CN108169507B - High-speed moving vehicle speed prediction method based on RFID system polynomial estimation - Google Patents
High-speed moving vehicle speed prediction method based on RFID system polynomial estimation Download PDFInfo
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Abstract
A method for estimating a speed of a high-speed moving vehicle based on an RFID system polynomial, the speed prediction method comprising the steps of: 1) acquiring data, wherein the vehicle A records the state information of the vehicle A in each passing tag, and the vehicle B obtains the state information of the vehicle A by reading the tags and records the state information of the vehicle B in the next vehicle, wherein the vehicle A is a front vehicle, and the vehicle B is a rear vehicle; 2) and (4) speed estimation, wherein after the rear vehicle B reads the information of the tag and obtains several continuous state information of the front vehicle A, the vehicle B starts to estimate the speed state of the vehicle A. Polynomial expression of historical speed of the leading vehicle A
Of (a) determiningThe coefficient of (a), wherein,can be calculated using the sum of squared deviations M (a) of a weighted least squares polynomial fit1,a2,a3) The solution is minimized. The invention provides a method for estimating the speed of a high-speed moving vehicle based on a polynomial of an RFID system to improve driving safety.
Description
Technical Field
The invention relates to a method for predicting the speed of a high-speed moving vehicle, in particular to a method for predicting the speed of the high-speed moving vehicle based on polynomial estimation of an RFID system.
Background
Along with the rapid development of social economy, the popularization rate of automobiles is improved, the urbanization process is accelerated, the traffic jam phenomenon of urban roads is increasingly aggravated, the traffic environment of vehicles is gradually worsened, the life of people can be greatly enriched by acquiring road information, the travel of people is facilitated, meanwhile, the traffic pressure can be relieved, the waiting time of people is shortened, and the economic loss is reduced. Currently, the navigation system mainly relies on GPS signals, but GPS signals are inaccurate or even unavailable in tunnels or overpasses, and are also susceptible to factors such as climate, ionosphere, troposphere, air, electromagnetic waves and the like, so that it is not desirable to estimate the driving speed of the vehicle ahead through the GPS signals. In contrast, these have less influence on Radio Frequency Identification (RFID) technology, and are widely used in daily life due to their convenience and low cost, and it is not easy to estimate the preceding vehicle speed using an RFID system.
Vehicle speed prediction is widely used in vehicle control design, particularly in fuel economy applications. When the vehicle runs, the acquisition of the running speed of the front vehicle is one of the prerequisites of ensuring the safety of the driver, and meanwhile, the driver can make more appropriate judgment and behavior according to the running speed of the front vehicle and own experience, so that the optimization of the size of a planned accelerator, the braking and gear shifting opportunity is facilitated, the early warning time of the driver is increased, and the probability of various traffic accidents is reduced to a greater extent. Therefore, it becomes important to accurately obtain the traveling speed of the preceding vehicle in real time.
Disclosure of Invention
The invention provides a high-speed moving vehicle speed prediction method based on RFID system polynomial estimation, aiming at solving the problem that GPS signals cannot accurately estimate the speed and distance of a vehicle ahead when the vehicle passes through a tunnel or an overpass or is in a severe environment.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for predicting the speed of a high-speed moving vehicle based on polynomial estimation of an RFID system, the method comprising the steps of:
1) acquiring data, wherein the vehicle A records the state information of the vehicle A in each passing tag, and the vehicle B obtains the state information of the vehicle A by reading the tags and records the state information of the vehicle B in the next vehicle, wherein the vehicle A is a front vehicle, and the vehicle B is a rear vehicle;
2) speed estimation, after the following vehicle B reads the information of the tag and obtains several continuous state information of the preceding vehicle A, the vehicle B starts to estimate the speed state of the vehicle A, and if the speed track of the vehicle A in a short time consists of a polynomial, a good track estimation is achieved by finding a function which can be matched with the historical speed of the vehicle A
Wherein, the calculation formula is as follows:
here, the parameters are defined as follows:
apa polynomial coefficient to be determined, p being 1,2, 3;
the vehicle B is set to pass the first tag at time 0, and the status information stored in the i-th RFID tag of the vehicle a is (T)A(i),VA(i) Wherein T) isA(i)，VA(i) Respectively, the time and the speed when the vehicle A passes the ith tag, and i is 1,2 and …, assuming that the vehicle B only uses the nearest n tags to estimate the speed track, the vehicle B passes the kth tag at the time t within the sliding window with the length of nkObtaining the speed V of the vehicle AkWherein k is more than or equal to 1 and less than or equal to n; according to the above formula (1), if a is givenpVehicle B will have a V for eachkAll have estimated speed
Therefore, the objective is to find apSolving for apAt the same time, make VkAndthe sum of squared deviations of (a) is minimal, wherein,the formula of the minimum deviation sum of squares is as follows:
the steps of estimating the speed of the high-speed moving vehicle according to the least square method are as follows:
step 2.1: so solving for apTransition to solving for M (a) using a weighted least squares method1,a2,a3) Minimization problem (2);
α thereinkIs tkWeight of the time velocity information;
step 2.2: to solve for M (a)1,a2,a3) Minimum problem, M (a)1,a2,a3) Are respectively to apCalculating a partial derivative and a stagnation point to obtain the following equation;
step 2.3: simplifying the equation and converting the equation into a matrix form AX ═ b to obtain the following matrix expression;
step 2.4: the coefficient matrixes A and b in the above formula form an amplification matrix (A | b), and the amplification matrix is formed into a line ladder to solve the problem
Step 2.5: considering the situation that the road has speed limit, a track model for adjusting the speed estimation is as follows;
wherein, each parameter is defined as follows:
Vmaxthe highest speed limit of the road is set;
Vminthe speed limit is the lowest speed limit of the road;
further, the speed estimation also includes the sample time interval, the distance interval of the RFID system label deployment, the signal receiving effect after the antenna sends out the radio frequency signal in the road, the weather, the road condition, and the experience and environment influence factors of the driver when the polynomial estimation algorithm is implemented.
Still further, in step 1), the RFID tag is disposed on a flat road surface, the RFID tag is a passive tag and stores position information thereof, the RFID reader is installed in the middle of a front bumper of a vehicle, when the vehicle passes through the tag, each vehicle first reads vehicle state information recorded in the tag by the previous vehicle, the state information includes a current speed and a current time of the vehicle, then the vehicle writes its own state information into the tag, and the tag broadcasts the obtained latest state information to the tag having the same horizontal position on the same-direction road, and the tag only stores the latest vehicle state information that passes through in consideration of the limitation of the storage capacity of the RFID tag.
The technical conception of the invention is as follows: first, we deploy passive RFID tags in the middle of the road at a distance, with one lane allowing only one tag to be present. Secondly, when the vehicle passes through each tag, the tag records the current vehicle speed and the current time, and broadcasts the data just recorded to other tags in the same direction, the tag only stores a group of latest data, and then the rear vehicle records n data (generally n is 3) through an RFID reader and obtains the data by using weighted least square polynomial fittingAnd SiAnd reminding the driver to assist driving, and then performing fitting calculation once every time a label is passed.
The invention has the advantages that the problem that the GPS signal can not accurately estimate the speed and the distance of the front vehicle when the vehicle passes through a tunnel or an overpass or is in a severe environment is solved, and meanwhile, compared with the linear distance measured by the GPS, the invention can more intuitively measure the actual road distance, is more beneficial to assisting the driver to drive, reduces the occurrence frequency of traffic accidents and ensures that the trip is safer.
Drawings
FIG. 1 is a system model diagram of an RFID one-way dual lane.
Fig. 2 is a diagram of sliding window initialization waiting.
Fig. 3 is a schematic diagram of sliding window maintenance n-3.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
Referring to the first step, the deployment of the unidirectional two-lane tags and the running of the vehicle are simulated, the tags with the horizontal positions in the same row are broadcasted to other tags in the same row as long as any one tag records a new group of state information. Referring to fig. 2 to 3, when the sliding window is less than 3, the vehicle continues to run until the estimation is started after 3 sets of state information are acquired, when the sliding window reaches 3, the speed estimation is performed once, then the window slides and the length of 3 is maintained for re-estimation, and the process is repeated.
1) Acquiring data, wherein the vehicle A records the state information of the vehicle A in each passing tag, and the vehicle B obtains the state information of the vehicle A by reading the tags and records the state information of the vehicle B in the next vehicle, wherein the vehicle A is a front vehicle, and the vehicle B is a rear vehicle;
2) speed estimation, after the following vehicle B reads the information of the tag and obtains several continuous state information of the preceding vehicle A, the vehicle B starts to estimate the speed state of the vehicle A, and if the speed track of the vehicle A in a short time consists of a polynomial, a good track estimation is achieved by finding a function which can be matched with the historical speed of the vehicle A
Wherein, the calculation formula is as follows:
here, the parameters are defined as follows:
apa polynomial coefficient to be determined, p being 1,2, 3;
the vehicle B is set to pass the first tag at time 0, and the status information stored in the i-th RFID tag of the vehicle a is (T)A(i),VA(i) Wherein T) isA(i)，VA(i) Respectively, the time and the speed when the vehicle A passes the ith tag, and i is 1,2 and …, assuming that the vehicle B only uses the nearest n tags to estimate the speed track, the vehicle B passes the kth tag at the time t within the sliding window with the length of nkObtaining the speed V of the vehicle AkWherein k is more than or equal to 1 and less than or equal to n; according to the above formula (1), if a is givenpVehicle B will have a V for eachkAll have estimated speedTherefore, the objective is to find apSolving for apAt the same time, make VkAnd
wherein the minimum sum of squared deviations has the following formula:
the steps of estimating the speed of the high-speed moving vehicle according to the least square method are as follows:
step 2.1: so solving for apTransition to solving for M (a) using a weighted least squares method1,a2,a3) Minimization problem (2);
α thereinkIs tkWeight of the time velocity information;
step 2.2: to solve for M (a)1,a2,a3) Minimum problem, M (a)1,a2,a3) Are respectively to apCalculating a partial derivative and a stagnation point to obtain the following equation;
step 2.3: simplifying the equation and converting the equation into a matrix form AX ═ b to obtain the following matrix expression;
step 2.4: the coefficient matrixes A and b in the above formula form an amplification matrix (A | b), and the amplification matrix is formed into a line ladder to solve the problem
Step 2.5: considering the situation that the road has speed limit, a track model for adjusting the speed estimation is as follows;
wherein, each parameter is defined as follows:
Vmaxthe highest speed limit of the road is set;
Vminthe speed limit is the lowest speed limit of the road;
further, the speed estimation also includes the sample time interval, the distance interval of the RFID system label deployment, the signal receiving effect after the antenna sends out the radio frequency signal in the road, the weather, the road condition, and the experience and environment influence factors of the driver when the polynomial estimation algorithm is implemented.
Still further, in step 1), the RFID tag is disposed on a flat road surface, the RFID tag is a passive tag and stores position information thereof, the RFID reader is installed in the middle of a front bumper of a vehicle, when the vehicle passes through the tag, each vehicle first reads vehicle state information recorded in the tag by the previous vehicle, the state information includes a current speed and a current time of the vehicle, then the vehicle writes its own state information into the tag, and the tag broadcasts the obtained latest state information to the tag having the same horizontal position on the same-direction road, and the tag only stores the latest vehicle state information that passes through in consideration of the limitation of the storage capacity of the RFID tag.
In the embodiment, the problem that the speed of a vehicle ahead cannot be accurately estimated by a GPS signal due to the fact that the vehicle passes through a tunnel, an overpass or a severe environment is solved, the defect that the GPS can only measure the linear distance between two vehicles is overcome, the actual road distance can be measured more accurately, a driver is assisted to drive, the operation stability and the active safety of the vehicle are improved, the occurrence frequency of traffic accidents is reduced, property loss is reduced, and traveling is safer.
Claims (3)
1. A method for predicting the speed of a high-speed moving vehicle based on polynomial estimation of an RFID system is characterized by comprising the following steps: the method comprises the following steps:
1) acquiring data, wherein the vehicle A records the state information of the vehicle A in each passing tag, and the vehicle B obtains the state information of the vehicle A by reading the tags and records the state information of the vehicle B in the next vehicle, wherein the vehicle A is a front vehicle, and the vehicle B is a rear vehicle;
2) speed estimation, after the following vehicle B reads the information of the tag and obtains several continuous state information of the preceding vehicle A, the vehicle B starts to estimate the speed state of the vehicle A, and if the speed track of the vehicle A in a short time consists of a polynomial, a good track estimation is achieved by finding a function which can be matched with the historical speed of the vehicle A
Wherein, the calculation formula is as follows:
here, the parameters are defined as follows:
ap: a polynomial coefficient to be determined, p being 1,2, 3;
the vehicle B is set to pass the first tag at time 0, and the status information stored in the i-th RFID tag of the vehicle a is (T)A(i)，VA(i) Wherein T) isA(i)，VA(i) The time and the speed of the vehicle a passing the ith tag, and i is 1,2kObtaining the speed V of the vehicle AkWherein k is more than or equal to 1 and less than or equal to n; according to the above formula (1), if a is givenpVehicle B will have a V for eachkAll have estimated speed
Therefore, the objective is to find apSolving for apAt the same time, make VkAnd
wherein the minimum sum of squared deviations has the following formula:
the steps of estimating the speed of the high-speed moving vehicle according to the least square method are as follows:
step 2.1: solving forapTransition to solving for M (a) using a weighted least squares method1，a2，a3) Minimization problem (2);
α thereinkIs tkWeight of the time velocity information;
step 2.2: to solve for M (a)1，a2，a3) Minimum problem, M (a)1，a2，a3) Are respectively to apCalculating a partial derivative and a stagnation point to obtain the following equation;
step 2.3: simplifying the equation and converting the equation into a matrix form AX ═ b to obtain the following matrix expression;
step 2.4: the coefficient matrixes A and b in the above formula form an augmentation matrix (A | b), and the augmentation matrix (A | b) is processed
The amplification matrix is formed into a row ladder solution
Step 2.5: considering the situation that the road has speed limit, a track model for adjusting the speed estimation is as follows;
wherein, each parameter is defined as follows:
Vmaxthe highest speed limit of the road is set;
Vminthe speed limit is the lowest speed limit of the road.
2. The method of predicting the speed of a high-speed moving vehicle based on the polynomial estimation of the RFID system as claimed in claim 1 wherein: when the polynomial estimation algorithm is adopted for speed estimation, the influence factors of sample time interval, distance interval of RFID system label deployment, signal receiving effect after radio frequency signals are sent by antennas in a road, weather, road conditions and driver experience environment are considered.
3. A method of predicting the speed of a high-speed moving vehicle based on polynomial estimation of an RFID system as claimed in claim 1 or 2 wherein: in the step 1), the RFID tags are deployed on a flat road surface, the RFID tags are passive tags and store position information of the RFID tags, the RFID reader is installed in the middle of a front bumper of a vehicle, when the vehicle passes through the tags, each vehicle firstly reads the state information of the vehicle in front of the tags recorded by the vehicle before, the state information comprises the current speed and the current time of the vehicle, then the vehicle writes the state information into the tags, and simultaneously the tags broadcast the obtained latest state information to the tags with the same horizontal position on the same-direction road, and the tags only store the latest passing vehicle state information considering the limitation of the storage capacity of the RFID tags.
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