecting step:
S21: obtain the actual coordinate data (X of motor vehicles current locationdj,Ydj), and marked on electronic chart；
S22: obtain motor vehicles from current location to distance L of junction ahead stop lined:
Ld=(Xt,Yt)-(Xdj,Ydj)；
S23: obtain the instantaneous velocity V that motor vehicles is currents=(Lq-Ld)/Ts, wherein LqRefer to the motor vehicles previous detection cycle with
Distance between stop line；
S24: judge whether to have between motor vehicles and stop line other motor vehicles, if otherwise entering step S25, if then entering step
Rapid S26；
S25: the time needed for acquisition motor vehicles arrival stop line:
Tt1=Ld/Vs；
S26: the time needed for acquisition motor vehicles arrival stop line:
Tt2=(Ld-Ldq)/Vs+Ttq；
Wherein LdqFor the distance between front motor vehicles and the stop line adjacent with this motor vehicles, TtqArrive for front motor vehicles and stop
The only time required for line.
The plane perception detection method controlled for crossing traffic signal the most according to claim 1, it is characterised in that institute
State detector and use detection radar, and also comprise the steps: between step S1 and step S2
SA1: selected calibration mark position, and by the actual coordinate data (X of correction flag bitb, Yb) mark on electronic chart, and
Actual instrumentation radar detector is to distance L of calibration marklbDistance L with calibration mark position to stop linejt；
SA2: judge whether to read the changing coordinates data (X of calibration mark positionbd, Ybd), if reading, according to correcting mark
The changing coordinates data of will position and the actual coordinate data of calibration mark position obtain current detection error: (Xc,Yc)=(Xbd,
Ybd)-(Xb, Yb), enter step SA3 afterwards；Otherwise enter step S3；
SA3: judge current detection error (Xc,Yc) whether in setting threshold range, if then entering step S2, otherwise enter
Step S3；
In the step s 21, the actual coordinate data (X of motor vehicles current location is obtaineddj,Ydj) step as follows:
S211: utilize radar detector to obtain the coordinate data (X of motor vehicles current locationd,Yd)；
S212: according to coordinate data and the actual seat of current detection error acquisition motor vehicles current location of motor vehicles current location
Mark data: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)；
S3: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.
The plane perception detection method controlled for crossing traffic signal the most according to claim 1, it is characterised in that institute
State detector and use video tracking unit, and also comprise the steps: between step S1 and step S2
SB1: execute division diatom in the video monitoring range of video tracking unit, described lines are provided with separation Fi, and
Obtain the actual coordinate data (X of each separationf, Yf) and marked on electronic chart, and the adjacent separation of each two
Between distance Lfi；
SB2: obtain the monitoring image of lines in video monitoring picture, the most manually marks each separation Fi, and obtain
Number of lines of pixels H between the adjacent separation of each twohOr pixel columns Hl, obtain:
Distance L that every one-row pixels between the adjacent separation of each two is correspondingfi/Hh；
Or distance L that every string pixel between the adjacent separation of each two is correspondingfi/Cl；
Enter step S2 afterwards；
Described step S21 specifically includes:
S21A: utilize video detector to obtain the coordinate data (X of motor vehicles current locationd,Yd)；
S21B: according to the coordinate data (X of motor vehicles current locationd,Yd) judge that motor vehicles current location is in video monitoring picture
Any two adjacent separations between, and determine whether this coordinate data is to should which picture between adjacent separation
Vegetarian refreshments or which row pixel；
S21C: according to the coordinate data (X of motor vehicles current locationd,Yd), in conjunction with the phase para-position of each separation in practice
Put the coordinate data (X of coordinate and motor vehicles current locationd,Yd) distance corresponding to the every one-row pixels in region or each
The distance that row pixel is corresponding, obtains the actual coordinate data (X of motor vehicles current locationdj,Ydj) actual range away from stop line；
S21D: show distance, the current vehicle speed of each motor-driven current distance stop line in video monitoring picture in real time, run into
The number of times of red light.
The plane perception detection method controlled for crossing traffic signal the most according to claim 3, it is characterised in that
Also comprise the steps: between step SB2 and step S2
SB3: with the actual coordinate data (X of each separationf, Yf) as the actual coordinate data (X of calibration mark positionb, Yb)；
SB4: judge whether to detect the changing coordinates data (X of each calibration mark positionbd, Ybd), if detecting, basis
The each calibration mark position changing coordinates data detected and the actual coordinate data of this calibration mark position, obtain and this flag bit
Corresponding detection error: (Xc,Yc)=(Xbd, Ybd)-(Xb, Yb), enter step SB5 afterwards；Otherwise enter step S3；
SB5: judge the detection error (X that each flag bit is correspondingc,Yc) whether in setting threshold range, if all calibration marks
The detection error of position correspondence all then enters step S2 in setting threshold range；Otherwise enter step S3；
In step S21B, also comprise the steps: the coordinate data (X according to motor vehicles current locationd,Yd) obtain with motor-driven
The calibration mark position that spacing is nearest, using detection error the working as motor vehicles of the calibration mark position closest with motor vehicles
Front detection error (Xc,Yc)；
In step S21C, also comprise the steps: the coordinate data according to motor vehicles current location and current detection error, obtain
The actual coordinate data of motor vehicles current location: (Xdj,Ydj)=(Xd,Yd)-(Xc,Yc)；
In step S25 and step S26, motor vehicles current location and the actual range L of stop linedEqual to motor vehicles distance
Near separation i.e. distance between calibration mark position and stop line is plus motor vehicles current location and this separation i.e. correcting mark
Number of lines of pixels between will position or the distance representated by pixel columns；
S3: send alarm signal, prompting cannot accurately obtain calibration mark position coordinate data.
5., according to the plane perception detection method controlled for crossing traffic signal described in any one of claim 1-4, it is special
Levying and be, described step S2 also includes:
S27: obtain each motor vehicles by the number of times H stopped owing to running into red light to cause before stop linet；
S28: in obtaining each time during red light, after stop line, the dwell time of all motor vehicles adds up to,Wherein
N is the vehicles number stopped, TihIt it is the dwell time of i-th motor vehicles.
6., according to the plane perception detection method controlled for crossing traffic signal described in any one of claim 1-5, it is special
Levying and be, described step S2 also includes:
S29: obtain the time that each motor vehicles is required during this crossing stop line arrives next crossing stop line
Tx。
7., according to the plane perception detection method controlled for crossing traffic signal described in any one of claim 1-6, it is special
Levying and be, described step S2 also includes:
S210: judge that the motor vehicle speed in exit at crossing, whether less than setting threshold value, sets threshold value if being less than, then judging should
Other motor vehicles whether are had after motor vehicles；If this vehicle back does not has other motor vehicles, then this motor vehicles current location with
Distance between the outlet at crossing is as exporting the vehicle the queued up length away from crossing, it is judged that the vehicle that can accommodate in this length
Number, and according to vehicle number control signal lamp, determine that controlling clearance vehicle enters this section quantity, it is to avoid crossing plug is dead.
8., according to the plane perception detection method controlled for crossing traffic signal described in any one of claim 1-7, it is special
Levying and be, described step S2 also includes:
S213: every motor vehicles that detection is queued up by time of downstream road junction stop line, draw can allow motor vehicles continue into
Enter the quantity in this section, and according to this quantity control signal lamp.
9., according to the plane perception detection method controlled for crossing traffic signal described in any one of claim 1-8, it is special
Levying and be, described step S2 also includes:
S21: real-time tracking detection clearance steering wheel motor-car quantity, if:
(motor vehicles parking number of units N of the directionFTClearance time t is estimated with other directionLYProduct)-(other direction parking waiting
Motor vehicles number of units NDTWith the clearance time t that this direction needs delayFYProduct) difference equal to set threshold value time, keep let pass
Signal is constant, until it reaches time threshold limit value of letting pass；Otherwise, change immediately to other direction be all-clear.
10. the plane perception detecting system controlled for crossing traffic signal, it is characterised in that including:
Data capture unit, by the coordinate data (X of detectorj,Yj), the coordinate data (X of stop linet,Yt) mark electronically
On figure, detector therein is for following the tracks of continuously motor vehicles；
Processing unit, on the basis of center, arbitrary crossing, in each detection cycle detection cycle TsIn, around this center, crossing
A range of all motor vehicles, complete following detecting step:
Obtain the actual coordinate data (X of motor vehicles current locationdj,Ydj), and marked on electronic chart；
Obtain motor vehicles from current location to distance L of junction ahead stop lined:
Ld=(Xdj,Ydj)+(Xt,Yt)；
Obtain the instantaneous velocity V that motor vehicles is currents=(Lq-Ld)/Ts, wherein LqRefer to previous detection cycle motor vehicles and stopping
Distance between line；
Judge whether to have between motor vehicles and stop line other motor vehicles, if otherwise obtain motor vehicles arrive needed for stop line time
Between: Tt1=Ld/Vs；If then obtaining motor vehicles to arrive the time needed for stop line: Tt2=(Ld-Ldq)/Vs+Ttq；Wherein LdqFor
Distance front motor vehicles and stop line between adjacent with this motor vehicles, TtqRequired for front motor vehicles arrival stop line
Time.
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