CN109581405A - A kind of lorry ETC charging method, server and system based on laser radar - Google Patents
A kind of lorry ETC charging method, server and system based on laser radar Download PDFInfo
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- CN109581405A CN109581405A CN201811627736.6A CN201811627736A CN109581405A CN 109581405 A CN109581405 A CN 109581405A CN 201811627736 A CN201811627736 A CN 201811627736A CN 109581405 A CN109581405 A CN 109581405A
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q20/00—Payment architectures, schemes or protocols
- G06Q20/08—Payment architectures
- G06Q20/14—Payment architectures specially adapted for billing systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/02—Marketing; Price estimation or determination; Fundraising
- G06Q30/0283—Price estimation or determination
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
- G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
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Abstract
This application provides a kind of lorry ETC charging method based on laser radar, comprising: the model data of target lorry is determined by laser radar；Obtain the load-carrying data of the target lorry；The type of the target lorry is determined according to the model data of the target lorry and load-carrying data and calculates payment amount of money；After collecting the payment amount of money via ETC charging system, the target lorry of letting pass.Using this method, laser radar can more accurately identify the type of lorry, by the combination with ETC system, to avoid lorry the fee evasion on the lane ETC the phenomenon that.
Description
Technical field
This application involves intelligent transportation field more particularly to a kind of lorry ETC charging methods based on laser radar, service
Device and system.
Background technique
Intelligent transportation is a service system based on hyundai electronics information technology towards communications and transportation, its outstanding feature
Be with the collection of information, processing, publication, exchange, analysis, using serving as theme, provide multifarious service for traffic participant,
ETC market scale grows at top speed under this trend.
Car and car are only supported in traditional lane ETC, do not support lorry, with the high speed development of ETC system, at present
There are some provinces carrying out the lane lorry ETC one by one, however existing vehicle cab recognition technology can not be accurately to goods
Vehicle is classified by high speed modular, leads to the phenomenon that vehicle fee evasion occur.
Summary of the invention
This application provides a kind of lorry ETC charging method based on laser radar, comprising:
The model data of target lorry is determined by laser radar；
Obtain the load-carrying data of the target lorry；
The type of the target lorry is determined according to the model data of the target lorry and load-carrying data and calculates payment
The amount of money；
After collecting the payment amount of money via ETC charging system, the target lorry of letting pass.
Further, the model data step that target lorry is determined by laser radar specifically:
It receives and the detection data that the laser radar of trackside returns is set；
The axle quantity of the target lorry is determined according to the detection data.
Further, the axle quantity that the target lorry is determined according to the detection data specifically:
When prestoring axle number is 0, if detecting, detection data is less than preset value, records by starting point of current point in time
It predetermined time period and prestores axle number and adds 1；
It is every one-time detection data occur from preset value is greater than to the variation for being less than preset value, then in predetermined time period
It prestores axle number and adds 1；
When reaching preset time length terminal, the axle quantity that axle number is the target lorry is prestored described in determination；
The axle number N that prestores is reset to 0.
Further, the detection data step that the laser radar of trackside returns is arranged in described receive specifically:
Laser radar emits the first light pulse, and starts to intermediate frequency step-by-step counting；
Laser radar receives reflected first light pulse, and terminates to intermediate frequency step-by-step counting, determines in during this period
The quantity n of frequency pulse；
The quantity n for the medium-frequency pulse that the laser radar is sent is received, the quantity n of the medium-frequency pulse is testing number
According to wherein medium-frequency pulse is predetermined pulse signal.
Further, the laser radar emits the first light pulse, and starts to intermediate frequency step-by-step counting step specifically:
Laser radar inner total reflection mirror transmits portion of energy while laser radar emits the first light pulse, and as rising
Beginning trigger pulse is conveyed to laser receiver by sampler, is changed into electricity in the photodetector of the laser receiver
Signal, and pass through amplifier amplification and the enabling nulse after pulse former shaping, into gating circuit, as gating circuit
Signal, gating circuit enabling nulse signal control downward swing door, oscillator generate medium-frequency pulse just enter counter, count
Device starts counting.
Further, laser radar receives reflected first light pulse, and terminates and have to intermediate frequency step-by-step counting step
Body are as follows:
After laser radar receives reflected first light pulse, by photodetector by described reflected first
Light pulse is changed into electric signal, and after amplifier amplifies, is transported to threshold circuit, and the signal more than threshold level is sent to pulse
Gating circuit is inputted after wave-shaping circuit shaping, as the shutdown pulse signal of gating circuit, gating circuit is in shutdown pulse signal
Control under close the door, medium-frequency pulse stop enter counter, counter terminate to intermediate frequency step-by-step counting.
Further, the target lorry is determined according to the model data and load-carrying data of the target lorry described
Type and before calculating payment amount of money step, further includes:
The license board information of the target lorry is obtained by camera；
The then type and meter that the target lorry is determined according to the model data and load-carrying data of the target lorry
Calculate payment amount of money step specifically:
The type of the target lorry is determined simultaneously according to the model data of the target lorry, load-carrying data and license board information
Calculate payment amount of money.
Further, the laser radar is 20cm-40cm away from ground level.
Another aspect, the present invention also provides a kind of lorry ETC charging server based on laser radar, comprising:
Vehicle determining module: the model data of target lorry is determined by laser radar；
Load-carrying determining module: the load-carrying data of the target lorry are obtained；
Amount of money determining module: the class of the target lorry is determined according to the model data of the target lorry and load-carrying data
Type simultaneously calculates payment amount of money；
ETC transaction modules: after collecting the payment amount of money via ETC charging system, the target lorry of letting pass.
Another aspect, the lorry ETC charging system based on laser radar that the present invention also provides a kind of, including at least one
A laser radar, at least one server as claimed in claim 9 being connected with the laser radar, at least one and it is described
The connected ETC lane toll system of server.
Using this method, laser radar can more accurately identify the type of lorry, by the combination with ETC system,
To avoid lorry the fee evasion on the lane ETC the phenomenon that.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the lorry ETC charging method based on laser radar disclosed in the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
A kind of lorry ETC charging method based on laser radar of the present invention, comprising:
Step S10: the model data of target lorry is determined by laser radar；
Specifically, the model data step for determining target lorry by laser radar specifically:
Step S101: it receives and the detection data that the laser radar of trackside returns is set；
Step S102: determining the axle quantity of the target lorry according to the detection data, and wherein axle quantity is
Model data.
It should be understood that lorry type is generally divided into 5 classes by its load-carrying, load-carrying is with axle quantity be it is corresponding, because
This is assured that this is the lorry which kind of belongs to by obtaining axle and load-carrying data.
Step S20: obtaining the load-carrying data of the target lorry, and wherein load-carrying data are obtained by electronic scale
's；
Step S30: the type of the target lorry is determined simultaneously according to the model data of the target lorry and load-carrying data
Payment amount of money is calculated, in the present embodiment, since target can be obtained by the vehicle of the available vehicle of axle quantity
The core of lorry carries and self weight, can distinguish whether lorry overloads in conjunction with load-carrying data, therefore can more accurately calculate payment gold
Volume；
Step S40: after collecting the payment amount of money via ETC charging system, the target lorry of letting pass.
In the present embodiment, the type of lorry and the corresponding relationship of model data, load-carrying data are marked are as follows:
Goods one, two: 2 axis of goods
Three: 3 axis of goods
Four: 4 axis of goods
Five: >=5 axis of goods.
Certainly, in other different embodiments, corresponding relationship can not also be identical, it is not limited here.
Specifically, in other embodiments, the lorry ETC charging method based on laser radar, comprising:
Step S10: the model data of target lorry is determined by laser radar；
Step S20: the load-carrying data of the target lorry are obtained；
Step S30: the license board information of the target lorry is obtained by camera；Specifically, camera can be used for knowing
The license plate color of other target lorry.
Step S40: the target lorry is determined according to the model data of the target lorry, load-carrying data and license board information
Type and calculate payment amount of money.
Step S50: after collecting the payment amount of money via ETC charging system, the target lorry of letting pass.
Compared with a upper embodiment, the present embodiment can be distinguished the color of lorry license plate, therefore can be more accurate
Type of vehicle is distinguished, specific:
One: 2 axis of goods, blue license plate
Two: 2 axis of goods, yellow license plate
Three: 3 axis of goods, yellow license plate
Four: 4 axis of goods, yellow license plate
Five: >=5 axis of goods, yellow license plate.
Using this method, laser radar and camera can more accurately identify the type combination load-carrying data of lorry into
And can accurately determine payment amount of money, by the combination with ETC system, so that lorry fee evasion on the lane ETC be avoided to show
As.
On the basis of example 1, laser radar is to emit the characteristic quantities such as the position of detecting laser beam target, speed
Radar system.Its working principle is that objective emission detectable signal, the reflected signal of slave target that then will receive
With transmitting signal be compared, after making proper treatment, so that it may obtain target for information about, as target range, orientation, height,
The even parameters such as shape.
Step S101: the detection data step that the laser radar of trackside returns is arranged in described receive specifically:
Laser radar emits the first light pulse, and starts to intermediate frequency step-by-step counting；It should be understood that laser radar is from described
Portion of energy is separated in first light pulse as the control signal to counter, is started by control signal control to intermediate frequency arteries and veins
Punching counts.Laser radar inner total reflection mirror transmits portion of energy while specific laser radar emits the first light pulse, and
As start trigger pulse, laser receiver is conveyed to by sampler, in the photodetector transfer of the laser receiver
Become electric signal, and by amplifier amplification and pulse former shaping after, into gating circuit, as opening for gating circuit
Door pulse signal, in the control downward swing door of enabling nulse signal, the medium-frequency pulse that oscillator generates just enters to be counted gating circuit
Device, counter start counting.
Laser radar receives reflected first light pulse, and terminates to intermediate frequency step-by-step counting, determines in during this period
The quantity n of frequency pulse；It, will be described anti-by photodetector after specific laser radar receives reflected first light pulse
It is emitted back towards the first light pulse come and is changed into electric signal, and after amplifier amplifies, be transported to threshold circuit, more than threshold level
Signal inputs gating circuit after sending to pulse former shaping, and as the shutdown pulse signal of gating circuit, gating circuit exists
It closes the door under the control of shutdown pulse signal, medium-frequency pulse stops entering counter, and counter is terminated to intermediate frequency step-by-step counting, and really
The quantity n of fixed medium-frequency pulse during this period.,
The quantity n for the medium-frequency pulse that the laser radar is sent is received, the quantity n of the medium-frequency pulse is testing number
According to wherein medium-frequency pulse is predetermined pulse signal.Readily comprehensible, laser radar is divided into incoherent laser radar and coherent laser
Radar.We are and the typical incoherent laser radar of laser pulse ranging radar using laser pulse ranging radar herein.
Laser pulse ranging principle is as follows: the radar light pulse very narrow to objective emission one or a column (pulse width is less than 50ns).
Spontaneous emission light pulse starting is measured, target is reached, and returns to the time of receiver by target, thus calculates target range.
If target range is R, the round-trip elapsed time of light pulse is t, and the aerial spread speed of light is c, then
R=ct/2
In formula, t is that the time interval of receiver is then returned to from target from light pulse emission to target.It is to pass through
Counter counts in this time interval, measures distance into the medium-frequency pulse number of counter.If during this period,
There is n medium-frequency pulse to enter counter, the time interval between medium-frequency pulse is τ, and the frequency of oscillation of medium-frequency pulse is f=1/ τ,
Then
R=l/2cn τ=cn/2f=n
In formula, l=c/2f indicates to count to get n medium-frequency pulse apart from benchmark representated by each medium-frequency pulse,
Just obtain distance R.The numerical value of f has determined measurement accuracy, such as takes f=30MHz, c ≈ 3 × 1010M/s, then l=± 5m；If taking f
=15MHz, then l=± 10m.
Laser pulse ranging radar is made of laser transmitter, laser receiver and Laser Power Devices.Laser transmitter is opened by Q
Close pulse laser, optical transmitting system, sampler and aiming optical system composition.Laser receiver is by reception optical system
System, amplifier, receives circuit and count display composition at photodetector.Laser Power Devices are by high voltage power supply and low-tension supply group
At.
In some embodiments, the laser radar is 20cm-40cm away from ground level and is embedded in the corresponding lane ETC
In safety island.On this basis, the axle quantity that the target lorry is determined according to the detection data specifically:
When prestoring axle number is 0, if detecting, detection data is less than preset value, records by starting point of current point in time
It predetermined time period and prestores axle number and adds 1；It should be understood that prestoring axle number is when starting to examine Vehicle Axles number every time
0, if detecting, detection data is less than preset value explanation and has vehicle process, and the height that laser radar is set to wheel is suitable, because
This can determine that the wheel of target lorry is arrived in inspection, and axle number scale 1 can will be prestored by estimating.At the same time, it is preset to start countdown
Time span.
It is every one-time detection data occur from preset value is greater than to the variation for being less than preset value, then in predetermined time period
It prestores axle number and adds 1；In count down time, each detection data illustrates from less than preset value to the variation for being greater than preset value
Through illustrating to detect a new tire again to the variation for being less than preset value when from greater than preset value by a tire.Therefore,
Do not detect that the variation once from greater than preset value to less than preset value prestores axle number and adds 1.
When reaching preset time length terminal, the axle quantity that axle number is the target lorry is prestored described in determination；
Readily comprehensible, the selection of predetermined time period is to guarantee the accurate of detection, it is desirable that both can guarantee that current vehicle was completely logical
It crosses, also to guarantee that two vehicles will not be regarded as to one.Specific length can be determining according to actual conditions, it is not limited here.Mesh
The tire and axle number for marking lorry unilateral side correspond, therefore in the present embodiment, pass through the counting to unilateral tire, so that it may
Axle number scale is prestored to the axle number of target lorry, that is, at this time.In order to guarantee the accurate of counting next time, the mesh is determined
It also needs the axle number N that prestores resetting to 0 after marking the axle quantity of lorry.
In other embodiments, in order to further ensure data are accurate, one group can be respectively set in the two sides in lane and swashed
Optical radar is used as mutually verification.
The present invention also provides a kind of lorry ETC charging server based on laser radar, comprising:
Vehicle determining module: the model data of target lorry is determined by laser radar；
Load-carrying determining module: the load-carrying data of the target lorry are obtained；
Amount of money determining module: the class of the target lorry is determined according to the model data of the target lorry and load-carrying data
Type simultaneously calculates payment amount of money；
ETC transaction modules: after collecting the payment amount of money via ETC charging system, the target lorry of letting pass.
The vehicle determining module includes reception device and detection device, wherein the reception device is used for, receives setting
In the detection data that the laser radar of trackside returns；The detection device is used for, and determines the target according to the detection data
The axle quantity of lorry.
Another aspect, the lorry ETC charging system based on laser radar that the invention also discloses a kind of, including at least one
A laser radar, at least one server as described above being connected with the laser radar, at least one and the server
Connected ETC lane toll system.
If function described in the present embodiment method is realized in the form of SFU software functional unit and as independent product pin
It sells or in use, can store in a storage medium readable by a compute device.Based on this understanding, the embodiment of the present application
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, this is soft
Part product is stored in a storage medium, including some instructions are used so that calculating equipment (it can be personal computer,
Server, mobile computing device or network equipment etc.) execute all or part of step of each embodiment the method for the application
Suddenly.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), deposits at random
The various media that can store program code such as access to memory (RAM, Random Access Memory), magnetic or disk.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of lorry ETC charging method based on laser radar characterized by comprising
The model data of target lorry is determined by laser radar；
Obtain the load-carrying data of the target lorry；
The type of the target lorry is determined according to the model data of the target lorry and load-carrying data and calculates payment amount of money；
After collecting the payment amount of money via ETC charging system, the target lorry of letting pass.
2. the method according to claim 1, wherein the vehicle number for determining target lorry by laser radar
According to step specifically:
It receives and the detection data that the laser radar of trackside returns is set；
The axle quantity of the target lorry is determined according to the detection data.
3. according to the method described in claim 2, it is characterized in that, described determine the target lorry according to the detection data
Axle quantity specifically:
When prestoring axle number is 0, if detecting, detection data is less than preset value, records using current point in time as starting point default
It time span and prestores axle number and adds 1；
It is every one-time detection data occur from preset value is greater than to the variation for being less than preset value in predetermined time period, then it prestores
Axle number adds 1；
When reaching preset time length terminal, the axle quantity that axle number is the target lorry is prestored described in determination；
The axle number N that prestores is reset to 0.
4. according to the described in any item methods of claim 2, which is characterized in that the laser radar that trackside is arranged in the reception returns
The detection data step returned specifically:
Laser radar emits the first light pulse, and starts to intermediate frequency step-by-step counting；
Laser radar receives reflected first light pulse, and terminates to intermediate frequency step-by-step counting, determines intermediate frequency arteries and veins during this period
The quantity n of punching；
The quantity n for the medium-frequency pulse that the laser radar is sent is received, the quantity n of the medium-frequency pulse is detection data,
Middle medium-frequency pulse is predetermined pulse signal.
5. according to the described in any item methods of claim 4, which is characterized in that the laser radar emits the first light pulse, and
Start to intermediate frequency step-by-step counting step specifically:
Laser radar inner total reflection mirror transmits portion of energy while laser radar emits the first light pulse, and touches as starting
Pulse is sent out, laser receiver is conveyed to by sampler, is changed into electric signal in the photodetector of the laser receiver,
And by amplifier amplification and pulse former shaping after, into gating circuit, as the enabling nulse signal of gating circuit,
Gating circuit enabling nulse signal control downward swing door, oscillator generate medium-frequency pulse just enter counter, counter is opened
Begin to count.
6. according to the described in any item methods of claim 4, which is characterized in that the laser radar receives reflected first
Light pulse, and terminate to intermediate frequency step-by-step counting step specifically:
After laser radar receives reflected first light pulse, by photodetector by the reflected first smooth arteries and veins
Red switch becomes electric signal, and after amplifier amplifies, is transported to threshold circuit, and the signal more than threshold level is sent to pulse shaping
Gating circuit is inputted after circuit shaping, as the shutdown pulse signal of gating circuit, control of the gating circuit in shutdown pulse signal
System is lower to close the door, and medium-frequency pulse stops entering counter, and counter is terminated to intermediate frequency step-by-step counting.
7. method according to claim 1-6, which is characterized in that in the vehicle according to the target lorry
Before data and load-carrying data determine the type of the target lorry and calculate payment amount of money step, further includes:
The license board information of the target lorry is obtained by camera；
Then the model data and load-carrying data according to the target lorry determines the type of the target lorry and calculating is paid
Take amount of money step specifically:
Type and the calculating of the target lorry are determined according to the model data of the target lorry, load-carrying data and license board information
Payment amount of money.
8. method described in -6 according to claim 1, which is characterized in that the laser radar is 20cm-40cm away from ground level.
9. a kind of lorry ETC charging server based on laser radar characterized by comprising
Vehicle determining module: the model data of target lorry is determined by laser radar；
Load-carrying determining module: the load-carrying data of the target lorry are obtained；
Amount of money determining module: the type of the target lorry is determined simultaneously according to the model data of the target lorry and load-carrying data
Calculate payment amount of money；
ETC transaction modules: after collecting the payment amount of money via ETC charging system, the target lorry of letting pass.
10. a kind of lorry ETC charging system based on laser radar, which is characterized in that including at least one laser radar, at least
One server as claimed in claim 9 being connected with the laser radar, at least one ETC being connected with the server
Lane toll system.
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| CN201811627736.6A CN109581405A (en) | 2018-12-28 | 2018-12-28 | A kind of lorry ETC charging method, server and system based on laser radar |
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| CN201811627736.6A CN109581405A (en) | 2018-12-28 | 2018-12-28 | A kind of lorry ETC charging method, server and system based on laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111915901A (en) * | 2020-08-12 | 2020-11-10 | 上海电科市政工程有限公司 | Multi-dimensional vehicle characteristic accurate real-time judgment system for electronic override |
Citations (13)
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