CN108169747A - A kind of intersection induction control system and its method based on microwave - Google Patents
A kind of intersection induction control system and its method based on microwave Download PDFInfo
- Publication number
- CN108169747A CN108169747A CN201711468803.XA CN201711468803A CN108169747A CN 108169747 A CN108169747 A CN 108169747A CN 201711468803 A CN201711468803 A CN 201711468803A CN 108169747 A CN108169747 A CN 108169747A
- Authority
- CN
- China
- Prior art keywords
- target
- module
- radar
- signal
- microwave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G08—SIGNALLING
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of intersection induction control systems and its method based on microwave, system includes power supply module, radar front end, micro-control module, the micro-control module includes signal acquisition module, signal processing module, memory module, the micro-control module is connected respectively with power supply module and radar front end, the radar front end includes array antenna module, the signal processing module handles the echo data of acquisition and external module is controlled for completion, the signal processing module pre-processes the data that radar exports, the signal processing module completes the operation to radar return data, after processing, radar data is uploaded to PC machine by serial ports.The round-the-clock, high-performance of the present invention, simple installation, delay, effectively distribution time can be substantially reduced.
Description
Technical field
The present invention relates to road traffic detection field, particularly a kind of intersection induction control system based on microwave and its
Method.
Background technology
Since the 21th century, the urbanization in China, motorization process are constantly accelerated, and urban road network expands rapidly,
The speed of car quantity 10%~20% increases, and urban road traffic congestion situation is caused gradually to be aggravated.In city road network
Middle urban intersection is as road crosspoint, often as the bottleneck of urban road network traffic flow operation, as city
The main control mode of level-crossing, urban traffic signal control are more and more closed in urban traffic management
Note.And sense the mode that the variation that control mode is corresponding traffic is controlled in real time, it is obtained according to wagon detector is used
The variation of the transport need of the short period obtained is long to change green time and period.Sensing control, which can highly adapt to traffic, to be needed
It asks and the variation of travel pattern, therefore delay can be substantially reduced, and perfect detection information also enables control machine weekly
Effectively distribution time in phase.
CN201510650462.2 discloses a kind of intelligent transportation behavior cognitive method and system based on microwave, the intelligence
Traffic behavior cognitive method includes：Traffic parameter setting steps, road traffic Background learning step, road ambient noise inhibit step
Suddenly it, calculates step, establish coordinate system step, vehicle classification step, tracking processing step, triggering alarming step.The present invention's
Advantageous effect is：It is of the invention to propose that one kind have high-precision, height based on microwave (millimeter wave) mode in round-the-clock running
Reliability, big region detection, high economic benefit cost ratio, simple installation, can various dimensions to the various types of vehicles in detection zone
The method and system of comprehensive traffic behavioural analysis is carried out, while for some such as isolation strip or metal hand rail present on road
Etc. influencing whether radar performance, pass through a kind of two-dimensional radar image method and carry out ambient noise inhibition.
Invention content
For problems of the prior art, the present invention provides a kind of round-the-clock, high-performance based on microwave mode,
Simple installation, delay can be substantially reduced, the intersection sensing detecting system and its method of effectively distribution time.
The purpose of the present invention is achieved through the following technical solutions.
A kind of intersection induction control system based on microwave, including power supply module, radar front end, micro-control module, institute
State micro-control module include signal acquisition module, signal processing module, memory module, the micro-control module respectively with power mould
Block is connected with radar front end, and the radar front end includes array antenna module, and the signal processing module is for completion to adopting
The echo data of collection is handled and external module is controlled, and the data that the signal processing module exports radar carry out
Pretreatment, the signal processing module complete operation to radar return data, after processing, upload radar data by serial ports and arrive
PC machine.
Further, the signal processing module follows circuit, voltage comparator, programmable amplifier including blocking, described
Block isolating circuit is used to obtain the AC compounent of signal, and the voltage comparator uses voltage comparable chip LM393AP, blocking is delayed
Intermediate-freuqncy signal after punching is converted into the Transistor-Transistor Logic level signal of the 3.3V of standard, and the programmable amplifier includes analog multiplexer
Add operational amplifier, change the amplification factor of programmable amplifier according to the data of leading portion AD converter acquisition so that signal
Amplitude is maintained between 2-3V.
Further, the micro-control module is connected with interface module.
A kind of intersection induction control method based on microwave, step include：
1) radar is to detection zone periodic scan；
2) to background Active Learning and ambient noise is removed；
3) radial velocity, radial distance and the RCS values of each target are calculated according to difference frequency value；
4) point establishes rectangular coordinate system centered on radar；
5) vehicle where the radial velocity of each target and radial distance being converted to the coordinate points in rectangular coordinate system and being judged
Road；
6) setting sensing detection line；
7) speed, place track number, existence information of each target at sensing detection line are exported；
8) whistle control system controls the signal timing dial of intersection according to the target data information of microwave induced device.
Further, the step 7) is specially：
7a) radar monitors target in region in real time, performs step 7b later)；
7b) when there is target to enter monitoring region, then step 7c is performed), otherwise return to step 7a)；
7c) target is handled into line trace：Line trace processing is clicked through to various discrete in detection zone so as to complete in region
The reconstruction of target trajectory performs step 7d later)；
7d) when target reaches sensing detection line position, then export target and sensing the speed at detection line, place track
Number, existence time information, otherwise return to step 7c).
Further, the step 8) is specially：
8a) signal processing module receives the target that radar exports and is sensing the speed at detection line, place track number, existing
Information；
8b) calculate the time t ' that target reaches stop line：If sensing detection line positional distance stop line X ', detections of radar arrives
Target X-direction velocity information be IDx_X_Velocity, can calculate target reach stop line time be
Whistle control system 8c) is set in target current lane green light remaining time as T, as t≤T, then without adjusting letter
Otherwise signal lamp timing performs step 8d)；
8d) the track priority pass where target, then increase t '-T by the green time of the track phase, otherwise without adjusting
Entire signal lamp timing.
Compared with the prior art, the advantage of the invention is that：The variation of the transport need for the short period that the present invention obtains
It is long to change green time and period.Transport need and the variation of travel pattern can be highly adapted to, delay can be substantially reduced,
The perfect detection information of the present invention also enables control machine effectively distribution time in each cycle.The round-the-clock, Gao Xing of the present invention
Energy, simple installation.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the background spectra learning algorithm flow chart of Active Learning.
Fig. 3 is continuously linear frequency-modulated wave schematic diagram.
Fig. 4 is echo-signal of the fmcw radar in the presence of having speed.
Fig. 5 is establishment of coordinate system schematic diagram.
Fig. 6 senses overhaul flow chart for radar.
Fig. 7 is sensing control flow chart.
Specific embodiment
With reference to the accompanying drawings of the specification and specific embodiment, the present invention is described in detail.
As shown in Figure 1, a kind of intersection induction control system based on microwave, including power supply module, radar front end, micro-control
Molding block, the micro-control module include signal acquisition module, signal processing module, memory module, the micro-control module point
It is not connected with power supply module and radar front end, the radar front end includes array antenna module, the signal processing module master
It completes to handle the echo data of acquisition and external module is controlled, including radio-frequency front-end transmission signal parameters
Configuration, target detection, target information obtains and the functions such as radar data uploads.The data that signal processing module exports radar
It is pre-processed, which mainly follows circuit, voltage comparator, programmable amplifier to form by blocking.Block isolating circuit is to obtain
The AC compounent of signal, since the intermediate frequency amplified signal of radar sensor output contains the triode quiescent DC operation point of+2V,
It if not being isolated, can end signal in subsequent processing, influence the further progress of work.Voltage comparator is adopted
Comparable chip LM393AP is pressed in electricity consumption, and the intermediate-freuqncy signal after blocking is buffered is converted into the Transistor-Transistor Logic level signal of the 3.3V of standard, is led to
Crossing increases the work simplification software processing of hardware.Gain-programmed amplifier adds operational amplifier to form by analog multiplexer,
Change the amplification factor of programmable amplifier according to the data of leading portion AD converter acquisition, so as to make the amplitude of signal as far as possible
It is maintained between 2-3V, realizes the unification of gamut, further improve the sampling precision of signal.Digital signal processor completion pair
The operation of radar return data after handling, passes through serial ports and uploads radar data to PC machine.The micro-control module is connected with interface
Module.
A kind of intersection induction control method based on microwave is realized using cline frequency modulating wave (FMCW) to multilane
The real-time detection of traffic.The microwave detector senses vehicle there are steps to include using microwave induced detection device：
1) radar by a narrow beam to detection zone periodic scan；
2) to background Active Learning and ambient noise is removed；
3) radial velocity, radial distance and the RCS values of each target are calculated according to difference frequency value；
4) point establishes rectangular coordinate system centered on radar；
5) vehicle where the radial velocity of each target and radial distance being converted to the coordinate points in rectangular coordinate system and being judged
Road：
6) setting sensing detection line；
7) speed, place track number, existence information of each target at sensing detection line are exported；
8) whistle control system controls the signal timing dial of intersection according to the target data information of microwave induced device.
The movement velocity of target compared to background movement velocity will more greatly, using between moving-target and clutter in speed
Difference distinguished, and clutter is effectively inhibited.It is obtained in the band radar visual field using the method for Active Learning
Background clutter spectrogram, iterations n can freely set, and specific algorithm flow is as shown in the figure.Background clutter spectrogram learns
After the completion, using the frequency spectrum of Background difference removal background clutter signal, by background spectra figure and the clutter spectrum figure of each iteration
Difference operation is carried out, simulates the spectral image of current goal.
As shown in Fig. 2, step 2) is specially：
2a) MTI is filtered；
2b) exceptional value removes；
2c) smothing filtering；
2d) quick Fourier industry transformation；
2e) update background clutter spectrum envelope figure；
2f) when iteration n times, then terminate；Otherwise step 2a is performed).
Microwave beam modulation system in step 3)：The present invention uses CW with frequency modulation system, is modulated using symmetric triangular wave,
Its operation principle is as shown in figure 3, the frequency of transmitting signal is modulated for symmetric triangular wave, and transmitting signal amplitude is constant, in a week
In phase T, the frequency of signal is：
Therefore, in one cycle, the section of frequency sweep up and down for emitting signal is represented by：
Wherein, A is signal amplitude (remarks：Represent the energy value of echo)；f0For signal active centre frequency；△ F are letter
Number effective bandwidth；U=2 △ F/T are coefficient of frequency modulation；T is triangle wave period；ψ0For initial phase.Within the effective signal period,
Signal echo is：
Wherein, △ T=2R/C；R is target range；C is the light velocity.
Within the useful signal period-(T/2- △ T)≤t ＜ 0＆ △ T≤t ＜ T/2 in, by the instantaneous phase of formula 2 and formula 3
Position is subtracted each other, and can obtain transmitting signal and the instantaneous phase of the difference frequency signal of echo-signal mixing gained is：
Can obtain difference frequency signal frequency to 4 derivation of formula is：
By formula 5 it is recognised that the distance and difference frequency signal frequency of target are directly proportional, as long as therefore measure output intermediate frequency letter
Number frequency, it is possible to calculate the distance of target, more than for the static situation of target, if target is v along radar using speed
Wave beam radial motion, it will radar return is made to increase Doppler frequency shift fd, which so that the frequency-time of echo is bent
Line is raised and lowered, and so as to cause a Doppler frequency shift is increased on a part of difference frequency, reduces one on another part difference frequency
A Doppler frequency shift, as shown in Figure 4.
If target closes on radar, the difference frequency within the frequency modulation period is：
fb +=fm-fdUpper frequency sweep section
fb -=fm+fdLower frequency sweep section ... ... ... ... ... formula 6
The distance and velocity information of target can be then calculated by formula 7 and formula 8：
As long as by formula 7 as it can be seen that measuring the average frequency of output difference frequency signal, you can obtain target range.If it surveys
Target velocity is obtained, then must measure the difference frequency signal of upper and lower frequency sweep section output respectively, as shown in formula 8.
It is derived according to ambiguity function, the distance resolution and velocity resolution of triangle arm continuous wave are：
As shown in figure 5, it is X-direction to be parallel to track horizontal direction (positive direction is the sensor beam direction of the launch)；It hangs down
Directly in track horizontal direction be Y direction (positive direction is the sensor beam direction of the launch)；The horizontal deflection of target and radar presss from both sides
Angle is α, and vertical pitch angle is θ.
It is detected radial velocity of the target relative to sensor：Vr
It is detected the radial distance of target range sensor：Dr
Then target is located at X-direction coordinate value in coordinate system：
IDx_X_Coordinate=(Dr*sinθ)*cosα
Target is located at Y-direction coordinate value in coordinate system：
IDx_Y_Coordinate=(Dr*sinθ)*sinα
Movement velocity (the IDx_X_ of detected target in a coordinate systemVelocity, IDx_Y_Velocity)：
Target is located at X-direction velocity amplitude in coordinate system：
IDx_X_Velocity=(Vr*sinθ)*cosα
Target is located at Y-direction velocity amplitude in coordinate system：
IDx_YVelocity=(Vr*sinθ)*sina
Track is divided according to actual traffic field data, can be determined that according to the Y-direction coordinate value of some target
Track where some target：
Track 0：0 ＜ Lane0 ＜ Y0；
Track 1：Y0＜ Lanel ＜ Y1；
Track N：YN-i＜ LaneN ＜ YN
Radar enters to all in detection zone after echo signal pretreatment, progress line of induction detection.First target into
It is persistently tracked after entering detections of radar, until target exports the speed of the target to sensing detection line position, track number, deposits
In temporal information etc..
As shown in fig. 6, step 7) is specially：
7a) radar monitors target in region in real time, performs step 7b later)；
7b) when there is target to enter monitoring region, then step 7c is performed), otherwise return to step 7a)；
7c) target is handled into line trace：Line trace processing is clicked through to various discrete in detection zone so as to complete in region
The reconstruction of target trajectory performs step 7d later)；
7d) when target reaches sensing detection line position, then export target and sensing the speed at detection line, place track
Number, existence time information, otherwise return to step 7c).
As shown in fig. 7, step 8) is specially：
8a) signal processing module receives the target that radar exports and is sensing the speed at detection line, place track number, existing
Information；
8b) calculate the time t ' that target reaches stop line：If sensing detection line positional distance stop line X ', detections of radar arrives
Target X-direction velocity information be IDx_X_Velocity, can calculate target reach stop line time be
Whistle control system 8c) is set in target current lane green light remaining time as T, as t '≤T, then without adjusting letter
Otherwise signal lamp timing performs step 8d)；
8d) the track priority pass where target, then increase t '-T by the green time of the track phase, otherwise without adjusting
Entire signal lamp timing.
Claims (6)
1. a kind of intersection induction control system based on microwave, described including power supply module, radar front end, micro-control module
Micro-control module include signal acquisition module, signal processing module, memory module, the micro-control module respectively with power supply module
It is connected with radar front end, the radar front end includes array antenna module, it is characterised in that the signal processing module is used for
Completion handles the echo data of acquisition and external module is controlled, and the signal processing module exports radar
Data are pre-processed, and the signal processing module completes operation to radar return data, after processing, thunder is uploaded by serial ports
Up to data to PC machine.
A kind of 2. intersection induction control system based on microwave according to claim 1, it is characterised in that the signal
Processing module follows circuit, voltage comparator, programmable amplifier including blocking, and the block isolating circuit is used to obtain the exchange of signal
Component, the voltage comparator use voltage comparable chip LM393AP, and the intermediate-freuqncy signal after blocking is buffered is converted into standard
The Transistor-Transistor Logic level signal of 3.3V, the programmable amplifier add operational amplifier including analog multiplexer, according to leading portion AD conversion
The data of device acquisition change the amplification factor of programmable amplifier so that the amplitude of signal is maintained between 2-3V.
A kind of 3. intersection induction control system based on microwave according to claim 1, it is characterised in that the micro-control
Molding block is connected with interface module.
4. a kind of intersection induction control method based on microwave, it is characterised in that step includes：
1) radar is to detection zone periodic scan；
2) to background Active Learning and ambient noise is removed；
3) radial velocity, radial distance and the RCS values of each target are calculated according to difference frequency value；
4) point establishes rectangular coordinate system centered on radar；
5) track where the radial velocity of each target and radial distance being converted to the coordinate points in rectangular coordinate system and being judged；
6) setting sensing detection line；
7) speed, place track number, existence information of each target at sensing detection line are exported；
8) whistle control system controls the signal timing dial of intersection according to the target data information of microwave induced device.
A kind of 5. intersection induction control method based on microwave according to claim 3, it is characterised in that the step
7) it is specially：
7a) radar monitors target in region in real time, performs step 7b later)；
7b) when there is target to enter monitoring region, then step 7c is performed), otherwise return to step 7a)；
7c) target is handled into line trace：Line trace processing is clicked through to various discrete in detection zone so as to complete target in region
The reconstruction of track performs step 7d later)；
7d) when target reach sensing detection line position when, then export target sensing detection line at speed, place track number,
Existence time information, otherwise return to step 7c).
A kind of 6. intersection induction control method based on microwave according to claim 3, it is characterised in that the step
8) it is specially：
8a) signal processing module receive radar output target sensing detection line at speed, place track number, there are letters
Breath；
8b) calculate the time t ' that target reaches stop line：If sense detection line positional distance stop line X ', the mesh that detections of radar arrives
The velocity information for marking X-direction is IDx_X_Velocity, can calculate target reach stop line time be
Whistle control system 8c) is set in target current lane green light remaining time as T, as t '≤T, then need not adjust signal lamp
Otherwise timing performs step 8d)；
8d) the track priority pass where target, then increase t '-T by the green time of the track phase, otherwise without adjusting letter
Signal lamp timing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711468803.XA CN108169747A (en) | 2017-12-28 | 2017-12-28 | A kind of intersection induction control system and its method based on microwave |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711468803.XA CN108169747A (en) | 2017-12-28 | 2017-12-28 | A kind of intersection induction control system and its method based on microwave |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108169747A true CN108169747A (en) | 2018-06-15 |
Family
ID=62519811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711468803.XA Pending CN108169747A (en) | 2017-12-28 | 2017-12-28 | A kind of intersection induction control system and its method based on microwave |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108169747A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412516A (en) * | 2019-08-20 | 2019-11-05 | 河北德冠隆电子科技有限公司 | Detection method and device of the millimetre-wave radar to stationary object and slow changing object |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1546972A (en) * | 2003-12-15 | 2004-11-17 | 浙江大学 | Embedded data collector capable of accurately measuring phase |
| CN101145279A (en) * | 2007-10-12 | 2008-03-19 | 北京航空航天大学 | Method, system and signal fusion device for implementing bus signal preferential application |
| CN101216988A (en) * | 2008-01-03 | 2008-07-09 | 中科院嘉兴中心微***所分中心 | A wireless transducer network system based on unloading lot detection based on magnetic sensitive technology |
| CN102779416A (en) * | 2012-08-15 | 2012-11-14 | 广西瀚特信息产业股份有限公司 | Bus priority controller |
| CN102800201A (en) * | 2012-08-15 | 2012-11-28 | 广西瀚特信息产业股份有限公司 | Control method and system for intersection signal timing guaranteeing priority of buses |
| CN102930725A (en) * | 2012-11-09 | 2013-02-13 | 王晓宁 | Road intersection traffic light control system and control method thereof |
| CN103065480A (en) * | 2012-12-14 | 2013-04-24 | 中国航天***工程有限公司 | Control method and control device of specific vehicle traffic |
| CN105261215A (en) * | 2015-10-09 | 2016-01-20 | 南京慧尔视智能科技有限公司 | Intelligent traffic behavior perception method and intelligent traffic behavior perception system based on microwaves |
| CN106125076A (en) * | 2016-07-13 | 2016-11-16 | 南京慧尔视智能科技有限公司 | A kind of Anticollision Radar method for early warning being applied to urban transportation and device |
| CN106448189A (en) * | 2016-11-02 | 2017-02-22 | 南京慧尔视智能科技有限公司 | Multilane speed measuring and block port triggering method and device based on microwaves |
| CN107146426A (en) * | 2017-06-01 | 2017-09-08 | 江苏速度信息科技股份有限公司 | Traffic signal control method and system based on full sensing detection |
-
2017
- 2017-12-28 CN CN201711468803.XA patent/CN108169747A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1546972A (en) * | 2003-12-15 | 2004-11-17 | 浙江大学 | Embedded data collector capable of accurately measuring phase |
| CN101145279A (en) * | 2007-10-12 | 2008-03-19 | 北京航空航天大学 | Method, system and signal fusion device for implementing bus signal preferential application |
| CN101216988A (en) * | 2008-01-03 | 2008-07-09 | 中科院嘉兴中心微***所分中心 | A wireless transducer network system based on unloading lot detection based on magnetic sensitive technology |
| CN102779416A (en) * | 2012-08-15 | 2012-11-14 | 广西瀚特信息产业股份有限公司 | Bus priority controller |
| CN102800201A (en) * | 2012-08-15 | 2012-11-28 | 广西瀚特信息产业股份有限公司 | Control method and system for intersection signal timing guaranteeing priority of buses |
| CN102930725A (en) * | 2012-11-09 | 2013-02-13 | 王晓宁 | Road intersection traffic light control system and control method thereof |
| CN103065480A (en) * | 2012-12-14 | 2013-04-24 | 中国航天***工程有限公司 | Control method and control device of specific vehicle traffic |
| CN105261215A (en) * | 2015-10-09 | 2016-01-20 | 南京慧尔视智能科技有限公司 | Intelligent traffic behavior perception method and intelligent traffic behavior perception system based on microwaves |
| CN106125076A (en) * | 2016-07-13 | 2016-11-16 | 南京慧尔视智能科技有限公司 | A kind of Anticollision Radar method for early warning being applied to urban transportation and device |
| CN106448189A (en) * | 2016-11-02 | 2017-02-22 | 南京慧尔视智能科技有限公司 | Multilane speed measuring and block port triggering method and device based on microwaves |
| CN107146426A (en) * | 2017-06-01 | 2017-09-08 | 江苏速度信息科技股份有限公司 | Traffic signal control method and system based on full sensing detection |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412516A (en) * | 2019-08-20 | 2019-11-05 | 河北德冠隆电子科技有限公司 | Detection method and device of the millimetre-wave radar to stationary object and slow changing object |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105261215B (en) | Intelligent transportation behavior cognitive method and system based on microwave | |
| CN105103003B (en) | Fast linear frequency modulation fmcw radar | |
| CN111830508B (en) | Road gate anti-smashing system and method adopting millimeter wave radar | |
| CN105575132B (en) | Detection method and system be present in the crossing based on microwave | |
| CN109102702A (en) | Vehicle speed measuring method based on video encoder server and Radar Signal Fusion | |
| CN107167797B (en) | Digital railway hump speed measuring radar and anti-interference method thereof | |
| CN110969855A (en) | Traffic flow monitoring system based on millimeter wave radar | |
| CN104881995B (en) | A kind of trackside dualbeam microwave radar traffic flow detecting device and method | |
| CN107240263A (en) | A kind of road gate vehicle snapshot method | |
| CN106125076A (en) | A kind of Anticollision Radar method for early warning being applied to urban transportation and device | |
| CN104502907A (en) | Stable ground moving/static target tracking method for airborne radar | |
| CN105122079A (en) | Fmcw radar having distance-range graduation | |
| CN106199589A (en) | The millimetre-wave radar controlled for banister and control method thereof | |
| CN107907878A (en) | The method that high accuracy obtains fmcw radar distance measure | |
| CN109598946B (en) | Multilane speed measurement method based on radar system | |
| CN105093215A (en) | Doppler information based method for tracking low-altitude low-speed small target through radar | |
| CN105301591A (en) | Road traffic monitoring radar and realization method thereof | |
| CN111566506A (en) | Method and device for determining at least one parameter of an object | |
| CN107564285A (en) | Vehicle queue length detection method and system based on microwave | |
| CN108344982A (en) | Small drone target radar detection method based on long-time phase-coherent accumulation | |
| CN205176271U (en) | There is detection device in crossing based on microwave | |
| CN108169747A (en) | A kind of intersection induction control system and its method based on microwave | |
| CN102289938A (en) | Vehicle parting method by using double-row vertical radar wave | |
| CN113436442A (en) | Vehicle speed estimation method using multiple geomagnetic sensors | |
| CN207367369U (en) | Vehicle queue length detecting system based on microwave |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180615 |
|
| RJ01 | Rejection of invention patent application after publication |