CN108230696A - The detection method of travel condition of vehicle, apparatus and system - Google Patents
The detection method of travel condition of vehicle, apparatus and system Download PDFInfo
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- CN108230696A CN108230696A CN201810069107.XA CN201810069107A CN108230696A CN 108230696 A CN108230696 A CN 108230696A CN 201810069107 A CN201810069107 A CN 201810069107A CN 108230696 A CN108230696 A CN 108230696A
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- G—PHYSICS
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- 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
The present invention provides a kind of detection method of travel condition of vehicle, apparatus and systems, are related to the technical field of Data Detection analysis, and this method includes：Relative velocity when target vehicle passes through dual detector is detected, wherein, the first detector and the second detector in dual detector are successively set on target road section according to the direction of travel and predetermined interval of target vehicle；Speed difference when determining that target vehicle passes through dual detector based on relative velocity；The operating status of target vehicle is determined based on speed difference, wherein, operating status includes at least one of：Travel at the uniform speed state, Accelerating running state and runs slowly state, alleviates due to can not accurately obtain vehicle precision is relatively low when to crossing traffic state simulation caused by the acceleration deceleration state on road the technical issues of.
Description
Technical field
The present invention relates to the technical field of Data Detection analysis, more particularly, to a kind of detection side of travel condition of vehicle
Method, apparatus and system.
Background technology
With fast-developing and vehicle the rapid growth of our national communication industries, by big data processing come to crossing
Or the travel condition of vehicle on track carries out analysis and has become a kind of trend.In existing technical solution, to operation
When the vehicle on track is detected, it is typically only capable to be calculated the vehicle in the detector by being mounted on track
Spot speed, without can determine that acceleration mode of vehicle when by detector.
Therefore, when being emulated by above-mentioned data to traffic behavior and traffic models, if it is desired to obtain the vehicle
Acceleration and deceleration data, a default value is usually automatically generated by software.But default value can not to the various situations on road into
Row embodies.Therefore, inaccuracy when causing to emulate, model is occurred.Meanwhile using traffic data to crossing operating status into
During row reproduction, it can not also accomplish precisely to reproduce.
Invention content
In view of this, the purpose of the present invention is to provide a kind of detection method of travel condition of vehicle, apparatus and system, with
Alleviate due to can not accurately obtain vehicle caused by the acceleration deceleration state on road when to crossing traffic state simulation
The technical issues of precision is relatively low.
In a first aspect, an embodiment of the present invention provides a kind of detection method of travel condition of vehicle, including：Detect target carriage
By dual detector when relative velocity, wherein, the first detector and the second detector in the dual detector are according to institute
The direction of travel and predetermined interval for stating target vehicle are successively set on target road section；The target is determined based on the relative velocity
Vehicle passes through the speed difference during dual detector；The operating status of the target vehicle is determined based on the speed difference, wherein,
The operating status includes at least one of：Travel at the uniform speed state, Accelerating running state and the state that runs slowly.
Further, the target road section includes：Section far from crossing stop line among the section that vehicle is travelled, vehicle
The section adjacent with crossing stop line in the section travelled.
Further, the quantity of the target vehicle is multiple, on the road that the target road section is travelled by the vehicle
In the case of the adjacent section of Duan Zhongyu crossings stop line, the method further includes：By each target vehicle described
The operating status of target road section determines that multiple target vehicles run changing rule the first of the crossing；Based on described
One operation changing rule determines the prevailing state of the vehicle and pedestrian at the crossing.
Further, the quantity of the target vehicle is multiple, on the road that the target road section is travelled by the vehicle
In the case of the adjacent section of Duan Zhongyu crossings stop line, the method further includes：By each target vehicle described
The operating status of target road section and each target vehicle pass through the instantaneous velocity during dual detector, determine multiple described
Target vehicle runs changing rule the second of the crossing；The vehicle at the crossing is determined based on the described second operation changing rule
And pedestrian prevailing state.
Further, the operating status for determining the target vehicle based on the speed difference includes：Based on the speed difference
Calculate percentage speed variation of target vehicle when by first detector and second detector；With reference to the speed
The instantaneous velocity of change rate and target vehicle when by first detector and second detector is spent, calculates institute
State the velocity variable of target vehicle；The operating status of the target vehicle is determined by the velocity variable.
Further, the method further includes：The generated when passing through first detector by the target vehicle
One come vehicle event package with by second detector when generate second come vehicle event package and/or, pass through the target vehicle
By generated during first detector first from vehicle event package with by being generated during second detector second from vehicle
Event package calculates the time difference that the target vehicle passes through the dual detector；With reference to the time difference and the dual detector
The distance between calculate the instantaneous velocity.
Further, relative velocity when detection target vehicle passes through dual detector includes：With reference to poor and institute at the first time
The vehicle commander of target vehicle is stated, relative velocity when calculating the target vehicle by first detector, wherein, described first
Time difference is that generation described first comes vehicle event package and generation described first from the time difference between vehicle event package；During with reference to second
Between difference and the target vehicle vehicle commander, calculate the target vehicle by second detector when relative velocity, wherein,
Second time difference is that generation described second comes vehicle event package and generation described second from the time difference between vehicle event package.
Second aspect, an embodiment of the present invention provides a kind of detection device of travel condition of vehicle, including：Detection unit,
Relative velocity during for detecting target vehicle by dual detector, wherein, the first detector in the dual detector and the
Two detectors are successively set on target road section according to the direction of travel and predetermined interval of the target vehicle；First determination unit,
Speed difference during for determining that the target vehicle passes through the dual detector based on the relative velocity；Second determination unit,
For determining the operating status of the target vehicle based on the speed difference, wherein, the operating status include it is following at least it
One：Travel at the uniform speed state, Accelerating running state and the state that runs slowly.
The third aspect, an embodiment of the present invention provides a kind of detecting system of travel condition of vehicle, including：Dual detector and
Processor, wherein, the dual detector is connected with the processor, the first detector and the second inspection in the dual detector
It surveys device and is successively set on target road section according to the direction of travel and predetermined interval of the target vehicle；It is every in the dual detector
A detector be used for when detecting that vehicle drives into the detection zone of detector generate come vehicle event package and/or, for detecting
It is generated when sailing out of the detection zone to vehicle from vehicle event package；The processor is used to perform the step of method described above
Suddenly：Detect relative velocity when target vehicle passes through dual detector；Determine that the target vehicle passes through based on the relative velocity
The speed difference during dual detector；The operating status of the target vehicle is determined based on the speed difference, wherein, the operation
State includes at least one of：Travel at the uniform speed state, Accelerating running state and the state that runs slowly.
Fourth aspect, an embodiment of the present invention provides a kind of meters of non-volatile program code that can perform with processor
Calculation machine readable medium, said program code make the processor perform method described above.
In embodiments of the present invention, relative velocity when detection target vehicle is by dual detector first, then, based on institute
Speed difference when relative velocity determines the target vehicle by the dual detector is stated, finally, is determined based on the speed difference
The operating status of the target vehicle.In the prior art, it is typically only capable to that moment of vehicle when by detector is calculated
Speed, without can determine that its acceleration mode when by detector.In embodiments of the present invention, by determining that target vehicle passes through
The operating status (for example, acceleration mode, at the uniform velocity deceleration regime and state) during dual detector is crossed, so as to confirm that vehicle enters section
When transport condition mode, can more accurately reflect the operating status at crossing, and then alleviate due to can not be accurate
Vehicle is obtained precision is relatively low when to crossing traffic state simulation caused by the acceleration deceleration state on road the technical issues of,
It is achieved thereby that improve the technique effect of traffic behavior emulation precision.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow chart of the detection method of travel condition of vehicle according to embodiments of the present invention；
Fig. 2 is a kind of embedded schematic diagram of dual detector according to embodiments of the present invention in target road section；
Fig. 3 is the embedded schematic diagram of another dual detector according to embodiments of the present invention in target road section；
Fig. 4 is a kind of schematic diagram of the detection device of travel condition of vehicle according to embodiments of the present invention；
Fig. 5 is a kind of schematic diagram of the detecting system of travel condition of vehicle according to embodiments of the present invention.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiment be part of the embodiment of the present invention rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, shall fall within the protection scope of the present invention.
Embodiment one：
According to embodiments of the present invention, a kind of embodiment of the detection method of travel condition of vehicle is provided, needs what is illustrated
It is that step shown in the flowchart of the accompanying drawings can perform in the computer system of such as a group of computer-executable instructions,
Also, although logical order is shown in flow charts, in some cases, it can be performed with the sequence being different from herein
Shown or described step.
Fig. 1 is a kind of flow chart of the detection method of travel condition of vehicle according to embodiments of the present invention, as shown in Figure 1,
This method comprises the following steps：
Step S102, detection target vehicle pass through relative velocity during dual detector, wherein, the in the dual detector
One detector and the second detector are successively set on target road section according to the direction of travel and predetermined interval of the target vehicle；
Step S104, speed difference when determining that the target vehicle passes through the dual detector based on the relative velocity；
Step S106 determines the operating status of the target vehicle based on the speed difference, wherein, the operating status packet
Include at least one of：Travel at the uniform speed state, Accelerating running state and the state that runs slowly.
In embodiments of the present invention, relative velocity when detection target vehicle is by dual detector first, then, based on institute
Speed difference when relative velocity determines the target vehicle by the dual detector is stated, finally, is determined based on the speed difference
The operating status of the target vehicle.In the prior art, it is typically only capable to that moment of vehicle when by detector is calculated
Speed, without can determine that its acceleration mode when by detector.In embodiments of the present invention, by determining that target vehicle passes through
The operating status (for example, acceleration mode, at the uniform velocity deceleration regime and state) during dual detector is crossed, so as to confirm that vehicle enters section
When transport condition mode, can more accurately reflect the operating status at crossing, and then alleviate due to can not be accurate
Vehicle is obtained precision is relatively low when to crossing traffic state simulation caused by the acceleration deceleration state on road the technical issues of,
It is achieved thereby that improve the technique effect of traffic behavior emulation precision.
In embodiments of the present invention, dual detector include the first detector and the second detector, wherein, the first detector and
Second detector is embedded in road.Vehicle drives towards the second detector after by the first detector, that is to say, that
In the embodiment of the present invention, the first detector and the second detector are arranged on target road section according to the direction of travel of vehicle.
In one alternate embodiment, the target road section includes：It stops among the section that vehicle is travelled far from crossing
The section of line, in the section that vehicle is travelled the section adjacent with crossing stop line.
In embodiments of the present invention, the section far from crossing stop line among the section that vehicle is travelled refers to two crossings
In section between stop line, other sections other than close to two crossing stop lines.When target road section is gone by vehicle
Among the section sailed during the section of separate crossing stop line, as shown in Figure 2 is dual detector in the embedded of the target road section
Mode.As shown in Fig. 2, the first detector is embedded in close to direction to the car；Second detector be embedded in it is close from vehicle direction, wherein,
First detector and L meters of the second detector spacing (preferably 4 meters).
It, can be by the when dual detector is buried in the section far from crossing stop line among the section travelled in vehicle
One detector and the second detector detect the operating status of vehicle to determine queue length of the vehicle in the target road section；To pass through
Queue length is simulated come the vehicle pass-through state to the section.Wherein, operating status includes：Accelerating running state is slowed down
Operating status and the state that travels at the uniform speed.
In embodiments of the present invention, the section adjacent with crossing stop line in the section that vehicle is travelled, that is, target road
The section close with crossing stop line in the section that section is travelled by vehicle.As shown in Figure 3 is when target road section is vehicle
In the section travelled during the section adjacent with crossing stop line, the embedding manner of dual detector.As shown in figure 3, above-mentioned two
Detector is embedded near the stop line of intersection, and the first detector is arranged far from the position of stop line, and the second detector is set
It puts close to the position of stop line, the first detector and the second detector record vehicle on each track in the form of sequence of events
Acceleration deceleration state when by crossing, so as to react the prevailing state at crossing.
It should be noted that in embodiments of the present invention, when dual detector is configured in the manner shown in Figure 2,
And when dual detector is configured in a manner of as shown in Figure 3, the determination process of the operating status of target vehicle can be with
It is determined by above-mentioned steps S102 to the described modes of step S106.This hair is discussed in detail below in conjunction with specific embodiment
The detection method for the travel condition of vehicle that bright embodiment is provided.
In general, detector when detecting that vehicle drives into the detection zone of detector, can generate come vehicle event package (that is,
On event packages), detector is generated from vehicle event package when detecting that vehicle sails out of detector detection zone (that is, off events
Packet), wherein, timestamp when being generated in each event package (including carrying out vehicle event package and from vehicle event package) comprising the time.
In embodiments of the present invention, detect target vehicle pass through dual detector when relative velocity when, can by come
Vehicle event package and relative velocity is determined from vehicle event package.
In an optional embodiment, relative velocity when detection target vehicle passes through dual detector includes following step
Suddenly：
Step S11 with reference to the vehicle commander of poor and described target vehicle at the first time, calculates the target vehicle and passes through described the
Relative velocity during one detector, wherein, the first time is poor for generation described first to carry out vehicle event package and generates described the
One from the time difference between vehicle event package；
Step S12 with reference to the second time difference and the vehicle commander of the target vehicle, calculates the target vehicle by described the
Relative velocity during two detectors, wherein, second time difference for generation described second carrys out vehicle event package and generates described the
Two from the time difference between vehicle event package.
In embodiments of the present invention, first, the unified vehicle that target vehicle is set in the first detector and the second detector
Long s (for example, 5 meters of default value of setting vehicle commander).
Then, based on target vehicle by being generated during the first detector first come vehicle event package (on event packages) and target
Vehicle passes through first generated during the first detector and calculates target vehicle process from the timestamp in vehicle event package (off event packages)
The duration of first detector.It is alternatively possible to by first come vehicle event package and first from the time difference t1 between vehicle event package
(that is, above-mentioned first time is poor) and the vehicle commander s of target vehicle calculates relative velocity of target vehicle when by the first detector
v1。
In embodiments of the present invention, it is also based on target vehicle and carrys out vehicle event by generated during the second detector second
Packet (on event packages) and target vehicle pass through generated during the second detector second from the time in vehicle event package (off event packages)
Stamp calculates the duration that target vehicle passes through the second detector.It is alternatively possible to by second come vehicle event package and second from vehicle thing
The vehicle commander s of time difference t2 (that is, above-mentioned second time difference) and target vehicle between part packet calculate target vehicle by second
Relative velocity v2 during detector.
Target vehicle is being obtained by the relative velocity of the first detector and is obtaining target vehicle by the second detector
Relative velocity after, it is possible to based on above-mentioned relative velocity determine target vehicle pass through dual detector when speed difference (that is,
v2-v1).After speed difference is determined, it will be able to operation shape when determining that target vehicle passes through dual detector based on speed difference
State is Accelerating running state, the state that still runs slowly or the state that travels at the uniform speed.
It should be noted that due to when one detector of exclusive use is tested the speed, vehicle commander's constant in calculating process
It is an assumed value, therefore, the generation of error, the only reference value as speed can be led to due to Vehicle length difference, i.e.,
Above-mentioned relative velocity.But since vehicle commander's constant s set in the first detector and the second detector is consistent, then, by phase
Speed v1 and relative velocity v2 are compared, it is possible to obtain whether vehicle speed when by two detectors changes
, so as to obtain operating status when vehicle passes through dual detector.
In embodiments of the present invention, determine that the operating status of the target vehicle includes following step based on the speed difference
Suddenly：
Step S1061 calculates the target vehicle by first detector and described the based on the speed difference
Percentage speed variation during two detectors；
Step S1062, with reference to the percentage speed variation and the target vehicle by first detector and described
Instantaneous velocity during the second detector calculates the velocity variable of the target vehicle；
Step S1063 determines the operating status of the target vehicle by the velocity variable.
In embodiments of the present invention, first, the above-mentioned speed difference being calculated is utilized, that is, v1-v2 can be calculated
Percentage speed variation c of target vehicle when by the first detector and the second detector is that is, (v1-v2)/v1.Then, speed is utilized
Instantaneous velocity v when spending change rate c and target vehicle by the first detector and the second detector, is calculated target vehicle
Velocity variable Δ v.
Finally, it is possible to using target vehicle velocity variable Δ v and target vehicle by the dual detector when
Between poor Δ t ratios delta v/ Δ t, target vehicle is calculated when by the first detector and this region of the second detector
Operating status.
If it is determined that operating status be Accelerating running state, then can also determine target vehicle pass through dual detector
When acceleration；If it is determined that operating status to run slowly state, then target vehicle can also be determined by double inspections
Survey deceleration during device；If it is determined that operating status to travel at the uniform speed state, then can also determine that target vehicle passes through
Speed during dual detector.
In an optional embodiment, instantaneous velocity v and time difference Δ t can be determined by following manner.
First, by the target vehicle by generated during first detector first come vehicle event package with by institute
State second generated during the second detector come vehicle event package and/or, by the target vehicle pass through first detector when
The first of generation is from vehicle event package and second by being generated during second detector from vehicle event package, calculates the target carriage
The time difference of the process dual detector；
Then, the instantaneous velocity is calculated with reference to the distance between the time difference and the dual detector.
Specifically, in embodiments of the present invention, can using target vehicle by generated during the first detector first come
Vehicle event package (on event packages) and target vehicle carry out vehicle event package (on event packages) by generated during the second detector second, meter
It calculates and obtains target vehicle by the first detector and the time difference Δ t of the second detector.Then, the first detector and second are utilized
Embedded distance L and time difference Δ t between detector can calculate wink of target vehicle when by dual detector region
Shi Sudu v, it should be noted that instantaneous velocity v is the accurate speed of vehicle intermediate point when by dual detector herein.
In embodiments of the present invention, first generated when can also pass through the first detector using target vehicle is from vehicle event
Packet (off event packages) and target vehicle pass through generated during the second detector second from vehicle event package (off event packages), calculate
To target vehicle by the first detector and the time difference Δ t of the second detector.Then, it is detected using the first detector and second
Embedded distance L and time difference Δ t between device can calculate instantaneous speed of target vehicle when by dual detector region
Spend v.
In embodiments of the present invention, after the operating status when determining that target vehicle passes through dual detector, it is possible to
The prevailing state of the vehicle and pedestrian at corresponding crossing is determined based on above-mentioned operating status.
It is the vehicle in the target road section if the quantity of target vehicle is multiple in an optional embodiment
In the section travelled in the case of the section adjacent with crossing stop line, the method further includes following steps：
S1081 determines multiple target carriages by each target vehicle in the operating status of the target road section
The crossing first run changing rule；
S1101 determines the prevailing state of the vehicle and pedestrian at the crossing based on the described first operation changing rule.
Open the bright moment in green light, under normal circumstances in the road the state of vehicle from halted state to normally travel shape
State is converted.Therefore, vehicle usually have one section acceleration process, and preceding 3-6 vehicle by stop line when, should be also in acceleration
In state.The following table 1 opens the bright moment for three Through Lanes in green light, under normal circumstances the sequence of events of vehicle acceleration
Table (that is, first operation changing rule), as shown in table 1.
Table 1
In table 1, "+" represents vehicle when by dual detector region in Accelerating running state, and "=" represents vehicle
In traveling at the uniform speed state when by dual detector region, "-" represents vehicle by dual detector region
When in running slowly state.
And once opened the bright moment in green light, still there is pedestrian to jaywalk, then will directly to reflect, following 2 table
It is shown.
Table 2
As seen from the above, by vehicle pass through dual detector when operating status it can be seen that vehicle by pedestrian
Influence when jaywalking, other road conditions can also be embodied using the mode of operating status, and only phenomenon is different.From
As can be seen that first three vehicle (that is, first car 1, first car 2, first car 3) travelled on the R1 of track is to add in table 2
Fast operating status.To being the state that runs slowly during the 4th vehicle 4, at this point it is possible to primarily determine before the 4th vehicle 4, there is row
People jaywalks.Run slowly state since the 4th vehicle 4 is in, influence at this time the 5th vehicle 5 be in the state that travels at the uniform speed or
Person runs slowly state.When the 6th vehicle 6 is in Accelerating running state, it can primarily determine out that pedestrian has passed through.
Certainly, above-mentioned "+", "-", "=" symbol are only intended to a kind of embodiment party of the operating status of characterization target vehicle
Formula can also characterize operating status with modes such as other symbols, numbers, be not specifically limited herein.
It is the vehicle in the target road section if the quantity of target vehicle is multiple in an optional embodiment
In the section travelled in the case of the section adjacent with crossing stop line, the method further includes：
Step S1082, by each target vehicle in the operating status of the target road section and each target
Vehicle passes through the instantaneous velocity during dual detector, determines second operation variation of multiple target vehicles at the crossing
Rule；
Step S1102 determines the prevailing state of the vehicle and pedestrian at the crossing based on the described second operation changing rule.
As an alternative embodiment, in order to further improve the accuracy of identification, can also by instantaneous velocity v with
Acceleration combines, and is analyzed, as shown in the following table 3 (that is, list data of the second operation changing rule).
Table 3
As can be seen from the above table, if speed combined, the information of more various dimensions will can be provided, meanwhile, also may be used
By two kinds of information of speed and acceleration, error to be filtered out.Further, the numerical value of acceleration can also be added in, so as to
Time of day of the further reaction each car when passing through crossing.
By foregoing description it is found that in embodiments of the present invention, being detected by way of existing dual detector detection speed
To correct velocity of the vehicle when passing through, then it is utilized respectively single detector and measures speed of the vehicle when passing through dual detector respectively
Difference, the mode of the acceleration of final determining vehicle, can more comprehensively obtain highway traffic data, and then alleviate due to nothing
Method accurately obtains vehicle precision is relatively low when to crossing traffic state simulation caused by the acceleration deceleration state on road
Technical problem, it is achieved thereby that improving the technique effect of traffic behavior emulation precision.
Embodiment two：
The embodiment of the present invention additionally provides a kind of detection device of travel condition of vehicle, the detection dress of the travel condition of vehicle
It puts and is mainly used for performing the detection method of travel condition of vehicle that the above of the embodiment of the present invention is provided, below to the present invention
The detection device for the travel condition of vehicle that embodiment provides does specific introduction.
Fig. 4 is a kind of schematic diagram of the detection device of travel condition of vehicle according to embodiments of the present invention, as shown in figure 4,
The detection device of the travel condition of vehicle mainly includes detection unit 10, the first determination unit 20 and the second determination unit 30,
In：
Detection unit 10, for detecting relative velocity when target vehicle passes through dual detector, wherein, the dual detector
In the first detector and the second detector be successively set on target according to the direction of travel and predetermined interval of the target vehicle
Section；
First determination unit 20, for based on the relative velocity determine the target vehicle pass through the dual detector when
Speed difference；
Second determination unit 30, for determining the operating status of the target vehicle based on the speed difference, wherein, it is described
Operating status includes at least one of：Travel at the uniform speed state, Accelerating running state and the state that runs slowly.
In embodiments of the present invention, relative velocity when detection target vehicle is by dual detector first, then, based on institute
Speed difference when relative velocity determines the target vehicle by the dual detector is stated, finally, is determined based on the speed difference
The operating status of the target vehicle.In the prior art, it is typically only capable to that moment of vehicle when by detector is calculated
Speed, without can determine that its acceleration mode when by detector.In embodiments of the present invention, by determining that target vehicle passes through
The operating status (for example, acceleration mode, at the uniform velocity deceleration regime and state) during dual detector is crossed, so as to confirm that vehicle enters section
When transport condition mode, can more accurately reflect the operating status at crossing, and then alleviate due to can not be accurate
Vehicle is obtained precision is relatively low when to crossing traffic state simulation caused by the acceleration deceleration state on road the technical issues of,
It is achieved thereby that improve the technique effect of traffic behavior emulation precision.
Optionally, in one alternate embodiment, the target road section includes：Far from road among the section that vehicle is travelled
The section of mouthful stop line, in the section that vehicle is travelled the section adjacent with crossing stop line.
Optionally, described device is additionally operable to：It is multiple, and the target road section is described in the quantity of the target vehicle
In the section that vehicle is travelled in the case of the section adjacent with crossing stop line, by each target vehicle in the mesh
The operating status in mark section determines that multiple target vehicles run changing rule the first of the crossing；Based on described first
Operation changing rule determines the prevailing state of the vehicle and pedestrian at the crossing.
Optionally, described device is additionally operable to：It is multiple, and the target road section is described in the quantity of the target vehicle
In the section that vehicle is travelled in the case of the section adjacent with crossing stop line, by each target vehicle in the mesh
The operating status for marking section and instantaneous velocity when each the target vehicle is by the dual detector, determine multiple mesh
Mark second operation changing rule of the vehicle at the crossing；The vehicle at the crossing is determined based on the described second operation changing rule
With the prevailing state of pedestrian.
Optionally, second determination unit is used for：The target vehicle is calculated described in process based on the speed difference
Percentage speed variation when the first detector and second detector；It is being passed through with reference to the percentage speed variation and the target vehicle
Instantaneous velocity when first detector and second detector is crossed, calculates the velocity variable of the target vehicle；It is logical
Cross the operating status that the velocity variable determines the target vehicle.
Optionally, described device is additionally operable to：First generated when passing through first detector by the target vehicle
Come vehicle event package with by second detector when generate second come vehicle event package and/or, passed through by the target vehicle
Generated during first detector first is crossed from vehicle event package and second by being generated during second detector from vehicle thing
Part packet calculates the time difference that the target vehicle passes through the dual detector；With reference to the time difference and the dual detector it
Between distance calculate the instantaneous velocity.
Optionally, detection unit is used for：With reference to the vehicle commander of poor and described target vehicle at the first time, the target carriage is calculated
Relative velocity during process first detector, wherein, the first time is poor to carry out vehicle event package for generation described first
And generation described first is from the time difference between vehicle event package；With reference to the second time difference and the vehicle commander of the target vehicle, calculate
The target vehicle passes through relative velocity during second detector, wherein, second time difference is generation described second
Come vehicle event package and generation described second from the time difference between vehicle event package.
The technique effect of the device that the embodiment of the present invention is provided, realization principle and generation and preceding method embodiment phase
Together, to briefly describe, device embodiment part does not refer to part, can refer to corresponding contents in preceding method embodiment.
Embodiment three：
The embodiment of the present invention additionally provides a kind of detecting system of travel condition of vehicle.
Fig. 5 is a kind of schematic diagram of the detecting system of travel condition of vehicle according to embodiments of the present invention, as shown in figure 5,
The system includes：Dual detector 100 and processor 200, wherein, the dual detector 100 is connected with the processor 200,
The first detector 1001 and the second detector 1002 in the dual detector 100 according to the target vehicle direction of travel and
Predetermined interval is successively set on target road section；Specifically as shown in Fig. 2 or Fig. 3.
Each detector in the dual detector 100 is used to give birth to when detecting that vehicle drives into the detection zone of detector
Into come vehicle event package and/or, for being generated when detecting that vehicle sails out of the detection zone from vehicle event package；
The processor 200 specifically includes for the step of performing method described above：Target vehicle is detected by double
Relative velocity during detector；Speed when determining that the target vehicle passes through the dual detector based on the relative velocity
Difference；The operating status of the target vehicle is determined based on the speed difference, wherein, the operating status include it is following at least it
One：Travel at the uniform speed state, Accelerating running state and the state that runs slowly.
In embodiments of the present invention, standard when detecting that vehicle is passing through by way of existing dual detector detection speed
True speed, then be utilized respectively but detector measures speed difference of the vehicle when passing through two detectors respectively, final determining vehicle
The mode of acceleration can more comprehensively obtain highway traffic data.And then it alleviates due to can not accurately obtain vehicle
Precision is relatively low when to crossing traffic state simulation caused by the acceleration deceleration state on road the technical issues of, so as to fulfill
Improve the technique effect of traffic behavior emulation precision.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In the description of the present invention, it should be noted that term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is only used for description purpose, and it is not intended that instruction or hint relative importance.
The detection method of a kind of travel condition of vehicle that the embodiment of the present invention is provided, the computer program of apparatus and system
Product, the computer readable storage medium of non-volatile program code that can perform including storing processor, described program generation
The instruction that code includes can be used for performing the method described in previous methods embodiment, and specific implementation can be found in embodiment of the method,
This is repeated no more.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit can refer to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of division of logic function, can there is other dividing mode in actual implementation, in another example, multiple units or component can
To combine or be desirably integrated into another system or some features can be ignored or does not perform.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical unit, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That each unit is individually physically present, can also two or more units integrate in a unit.
If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with
It is stored in the non-volatile computer read/write memory medium that a processor can perform.Based on such understanding, the present invention
The part that substantially contributes in other words to the prior art of technical solution or the part of the technical solution can be with software
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) performs each embodiment institute of the present invention
State all or part of step of method.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
Store the medium of program code.
Finally it should be noted that：Embodiment described above, only specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement is carried out to which part technical characteristic；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be subject to the protection scope in claims.
Claims (10)
1. a kind of detection method of travel condition of vehicle, which is characterized in that including：
Relative velocity when target vehicle passes through dual detector is detected, wherein, the first detector in the dual detector and the
Two detectors are successively set on target road section according to the direction of travel and predetermined interval of the target vehicle；
Speed difference when determining that the target vehicle passes through the dual detector based on the relative velocity；
The operating status of the target vehicle is determined based on the speed difference, wherein, the operating status include it is following at least it
One：Travel at the uniform speed state, Accelerating running state and the state that runs slowly.
2. according to the method described in claim 1, it is characterized in that, the target road section includes：The section that vehicle is travelled it
In the section far from crossing stop line, in the section that vehicle is travelled the section adjacent with crossing stop line.
3. according to the method described in claim 2, it is characterized in that, the quantity of the target vehicle is multiple, in the target
In the section that section is travelled by the vehicle in the case of the section adjacent with crossing stop line, the method further includes：
Determine multiple target vehicles on the road in the operating status of the target road section by each target vehicle
First operation changing rule of mouth；
The prevailing state of the vehicle and pedestrian at the crossing is determined based on the described first operation changing rule.
4. according to the method described in claim 2, it is characterized in that, the quantity of the target vehicle is multiple, in the target
In the section that section is travelled by the vehicle in the case of the section adjacent with crossing stop line, the method further includes：
By each target vehicle in the operating status of the target road section and each target vehicle by described double
Instantaneous velocity during detector determines that multiple target vehicles run changing rule the second of the crossing；
The prevailing state of the vehicle and pedestrian at the crossing is determined based on the described second operation changing rule.
5. method according to any one of claim 1 to 4, which is characterized in that the mesh is determined based on the speed difference
The operating status of mark vehicle includes：
Speed of target vehicle when by first detector and second detector is calculated based on the speed difference
Spend change rate；
With reference to the percentage speed variation and the target vehicle when by first detector and second detector
Instantaneous velocity calculates the velocity variable of the target vehicle；
The operating status of the target vehicle is determined by the velocity variable.
6. according to the method described in claim 5, it is characterized in that, the method further includes：
It is examined by the target vehicle by generated during first detector first come vehicle event package with passing through described second
Survey second generated during device come vehicle event package and/or, the generated when passing through first detector by the target vehicle
One from vehicle event package and second by being generated during second detector from vehicle event package, calculates the target vehicle by institute
State the time difference of dual detector；
The instantaneous velocity is calculated with reference to the distance between the time difference and the dual detector.
7. according to the method described in claim 6, it is characterized in that, detect relative velocity when target vehicle passes through dual detector
Including：
With reference to the vehicle commander of poor and described target vehicle at the first time, calculate when the target vehicle passes through first detector
Relative velocity, wherein, the poor first time is that generation described first comes vehicle event package and generation described first from vehicle event package
Between time difference；
With reference to the second time difference and the vehicle commander of the target vehicle, when calculating the target vehicle by second detector
Relative velocity, wherein, second time difference comes vehicle event package and generation described second from vehicle event package for generation described second
Between time difference.
8. a kind of detection device of travel condition of vehicle, which is characterized in that including：
Detection unit, relative velocity during for detecting target vehicle by dual detector, wherein, the in the dual detector
One detector and the second detector are successively set on target road section according to the direction of travel and predetermined interval of the target vehicle；
First determination unit, for based on the relative velocity determine the target vehicle pass through the dual detector when speed
Difference；
Second determination unit, for determining the operating status of the target vehicle based on the speed difference, wherein, the operation shape
State includes at least one of：Travel at the uniform speed state, Accelerating running state and the state that runs slowly.
9. a kind of detecting system of travel condition of vehicle, which is characterized in that including：Dual detector and processor, wherein, it is described double
Detector is connected with the processor, and the first detector and the second detector in the dual detector are according to the target carriage
Direction of travel and predetermined interval be successively set on target road section；
Each detector in the dual detector, which is used to generate when detecting that vehicle drives into the detection zone of detector, carrys out vehicle
Event package and/or, for being generated when detecting that vehicle sails out of the detection zone from vehicle event package；
The step of processor is used to perform the method described in any one of the claims 1 to 7：
Detect relative velocity when target vehicle passes through dual detector；
Speed difference when determining that the target vehicle passes through the dual detector based on the relative velocity；
The operating status of the target vehicle is determined based on the speed difference, wherein, the operating status include it is following at least it
One：Travel at the uniform speed state, Accelerating running state and the state that runs slowly.
10. a kind of computer-readable medium of non-volatile program code that can perform with processor, which is characterized in that described
Program code makes the processor perform any the method in the claims 1-7.
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| CN201810069107.XA CN108230696B (en) | 2018-01-24 | 2018-01-24 | Method, device and system for detecting vehicle running state |
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|---|---|---|---|
| CN201810069107.XA CN108230696B (en) | 2018-01-24 | 2018-01-24 | Method, device and system for detecting vehicle running state |
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| CN108230696B CN108230696B (en) | 2020-09-18 |
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| CN110435668A (en) * | 2019-06-26 | 2019-11-12 | 驭势科技（北京）有限公司 | Abatement detecting method, module and the mobile unit of intelligent driving vehicle executing agency |
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