CN109509354B - Automatic recognition system for vehicle types of road running vehicles - Google Patents
Automatic recognition system for vehicle types of road running vehicles Download PDFInfo
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- CN109509354B CN109509354B CN201811582184.1A CN201811582184A CN109509354B CN 109509354 B CN109509354 B CN 109509354B CN 201811582184 A CN201811582184 A CN 201811582184A CN 109509354 B CN109509354 B CN 109509354B
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses an automatic recognition system for vehicle types of vehicles running on a road, which is characterized by comprising a geomagnetic detection unit array, a coordinator, a vehicle type recognition server and a communication module; the array of the geomagnetic detection units is buried on the cross section of a road shallowly, the same array units collect magnetic field information according to the same frequency and the same phase, the arrangement mode of the array of the geomagnetic detection units is that at least 1 geomagnetic detection unit is arranged in front of the center line of a lane, a plurality of geomagnetic detection units are uniformly distributed on the cross section of the lane at the back and are perpendicular to the advancing direction of a vehicle, and at least 3 detectors which are passed by the vehicle can be ensured. The advantages are that: the problems of few vehicle type identification types, low identification precision and the like of the similar system caused by random vehicle running tracks are solved; the vehicle models such as cars, small and medium-sized buses, large buses, medium and light trucks, heavy trucks and the like can be accurately identified; the method realizes all-weather 24-hour uninterrupted automatic detection and provides real-time traffic flow information for traffic management departments.
Description
Technical Field
The invention relates to an automatic recognition system for vehicle types of vehicles running on a road, and belongs to the technical field of intelligent traffic.
Background
The existing vehicle type recognition system is mainly based on video image analysis, ultrasonic waves, electromagnetic induction coils, laser scanning and geomagnetic detection principles. The video image analysis system is easily influenced by weather conditions, and the detection and identification precision is reduced under the condition of fog, rain and snow. Ultrasonic detection systems are also susceptible to adverse weather, such as high winds, heavy rain, and vehicle occlusion. When the road traffic flow is large and the distance between vehicles is small, the electromagnetic induction coil system is easy to generate mutual interference between front and rear vehicles, and the identification precision is influenced. The laser scanning system has high detection and identification precision, but is easily influenced by weather conditions such as air dust, fog, rain, snow and the like, and has high cost.
The ferromagnetic materials distributed in the vehicle structure can generate a magnetic field according to the geomagnetic identification principle, and the ferromagnetic materials in different types of vehicles have different distribution characteristics, so that the generated magnetic field conditions are different. The system based on the geomagnetic detection principle identifies the vehicle type by analyzing the magnetic field difference generated by different vehicles, takes a stable earth magnetic field as a reference, and has the characteristics of strong stability and high identification precision. At present, a system based on the principle of geomagnetic detection mainly uses a single geomagnetic detection unit, and can only detect the spatial local change of the magnetic field. If the running vehicle passes through the upper part of the single acquisition unit, only the magnetic field generated by one longitudinal local vehicle body of the vehicle can be detected, and the influence of the magnetic field generated by the whole vehicle cannot be detected. Experiments show that the difference of the magnetic field conditions obtained when the vehicle passes through the upper part of the geomagnetic detection unit by different driving paths is large, so that the interference influence generated by the relative position difference between the driving vehicle and the identification system needs to be avoided.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art, provide an automatic vehicle type identification system for a road running vehicle, overcome the defects of the prior art structure, realize the scanning of the magnetic field generated by ferromagnets of the three parts of the vehicle head, the vehicle tail and the vehicle frame and all cross sections, solve the problems of few vehicle type identification types, low identification precision and the like caused by random uncertainty of the running track of the road vehicle, provide more information for vehicle type identification, and improve the vehicle type identification precision and the vehicle type types which can be identified.
In order to solve the technical problem, the invention provides an automatic recognition system for vehicle types of vehicles running on roads, which is characterized by comprising a geomagnetic detection unit array, a coordinator, a vehicle type recognition server and a communication module;
the geomagnetic detection unit array is buried on the cross section of a road shallowly, the arrangement mode of the geomagnetic detection unit array is that at least 1 geomagnetic detection unit is arranged in front of the center line of a lane, a plurality of geomagnetic detection units are uniformly distributed on the cross section of the lane at the back and are vertical to the advancing direction of a vehicle, at least 3 geomagnetic detection units passed by the vehicle are ensured, the same array unit collects magnetic field information according to the same frequency and the same phase, and the geomagnetic detection unit can detect the magnetic fields generated by ferromagnets of the head, the tail and the frame of the vehicle and all cross sections of the vehicle;
the coordinator establishes a wireless sensing network based on a ZigBee protocol and is used for synchronously configuring clocks of multiple geomagnetic detection units, controlling the geomagnetic detection units in the geomagnetic detection unit array to work in a same-frequency and same-phase data acquisition mode and scanning a magnetic field generated by ferromagnets with multiple cross sections and running through three parts of a vehicle head, a vehicle tail and a vehicle frame; the coordinator receives the scanning magnetic field information of the geomagnetic detection unit array in real time through a wireless sensor network;
the vehicle type recognition server is arranged beside a road, a recognition system is arranged and used for receiving magnetic field information sent by the coordinator in real time, storing, processing, calculating, recognizing and counting the magnetic field information, judging the vehicle type and counting road traffic flow characteristics, the vehicle type recognition server sends the traffic flow characteristics and vehicle type recognition results to a monitoring terminal of a road traffic management center through a communication module, online recognition of the vehicle type of a road running vehicle is achieved, and support is provided for traffic management of traffic management departments.
Furthermore, the arrangement mode of the geomagnetic detection unit array is that at least 1 geomagnetic detection unit is arranged in front of the geomagnetic detection unit and is arranged on the center line of the lane, and 4 geomagnetic detection units are uniformly distributed on the cross section of the lane and on a straight line perpendicular to the advancing direction of the vehicle; the distance between the geomagnetic detection units at the outermost side and the curb or the adjacent lane line is 0.2-0.4 m, and the distance between the geomagnetic detection units at the same cross section of the road is 0.2-1 m.
Furthermore, the geomagnetic detection unit adopts an embedded magnetic field detection acquisition board, has a ZigBee wireless communication function, is sealed into a cylinder by using rubber, and has three-dimensional space magnetic field detection capability; the X-axis detects a magnetic field in the vehicle advancing direction, the Y-axis detects a magnetic field perpendicular to the vehicle advancing direction, and the Z-axis detects a magnetic field perpendicular to the lane surface and in the upward direction.
Furthermore, the coordinator establishes a wireless sensing network based on a ZigBee protocol, a star-shaped Zigbee wireless sensing network is established between the coordinator and the geomagnetic detection unit, point-to-point communication is performed between the coordinator and the geomagnetic detection unit, and a geomagnetic detection unit array is configured to acquire magnetic field information generated by the vehicle ferromagnets in the same frequency and phase.
Further, the vehicle type recognition server comprises a calculation unit, a recognition unit and a statistic unit;
the computing unit computes the speed, the length and the width of the vehicle by adopting a self-adaptive threshold algorithm according to the geomagnetic detection array detection data, and performs fitting interpolation on the detection data of which the speed exceeds a specified value;
the identification unit judges the type of the vehicle passing by using a D-S evidence theory, and the identification space is H ═ H1,h2,h3,h4,h5}，{hiI is 1,2,3,4,5} is a set of evidential focal elements; wherein h is1H car, h2H ═ medium and small size passenger car }, h3H ═ medium and light trucks }, h4H ═ large bus }, h5The identification unit takes the vehicle speed, the vehicle length and the vehicle width calculated by the calculation unit and characteristic values of the vehicle head, the vehicle tail and the vehicle frame as evidences E respectively1、E2、E3、E4、E5、E6Comprehensively judging to obtain the vehicle type with the maximum confidence level of the vehicle passing by;
and the statistical unit is used for counting the traffic flow characteristics on the road according to the vehicle speed calculated by the calculation unit and the vehicle type judged by the evaluation unit.
Further, the communication module adopts an 3/4G communication module.
The invention achieves the following beneficial effects:
(1) the earth magnetic field is relatively stable, and the system is not easily influenced by external environment changes during working.
(2) The defects of the structure in the prior art are overcome, the scanning of the magnetic field generated by ferromagnets of the three parts of the vehicle head, the vehicle tail and the vehicle frame and all cross sections is realized, the problems of few vehicle type identification types, low identification precision and the like caused by random uncertain running tracks of road vehicles are solved, more information is provided for vehicle type identification, and the vehicle type identification precision and the vehicle type types capable of being identified are improved.
(3) The method is suitable for vehicle type recognition of single-lane, double-lane and multi-lane driving environments under real road environments, and has the characteristic of wide application range.
(4) The equipment purchasing and system deployment cost of modes such as laser detection and ultrasonic detection is high, and the total cost is hundreds of thousands. The system adopts a low-cost embedded detector, selects a universal server as a vehicle type identification server, adopts an 3/4G wireless communication module which is also a universal device and has low price, greatly reduces the total construction cost, has a maintenance-free service life of more than 5 years, and has obvious comprehensive effect.
Drawings
Fig. 1 is a schematic view of a geomagnetism detection unit shape and a detection axis distribution;
FIG. 2 is a schematic diagram of an array arrangement of geomagnetic detection units;
FIG. 3 is a block diagram of the system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, the geomagnetism detection unit is shaped and three detection axes are distributed, and is sealed into a cylinder by using rubber, so that the geomagnetic detection unit has three-dimensional space magnetic field detection capability. The x-axis detects a magnetic field in the direction of a lane, the y-axis detects a magnetic field in the direction vertical to the lane, and the z-axis detects a magnetic field in the direction vertical to the surface of the lane.
As shown in fig. 2, the array of geomagnetic detection units is buried shallowly on the cross section of the road, the array of geomagnetic detection units is arranged in such a way that 1 geomagnetic detection unit is in front and arranged on the center line of the lane, 4 geomagnetic detection units are behind and uniformly distributed on the cross section of the lane and on a straight line perpendicular to the advancing direction of the vehicle, at least 3 detectors through which the vehicle passes can be ensured, the distance between the outermost detector and the curb or the middle lane is 0.2-0.4 m, the distance between adjacent detection units is 0.2-1 m, at least 3 detectors through which the vehicle passes can be ensured, and the magnetic field generated by ferromagnets at the head, the tail and the frame of the vehicle can be detected. And for the arrangement and installation of the geomagnetic detection units, the x axis of a detection axis is parallel to the lane direction, the y axis of the detection axis is vertical to the lane direction and points to the roadside, and the z axis of the detection axis is vertical to the road surface and faces upwards.
As shown in the schematic system layout diagram of fig. 3, a ZigBee protocol-based wireless sensor network is constructed by the geomagnetic detection units in the geomagnetic detection unit array and the coordinator, and the point-to-point communication distance between the coordinator and the geomagnetic detection units is greater than 100m, so that the communication distance requirement in the system application environment is met. The coordinator and the geomagnetic detection unit array wireless sensing network adopt a star-shaped structure, and the geomagnetic detection unit is used as a terminal node to establish point-to-point communication with the coordinator.
The coordinator microprocessor adopts STM32F103, the radio frequency chip adopts JN5168, the carrier frequency is 2.4GHz, and the transmitting power is 20 dBm. The vehicle type identification server adopts a Johnson IPC-610L/610H/IPC-610MB industrial personal computer.
(1) Establishing a wireless sensor network
The monitoring terminal sends a starting instruction to the vehicle type identification server through an 3/4G mobile communication network, after the vehicle type identification server obtains the starting instruction, a network establishing instruction is sent to the coordinator through an RS232 communication serial port, the coordinator selects an idle channel, and the geomagnetic detection unit is used as a terminal node and adopts the same channel as the coordinator. In the process of channel scanning by the coordinator, the geomagnetic detection unit provides correct authentication information to the coordinator and requests to join the wireless sensor network. When a geomagnetic detection unit joins the network, the coordinator dynamically provides a 16-bit MAC network address for the geomagnetic detection unit, and the coordinator grasps node information in the wireless sensor network in real time and maintains a network information table to form the wireless sensor network with a complete communication link.
(2) Configuring wireless sensor network clock synchronization
The wireless sensing network between the coordinator and the geomagnetic detection unit is of a star-shaped structure, the communication distance is short, and a multi-hop process does not exist due to the adoption of point-to-point communication between the coordinator and the geomagnetic detection unit. The vehicle type recognition server sends a vehicle type recognition server local time message to the coordinator through the RS232 communication serial port, and the coordinator broadcasts the message to the geomagnetic detection units in the geomagnetic detection unit array through the wireless sensor network.
Because the geomagnetic detection unit is close to the geomagnetic detection unit in the array, the geomagnetic detection unit receives the messages at the same time. And the geomagnetic detection unit calculates time offset and modifies own clock according to the local time of the vehicle type identification server in the message, so that the clock synchronization of all geomagnetic detection units in the geomagnetic detection unit array is realized.
(3) Online vehicle type identification
The invention controls the geomagnetic detection unit array to scan a magnetic field generated by a vehicle passing by, and sends the scanning magnetic field to the coordinator by means of the established clock synchronization wireless sensing network, and the scanning magnetic field is sent to the vehicle type identification server by the coordinator through the RS232 serial port communication interface. The vehicle type recognition server comprises a calculation unit, a recognition unit and a statistic unit.
The calculating unit calculates the speed of the passing vehicle according to the geomagnetic detection array detection data. The calculation unit respectively extracts the magnetic field detection data of each detection unit in the vehicle passing process, and automatically and gradually selects a threshold value until the variance calculated by taking the selected threshold value as a mean value is minimum, wherein the threshold value is marked as k; the distance between the front row unit and the rear row unit of the geomagnetic detection unit array is marked as s, the detection points of the earliest threshold k of the front row geomagnetic detection unit and the rear row geomagnetic detection unit are respectively selected, the time difference between the two detection points is calculated to be delta t, and the speed of the passing vehicle is v ═ s/delta t. And performing fitting interpolation on the detection data with the vehicle speed exceeding a specified value, and calculating the vehicle length and the vehicle width characteristics by adopting an adaptive threshold algorithm.
The computing unit selects the rear row groundTwo detection points p with k detection data and maximum detection time difference in magnetic detection unit1、p2Will detect point p1、p2Time difference Δ t1As a time parameter for calculating the vehicle length, the vehicle length L ═ v × Δ t1(ii) a Selecting any two geomagnetic detection units which detect the threshold value k in the rear row detection units as a pair of combinations, calculating the maximum vertical distance relative to the vehicle running direction in all the combinations, and recording the maximum vertical distance as the vehicle width W; the collected data are divided into 3 parts according to different parts of the vehicle head, the vehicle tail, the vehicle frame and the like, characteristic values such as mean value, variance and the like of the detection data of each part are respectively calculated, and the characteristic values of the vehicle head, the vehicle tail and the vehicle frame are respectively recorded as H, T, S.
The identification unit utilizes the D-S evidence theory to judge the type of the running vehicle, and the identification space is H ═ H1,h2,h3,h4,h5}，{hiI is 1,2,3,4,5} is a set of evidential focal elements; wherein h is1H is medium and small size car2H ═ medium and small size passenger car }, h3H ═ medium and light trucks }, h4H ═ large bus }, h5Heavy goods vehicle }; the recognition unit takes the vehicle speed, the vehicle length and the vehicle width calculated by the calculation unit and the characteristic values of the vehicle head, the vehicle tail and the vehicle frame as evidence E respectively1、E2、E3、E4、E5、E6And estimating the type of the vehicle type with the maximum driving vehicle confidence.
The identification unit fuses the vehicle speed, the vehicle length, the vehicle width, the vehicle head, the vehicle tail and the vehicle frame characteristic values by using a D-S evidence theory to jointly support the same conclusion, and in the unit, uncertainty knowledge is expressed as follows:
If E1then H＝{h1,h2,h3,h4,h5},CF＝{a1,a2,a3,a4,a5}；
If E2then H＝{h1,h2,h3,h4,h5},CF＝{b1,b2,b3,b4,b5}；
If E3then H＝{h1,h2,h3,h4,h5},CF＝{c1,c2,c3,c4,c5}；
If E4then H＝{h1,h2,h3,h4,h5},CF＝{d1,d2,d3,d4,d5}；
If E5then H＝{h1,h2,h3,h4,h5},CF＝{e1,e2,e3,e4,e5}；
If E6then H＝{h1,h2,h3,h4,h5},CF＝{f1,f2,f3,f4,f5}；
(1) e is a precondition, i.e. evidence, E1、E2、E3、E4、E5、E6Respectively representing the vehicle speed, the vehicle length, the vehicle width, the vehicle head, the vehicle tail and the vehicle frame characteristic values;
(2) h is the conclusion and also the recognition space, H1, H2, H3, H4, H5 are the basic elements of the subset;
(3) CF is a credibility factor expressed in a set form, and a in each piece of knowledgei、bi、ci、di、ei、fiAre respectively connected with hi(i-1, 2,3,4,5) corresponds to, indicating hiThe reliability of (2);
wherein, Σ ci is less than or equal to 1, ci is more than or equal to 0, i is 1,2,3,4, 5;
from empirical space, EiProbability distribution functions m1, m2, m3, m4, m5 and m6 of (i ═ 1,2,3,4,5 and 6), the evidence is compounded by using a D-S evidence theory to obtain a probability distribution function m of compound evidence, then m (h1), m (h2), m (h3), m (h4), m (h5) and m (H) are obtained, the lower limits Bel (h1), Bel (h2), Bel (h3), Bel (h4) and Bel (h5) of interval trust degrees and the upper limits Pl (h1), Pl (h2), Pl (h3), Pl (h4) and Pl (h5) of interval trust degrees of vehicles in five vehicle type intervals can be obtained, and the trust degrees of the vehicles in five vehicle type intervals can be obtained through comparisonAnd when the interval with the maximum confidence level is reached, taking the interval as the judged vehicle type of the running vehicle.
The statistical unit is used for counting the traffic flow characteristics on the road according to the vehicle speed calculated by the calculating unit and the vehicle type judged by the evaluating unit.
The vehicle type recognition server sends the traffic flow characteristics and the vehicle type recognition results to a monitoring terminal of a road traffic management center through a communication module, so that the online recognition of the vehicle types of the vehicles running on the road is realized, and support is provided for traffic management of traffic management departments.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (4)
1. An automatic vehicle type identification system for vehicles running on a road is characterized by comprising a geomagnetic detection unit array, a coordinator, a vehicle type identification server and a communication module;
the geomagnetic detection unit array is buried on the cross section of a road shallowly, the arrangement mode of the geomagnetic detection unit array is that at least 1 geomagnetic detection unit is arranged in front of the center line of a lane, a plurality of geomagnetic detection units are uniformly distributed on the cross section of the lane at the back and are vertical to the advancing direction of a vehicle, at least 3 geomagnetic detection units passed by the vehicle are ensured, the same array unit collects magnetic field information according to the same frequency and the same phase, and the geomagnetic detection unit can detect the magnetic fields generated by ferromagnets of the head, the tail and the frame of the vehicle and all cross sections of the vehicle;
the coordinator establishes a wireless sensing network based on a ZigBee protocol and is used for synchronously configuring clocks of multiple geomagnetic detection units, controlling the geomagnetic detection units in the geomagnetic detection unit array to work in a same-frequency and same-phase data acquisition mode and scanning a magnetic field generated by ferromagnets with multiple cross sections and running through three parts of a vehicle head, a vehicle tail and a vehicle frame; the coordinator receives the scanning magnetic field information of the geomagnetic detection unit array in real time through a wireless sensor network;
the vehicle type recognition server is arranged beside a road, a recognition system is arranged and used for receiving magnetic field information sent by the coordinator in real time, storing, processing, calculating, recognizing and counting the magnetic field information, judging vehicle types and counting road traffic flow characteristics, and the vehicle type recognition server sends the traffic flow characteristics and vehicle type recognition results to a monitoring terminal of a road traffic management center through a communication module;
the arrangement mode of the geomagnetic detection unit array is that at least 1 geomagnetic detection unit is arranged in front of the geomagnetic detection unit and is arranged on the center line of the lane, and 4 geomagnetic detection units are uniformly distributed on the cross section of the lane and are vertical to a straight line of the advancing direction of the vehicle; the distance between the geomagnetic detection unit at the outermost side and the curb or the adjacent lane line is 0.2-0.4 m, and the distance between the adjacent geomagnetic detection units positioned on the same cross section of the road is 0.2-1 m;
the vehicle type recognition server comprises a calculation unit, a recognition unit and a statistic unit;
the computing unit computes the speed, the length and the width of the vehicle by adopting a self-adaptive threshold algorithm according to the geomagnetic detection array detection data, and performs fitting interpolation on the detection data of which the speed exceeds a specified value;
the identification unit judges the type of the vehicle passing by using a D-S evidence theory, and the identification space is H = { H = (H)1,h2,h3,h4,h5}，{hiI =1,2,3,4,5} is a set of evidence focal elements; wherein h is1= car, h2= small and medium size bus, h3= medium and light truck, h4= large bus, h5And the identification unit takes the vehicle speed, the vehicle length and the vehicle width calculated by the calculation unit and characteristic values of the vehicle head, the vehicle tail and the vehicle frame as evidences E respectively1、E2、E3、E4、E5、E6Comprehensively judging to obtain the vehicle type with the maximum confidence level of the vehicle passing by;
and the statistical unit is used for counting the traffic flow characteristics on the road according to the vehicle speed calculated by the calculation unit and the vehicle type judged by the evaluation unit.
2. The automatic vehicle type recognition system for road vehicles according to claim 1, wherein the geomagnetic detection unit adopts an embedded magnetic field detection acquisition board, has a ZigBee wireless communication function, is sealed into a cylinder by using rubber, and has three-dimensional space magnetic field detection capability; the X-axis detects a magnetic field in the vehicle advancing direction, the Y-axis detects a magnetic field perpendicular to the vehicle advancing direction, and the Z-axis detects a magnetic field perpendicular to the lane surface and in the upward direction.
3. The automatic vehicle type identification system for road-driven vehicles according to claim 1, wherein the coordinator establishes a wireless sensing network based on a ZigBee protocol, a star-shaped Zigbee wireless sensing network is established between the coordinator and the geomagnetic detection unit, point-to-point communication is performed between the coordinator and the geomagnetic detection unit, and a geomagnetic detection unit array is configured to acquire magnetic field information generated by a vehicle ferromagnet in the same frequency and phase.
4. The automatic vehicle type recognition system for road vehicles according to claim 1, wherein the communication module adopts 3/4G communication module.
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