CN107146419A - The automatic monitoring system of high speed moving vehicle - Google Patents
The automatic monitoring system of high speed moving vehicle Download PDFInfo
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- CN107146419A CN107146419A CN201710491204.3A CN201710491204A CN107146419A CN 107146419 A CN107146419 A CN 107146419A CN 201710491204 A CN201710491204 A CN 201710491204A CN 107146419 A CN107146419 A CN 107146419A
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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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic 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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Abstract
A kind of automatic monitoring system of high speed moving vehicle of the present invention, it is related to vehicle monitoring system, it is using laser sensor and radar meter synchronous acquisition basic data and transfers data to data processor, then by build mathematical modeling and algorithm for design using data processor depict the resemblance of vehicle, determine lane position where it go forward side by side driving velocity feedback and data statistics.The automatic monitoring system of the high speed moving vehicle of the present invention, the external form of vehicle is reduced using laser sensor and the data founding mathematical models of radar meter synchronization gain, algorithm for design, while track and velocity information where feed back motion vehicle, utilize supporting hardware facility, the road conditions on highway can truly be reduced, the running situation of vehicle can be monitored simultaneously, it is possible to the geometric properties and corresponding speed of each car in extraction motion.
Description
Technical field
The present invention relates to vehicle monitoring system, more particularly to a kind of automatic monitoring system of high speed moving vehicle.
Background technology
Since reform and opening-up, China's expressway construction has obtained rapid development.Ended for the end of the year 2015, China is at a high speed
Total mileage of highway number has reached 120,000 kilometers, and it plays more and more important effect to China's expanding economy.But, it is public at a high speed
On road or common road, the monitoring system for vehicle of running at high speed but extremely presents weary.It is only to be mounted with most highways
" radar meter " is used for the speed for feeding back and monitoring vehicle of running at high speed, and special to the geometry of the other information such as vehicle of vehicle
Levying etc. can not but know.
Being presently used for extracting the method for vehicle geometrical characteristic parameter mainly has two classes：One is to extract car based on video technique
Geometric parameter；Two be that the parameters such as the length of vehicle are obtained using the ranging technology of laser sensor.The former vision
Effect and technique effect are really fine, but the requirement of external environment condition is also harsher, such as misty rain weather, and video technique is just almost
Telekinesy can not be played, video technique also needs to amount of storage very big hardware facility and powerful processor；Then
Person is hardly influenceed to the less demanding of hardware facility by weather condition, but is only capable of obtaining in three parameters of length
Two.
The content of the invention
There is provided a kind of automatic monitoring system of high speed moving vehicle for above-mentioned the deficiencies in the prior art by the present invention.
The automatic monitoring system of the high speed moving vehicle of the present invention, utilizes laser sensor and radar meter synchronous acquisition
Basic data simultaneously transfers data to data processor, then utilizes data processor by building mathematical modeling and algorithm for design
Depict the resemblance of vehicle, determine lane position where it go forward side by side driving velocity feedback and data statistics.
As a further improvement on the present invention, the roadside that road to be measured is installed in laser sensor, for sweeping
The position that each is put on vehicle is retouched, its setting height(from bottom) ish(h≥0), the scanning angle of laser sensor is,
Radar meter is respectively mounted on every track, each radar meter and laser sensor scanning plane and the intersecting lens phase on road surface
Vertically, and each radar meter setting height(from bottom) is identical, each radar meter to laser sensor scanning plane intersects with road surface
The distance of line is equal.
As a further improvement on the present invention, the method for described structure mathematical modeling is：
A, coordinate are set up：Straight line where using the vertical line of the laser head of laser sensor and express highway pavement aszAxle, withzAxle hangs down
Directly the intersecting and reference axis parallel with the cross section of highway isxAxle, set laser sensor scanning angle be, step angle is, then the number that laser sensor rotates the measurement data accessed by one week can be calculated,
Wherein, step angleRefer to the angle that laser head is rotated through between two adjacent scanning elements；AdjustmentValue to be whole
Number, the rotational frequency of laser sensor is setting valuef；
B, height and width determination：In parameterUnder conditions of having set, laser head often rotates a circle, scans one
Secondary, the data amount check collected is identical；Assuming that laser head is scannedSecondary, the number of each scanning collection to data is,
Amount to sharedIndividual data, are designated as, it is assumed that laser head scanning theIt is secondary,
The point of measurement be the point D on moving vehicle, ifFor laser headDuring secondary value, vertical line between laser head and road surface with
Laser head exists to the angle between the straight line between D points it is possible thereby to calculate D pointsCoordinate in face is, it is horizontal
Coordinatex ij Maxima and minima difference be the moving vehicle width, its ordinateMaximum be the sport(s) car
Height；
C, length determination：Assuming that vehicle is during by scanning area, scanned by laser scannerkIt is secondary, and obtain
Corresponding data, while the speed of service for measuring vehicle by radar meter is set toV M , thus can calculate laser head scanning
The distance of vehicle travelingl 0 , and every time in scanning process, in the interval time between two data of collection, vehicle is gone
The distance sailedl 1 , further according to the computational methods using coordinate in b step, find first and lasth ij Point more than 0, i.e.,
The length of vehicle can be calculated.
As a further improvement on the present invention, the algorithm steps of described design are as follows：
A, the basic data for reading in collection in a period of time, obtain basic data collection；
B, deletion basic data concentrate invalid data, obtain valid data；
Error in c, amendment valid data, is once corrected data；
The abnormal data in data is once corrected in d, amendment, obtains second-order correction data；
E, according to second-order correction data, in chronological order, the geometric properties of vehicle are calculated and right according to the mathematical modeling of structure
The vehicle passed through is counted；
F, the obtained vehicle geometric properties to step e and the vehicle fleet size passed through carry out accumulative storage.
As a further improvement on the present invention, the invalid data described in described b step is laser sensor in distance
The data collected and the number for being influenceed and being collected by vehicle shape, color or material outside the farthest edge in farthest track
According to.
As a further improvement on the present invention, the computational methods of the once amendment data in described acquisition step c are as follows：
A, ideal data acquisition：When there is no moving vehicle on calculating highway, the reason that laser sensor run-down is collected
Think data；
B, AME acquisition：When there is no moving vehicle on highway, the data set actually gathered from laser sensor
One group of data of middle selection, then utilize the ideal data of a steps collection, calculation error average value；
C, the acquisition for once changing data：Real data and AME and be once to correct data.
As a further improvement on the present invention, the preparation method of second-order correction data is to be with neighbouring in described Step d
Principle, is entered row interpolation and replaces abnormal data to the horizontal of abnormity point, ordinate respectively with the horizontal of normal data, ordinate.
The automatic monitoring system of the high speed moving vehicle of the present invention, utilizes laser sensor and radar meter synchronization gain
Data founding mathematical models, algorithm for design reduce the external form of vehicle, while track where feed back motion vehicle and speed letter
Breath, using supporting hardware facility, can truly reduce the road conditions on highway, while the running situation of vehicle can be monitored, and
Can extract motion in each car geometric properties and corresponding speed.
Brief description of the drawings
Fig. 1 is hsrdware requirements of the present invention and scheme of installation；
Fig. 2 is laser sensor value schematic diagram of the present invention.
Embodiment
Embodiment 1
The automatic monitoring system of the high speed moving vehicle of the present invention, is to utilize laser sensor and radar meter synchronous acquisition base
Plinth data simultaneously transfer data to data processor, then are retouched by building mathematical modeling and algorithm for design using data processor
Draw the resemblance of vehicle, determine lane position where it go forward side by side driving velocity feedback and data statistics.
Embodiment 2
The automatic monitoring system of the high speed moving vehicle of the present invention, as shown in figure 1, being installed on road to be measured in laser sensor
Roadside, for scanning the position that each is put on vehicle, its setting height(from bottom) ish(h≥0), it is popped one's head in towards the installation on road surface, probe
Position is parallel with the cross section of road, and the scanning angle of laser sensor is, on every track respectively
Radar meter is installed, the intersecting lens of each radar meter and laser sensor scanning plane and road surface is perpendicular, and each radar
The setting height(from bottom) of tachymeter is identical, each radar meter to laser sensor scanning plane is equal with the distance of the intersecting lens on road surface,
The direction of illumination of radar meter need to be towards laser sensor, and the setting angle of each radar meter is identical.
Embodiment 3
The hardware configuration of the automatic monitoring system of the high speed moving vehicle of the present invention：
As shown in figure 1, gantry IGH be parallel to each other with gantry JFE, it is vertical with track shielding wire and respectively be located at highway two
Side, door pillar OA be located at road side and positioned at two plane IGH and JFE split on, 3 points of I, O, J be separately mounted to away from
From the nearest edge and the position with a certain distance from keeping in oneself nearest track, 4 points of E, F, G, H is respectively mounted a radar and surveys instrument,
Radar meter is installed on the upper front of the headstock of vehicle traveling, and adjustment radar meter F angle up and down is allowed to most have
Region test the speed for F in the road surface of effectS, similarly adjust other three radar meters so that three radar meters it is most effective
Test the speed region respectively GS、HS、ESFour elliptical region GS、HS、ES、FSBe all around parallel to each other and vertical with door pillar OA,
The A points of door pillar install laser sensor, and its operating diagram is as shown in Fig. 2 angular domain BAC is the scanning area of laser sensor
The radar in domain, wherein 4 points of E, F, G, H surveys instrument to four elliptical region ES、FS、GS、HSDistance it is optimal for radar meter
Test the speed distance.
Certainly, in addition to above-mentioned main hardware facility, in addition it is also necessary to Data transmitting and receiving, data processor and information storage
With the related hardware facility such as feedback, four radar meters E, F, G, H effect is the speed of moving vehicle on collection correspondence track
Degree；The effect of laser sensor is to gather the distance between laser head and scanning element in chronological order；Set using the transmission of data
Two item datas that will be collected are applied to be sent in corresponding memory；Data processor imports number in chronological order out of memory
Data processing is carried out according to and by core algorithm, and then obtains main result, then main result is stored and fed back to
Perform the personnel of monitoring.
The automatic monitoring system of the high speed moving vehicle of the present invention is synchronously adopted using radar meter and laser sensor
Two item datas that collect build mathematics type and algorithm for design to describe resemblance by middle plane ABC vehicles, determine its institute
In lane position and the velocity feedback and quantity statistics of vehicle are carried out, its concrete operation method is as follows：
1st, the structure of mathematical modeling：
As shown in Fig. 2 straight line is z-axis where setting the laser head A of laser sensor and the vertical line of express highway pavement, vertical range
For h；Intersected vertically with z-axis and the reference axis parallel with the cross section of highway is x-axis；The scan angle of laser sensor is set
Spend and be, when laser sensor fromαGo toβWhen, the cross section of its ground width Xu Jiang highway scanned is covered in
Inside it, step angle is, then laser sensor rotate the measurement data number that can get for one week and be：
（1）
Wherein, so-called step angle refers to the angle that laser head is rotated through between two adjacent scanning elements；Value be
Integer.In addition, the rotational frequency for setting laser sensor isf Hz。
In parameterUnder conditions of having set, laser head often rotates a circle（Also known as " run-down "）Gathered
To data amount check be identical, it will be assumed that laser head have rotated m weeks (scan m times), each scanning collection to data
Number is n, amounts to and has m × n data, is designated as.It is contemplated that theData during secondary scanning are adopted
Collect situation, as shown in Fig. 2 A points is in the position where setting the laser head of laser sensor, its direction of rotation is counter clockwise direction,
So as to which it is along BC directions value, if it thej（j=1,2 ..., n）Secondary measurement data isd ij ；Scan position now is motion
Vehicle M D points, if D points existxozCoordinate in face is, whereinIt is also M（Vehicle in i.e. a certain high-speed motion）In D
The height of point；IfFor laser headDuring secondary value, the angle between AD and AO, by can be calculated：
（2）
By analysis above, we are readily available vehicleM'sD point coordinates formula：
（3）
In formula (3), if, then show the scanning element of now laser sensor on the road surface of highway；IfThen
Show scanning element now on the vehicle M of motion；Under conditions of, we can also basisReal number belonging to value
Track where interval judgement vehicle M judges whether vehicle M rides line traveling.
Below we discuss how the range data collected using laser sensor
The vehicle M that collects corresponding with radar meter speed dataV M Km/h calculates high speed moving vehicle M length, width
With height problem.
We assume that only one high speed moving vehicle M is during by scanning area BAC as shown in Figure 1, swash
Optical sensor is scanned justkSecondary, all data collected are
（4）
In order to calculate vehicle M length, it would be desirable to calculate in the time of single pass and homogeneous scanning is interior, laser head collection
In the time of adjacent two data, the distance that vehicle M is travelled respectively（Unit：mm）, they are respectively：
（5）
First, formula is utilized（3）Find data（4）In corresponding first and last be more than 0h ij , under them
Mark is designated as respectivelyI s 、J s 、I e 、J e , so that vehicle M length is：
（6）
Secondly, we can be according to correspondingValue situation is to calculate vehicle M width, and being apparent from its width is：
（7）
Vehicle M height formula is as follows：
（8）
2nd, the automatic monitoring algorithm design of moving vehicle：
The final purpose of vehicle Design of Automatic Monitoring System of running at high speed utilizes laser sensor and radar meter to obtain
Data reduce the face shaping of vehicle, further obtain its geometric properties data, while the quantity of vehicular traffic is counted, its
Specific algorithm design procedure is as follows：
A, the data for reading in generation in a period of time；
B, deletion data setMiddle invalid data, is designated as；
C, error correction algorithms module is called to correct dataIn error, the data set after round-off error is designated as；
D, call abnormal data correction algorithm module amendment data setPresent in abnormal data；
E, in chronological order, according to formula（3）~（8）Describe by the profile of vehicle and extract its geometric properties and to passing through
Vehicle counted；
F, the result to previous step carry out feedback of the information or accumulation is stored；
G, whether continue, if it is not, then stopping；If so, then and then read in next segment information, the is performed（2）Step；
Wherein a steps signified a period of time refers to the time interval for reading data every time, and this depends on the property of data processor
Can, the good time interval of performance can be with longer, otherwise can be shorter.
3rd, the data gathered simultaneously according to laser sensor and radar meter, obtain basic data.
4th, the modification method of error information and abnormal data is as follows：
（1）Invalid data is deleted
When laser sensor is in gathered data outside the farthest edge apart from farthest track, it can be obtained according to experimental data：In the presence of
Positive integer, whenWhen, have, data now are invalid
, we are necessary to give up the data of this part before processing data；
Give up after invalid data, the data that laser sensor is collected also have both sides：On the one hand it is data
Error, is on the other hand data exception.
（2）The amendment of data error
Radar meter has been widely used in practice, it is possible to think that the data that the radar after correction is collected are missed
Difference is negligible, but what the error for swashing sensor still can not be ignored, therefore need to be modified it, set herein
The method of the amendment data error of meter is as follows：
When not having moving vehicle on a, calculating highway, the ideal data that laser sensor run-down is collected, formula is as follows：
（9）
B, when there is no moving vehicle on highway, select one group of data from the laser sensor actually data that are gathered, the then average value of calculation error, formula is as follows：
C, the data actually collected to laser sensorCarry out error correction, formula
It is as follows：
WhereinData as after error correction.
（3）The amendment of abnormal data
The data that laser sensor is collected are influenceed by vehicle color, vehicle window and vehicle shape, it will usually produce some different
Regular data, so needing the abnormality of initial data to be identified and makes corresponding amendment, Jin Jincong before application data
The data that laser sensor is collected are difficult to judge its abnormality in itself, but can be according to door pillar OA height, O in Fig. 1
The distance and formula of point and nearest edge（9）Understand：The data value that laser sensor is collected is necessarily smaller than door pillar OA height
Degree.
Thus, it is possible to draw：If, thenIt must be abnormal data.
In order to more realistically recover the geometric properties of vehicle, it would be desirable to which abnormal data is modified.Correct herein different
The basic skills of regular data is：With neighbouring for principle, with the horizontal of normal data, horizontal stroke, the ordinate of ordinate respectively to abnormity point
Enter row interpolation and replace abnormal data.If the data set that laser sensor is collected is, herein
The abnormal data correction algorithm of design is as follows：
A, in matrixIn, if , then 0 is entered as to it；
B, searchingMiddle all submatrixs without full zero row and without complete zero row（Each submatrix represents a sport(s) car
）, it is designated as, according to formula（3）Each submatrix is calculated respectively；
C, according toOrder, for k-th of submatrix, in following way, respectively willIn with
Abnormal data is correspondingEnter row interpolation replacement；
According to the order of Row Column, first is found（But）Data, useValue replaceValue；WithIn q arrange all nonzero element values average value replace, then, and so on carry out, untilIn it is all corresponding with abnormal numerical valueIt is corrected；
D, judge k whether be equal to r, if being equal to, stop；If being not equal to, k value is increased by 1, then perform step c.
Claims (7)
1. the automatic monitoring system of high speed moving vehicle, it is characterized in that utilizing laser sensor and radar meter synchronous acquisition base
Plinth data simultaneously transfer data to data processor, then are retouched by building mathematical modeling and algorithm for design using data processor
Draw the resemblance of vehicle, determine lane position where it go forward side by side driving velocity feedback and data statistics.
2. the automatic monitoring system of high speed moving vehicle as claimed in claim 1, it is characterised in that installed in laser sensor
In the roadside of road to be measured, for scanning the position that each is put on vehicle, its setting height(from bottom) ish(h≥0), laser sensor
Scanning angle is, radar meter, each radar meter and laser sensor are respectively mounted on every track
Scanning plane and the intersecting lens on road surface are perpendicular, and the setting height(from bottom) of each radar meter is identical, each radar meter to laser
Sensor scanning plane is equal with the distance of the intersecting lens on road surface.
3. the automatic monitoring system of high speed moving vehicle as claimed in claim 1, it is characterised in that build the side of mathematical modeling
Method is：
A, coordinate are set up：Straight line where using the vertical line of the laser head of laser sensor and express highway pavement aszAxle, withzAxle hangs down
Directly the intersecting and reference axis parallel with the cross section of highway isxAxle, set laser sensor scanning angle be, step angle is, then the number that laser sensor rotates the measurement data accessed by one week can be calculated,
Wherein, step angleRefer to the angle that laser head is rotated through between two adjacent scanning elements；AdjustmentValue to be whole
Number, the rotational frequency of laser sensor is setting valuef；
B, height and width determination：In parameterUnder conditions of having set, laser head often rotates a circle, scans one
Secondary, the data amount check collected is identical；Assuming that laser head is scannedSecondary, the number of each scanning collection to data is,
Amount to sharedIndividual data, are designated as, it is assumed that laser head scanning theIt is secondary,
The point of measurement be the point D on moving vehicle, ifFor laser headDuring secondary value, vertical line between laser head and road surface with
Laser head exists to the angle between the straight line between D points it is possible thereby to calculate D pointsCoordinate in face is, it is horizontal
Coordinatex ij Maxima and minima difference be the moving vehicle width, its ordinateMaximum be the sport(s) car
Height；
C, length determination：Assuming that vehicle is during by scanning area, scanned by laser scannerkIt is secondary, and obtain
Corresponding data, while the speed of service for measuring vehicle by radar meter is set toV M , thus can calculate laser head scanning
The distance of vehicle travelingl 0 , and every time in scanning process, in the interval time between two data of collection, vehicle is gone
The distance sailedl 1 , further according to the computational methods using coordinate in b step, find first and lasth ij Point more than 0, i.e.,
The length of vehicle can be calculated.
4. the automatic monitoring system of high speed moving vehicle as claimed in claim 3, it is characterised in that algorithm for design step is as follows：
A, the basic data for reading in collection in a period of time, obtain basic data collection；
B, deletion basic data concentrate invalid data, obtain valid data；
Error in c, amendment valid data, is once corrected data；
The abnormal data in data is once corrected in d, amendment, obtains second-order correction data；
E, according to second-order correction data, in chronological order, the geometric properties of vehicle are calculated and right according to the mathematical modeling of structure
The vehicle passed through is counted；
F, the obtained vehicle geometric properties to step e and the vehicle fleet size passed through carry out accumulative storage.
5. the automatic monitoring system of high speed moving vehicle as claimed in claim 4, it is characterised in that invalid described in b step
Data are the data that are collected outside the farthest edge apart from farthest track of laser sensor and by vehicle shape, color
Or the data that material influences and collected.
6. the automatic monitoring system of high speed moving vehicle as claimed in claim 4, it is characterised in that obtain in step c once
The computational methods for correcting data are as follows：
A, ideal data acquisition：When there is no moving vehicle on calculating highway, the reason that laser sensor run-down is collected
Think data；
B, AME acquisition：When there is no moving vehicle on highway, the data set actually gathered from laser sensor
One group of data of middle selection, then utilize the ideal data of a steps collection, calculation error average value；
C, the acquisition for once changing data：Real data and AME and be once to correct data.
7. the automatic monitoring system of high speed moving vehicle as claimed in claim 4, it is characterised in that second-order correction number in Step d
According to preparation method be, for principle, the horizontal of abnormity point, ordinate to be inserted respectively with the horizontal of normal data, ordinate with neighbouring
Value replaces abnormal data.
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| CN110544379A (en) * | 2019-09-10 | 2019-12-06 | 中交城乡建设规划设计研究院有限公司 | Vehicle height limiting frame non-contact type early warning system and method based on cloud storage |
| CN110544379B (en) * | 2019-09-10 | 2021-01-15 | 中交城乡建设规划设计研究院有限公司 | Vehicle height limiting frame non-contact type early warning system and method based on cloud storage |
| CN111127877A (en) * | 2019-11-19 | 2020-05-08 | 华为技术有限公司 | Road condition information monitoring method and device |
| CN112014855A (en) * | 2020-07-20 | 2020-12-01 | 江西路通科技有限公司 | Vehicle outline detection method and system based on laser radar |
| CN112364561A (en) * | 2020-10-26 | 2021-02-12 | 上海感探号信息科技有限公司 | Vehicle control action correction method and device, electronic equipment and storage medium |
| CN114003849A (en) * | 2021-10-29 | 2022-02-01 | 中远海运科技股份有限公司 | Multi-lane non-contact type axle number automatic calculation method and system |
| CN114003849B (en) * | 2021-10-29 | 2024-03-15 | 中远海运科技股份有限公司 | Multi-lane non-contact type automatic calculation method and system for vehicle axle number |
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