CN110648542B - High-precision vehicle flow detection system based on azimuth recognition narrow-wave radar - Google Patents
High-precision vehicle flow detection system based on azimuth recognition narrow-wave radar Download PDFInfo
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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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- G—PHYSICS
- G08—SIGNALLING
- 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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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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Abstract
The invention provides a high-precision traffic flow detection system based on an azimuth recognition narrow-wave radar, which comprises: the azimuth recognition narrow-wave radar is used for transmitting a horizontal 3dB main lobe beam width of an antenna to be not more than 6 degrees, multi-channel receiving is used for azimuth judgment, and a rapid continuous wave frequency modulation system is adopted to realize accurate judgment of the distance, the speed and the vehicle type of a target vehicle; and the duplication-elimination decision information processor is used for judging and integrating vehicles running on the pressed line according to the real-time positions of the vehicles output by the radars of the first lane and the second lane, the information such as vehicle type identification, motion trail of a detection target, motion equation, vehicle type, speed and the like when the vehicles run on the pressed line, so that repeated statistics of the traffic flow is avoided. The invention adopts a narrow-wave radar based on novel direction recognition and a deduplication decision processing mechanism to realize high-precision traffic flow statistics of various road scenes, and the accuracy rate is more than 99.5%.
Description
Technical Field
The invention relates to the technical field of traffic flow detection, in particular to a high-precision traffic flow detection system based on an azimuth recognition narrow-wave radar.
Background
The high-precision traffic flow detection system (hereinafter referred to as the high-precision traffic flow detection system) based on the millimeter wave radar technology can be widely applied to the requirements of accurate speed measurement and accurate traffic flow statistics of high-speed and urban roads.
In the prior art, most of traffic flow statistical systems adopt video detection, coil detection and flow radar detection technologies. Visual detection is susceptible to light environment and rain and fog. The coil detection is not high in long-term working reliability under the scene that the traffic rate of the heavy truck is high. The traditional vehicle flow detection radar has the defects that no matter the radar is provided with multiple lanes in the front or the side, the accuracy is difficult to reach 99.5 percent due to the fact that a large vehicle is blocked in the lane and the classification of the vehicle type is inaccurate.
Disclosure of Invention
The invention provides a high-precision traffic flow detection system based on an azimuth identification narrow-wave radar, which aims to solve at least one technical problem.
To solve the above problems, as an aspect of the present invention, there is provided a high-precision traffic flow detection system based on an azimuth recognition narrow-wave radar, including: the azimuth recognition narrow-wave radar is used for transmitting a horizontal 3dB main lobe beam width of an antenna to be not more than 6 degrees, multi-channel receiving is used for azimuth judgment, and a rapid continuous wave frequency modulation system is adopted to realize accurate judgment of the distance, the speed and the vehicle type of a target vehicle; and the duplication-elimination decision information processor is used for judging and integrating vehicles running on the pressed line according to the real-time positions of the vehicles output by the radars of the first lane and the second lane, the information such as vehicle type identification, motion trail of a detection target, motion equation, vehicle type, speed and the like when the vehicles run on the pressed line, so that repeated statistics of the traffic flow is avoided.
Preferably, in order to realize good discrimination and detection of multiple targets, the accurate discrimination of the distance, the speed and the vehicle type of the target vehicle by using the fast continuous wave frequency modulation system comprises: adopting a two-dimensional FFT processing technology to distinguish the targets in a two-dimensional mode from a distance dimension and a velocity dimension; the detection probability of the radar is improved by adopting a constant false alarm detection technology on the premise of keeping a lower false alarm rate; the method has the advantages that higher angle resolution is obtained in the angle dimension through a DBF technology and a phase comparison angle measurement principle, so that the positioning accuracy and the distinguishing capability of multiple targets are improved; performing target similarity correlation on position, speed and acceleration by adopting a fuzzy mathematic method; a Kalman filter is adopted to realize the estimation of the value of a random signal of observation data with noise, the estimation is used for processing radar data, and position information can be extracted from a detected target to form trace data.
Preferably, the method for distinguishing the vehicle type is based on radar scattering points of a target vehicle, and vehicle contour information including vehicle height, length and width is reconstructed by inversion.
Preferably, the inversely reconstructing vehicle profile information based on the radar scattering points of the target vehicle comprises: extracting distance, speed and angular speed information of the characteristic points by integrating and processing radar echo data; establishing a characteristic point motion equation based on the three groups of data, combining a tracking filtering algorithm to perform adaptive adjustment, and simultaneously applying the three groups of data to fuzzy recognition of a vehicle scattering model and performing dynamic adjustment; and finally, combining the two methods to dynamically match the vehicle type scattering information with the characteristic points, and outputting the length, width and height of the vehicle.
Preferably, the data processing flow of the deduplication resolution information processing machine is as follows: when a vehicle runs on a pressed line and the first radar and the second radar stably track at the same time, defining a vehicle detected by the first radar in a first lane as a first target and a vehicle detected by the second radar in a second lane as a second target; according to the vehicle information that orientation discernment narrow wave radar gathered carries out information fusion, include: sequentially comparing the transverse distance and the longitudinal distance of the two targets, further comparing the vehicle length and the vehicle height when the difference value of the two targets is smaller than a set value, judging to be repeated statistics if the parameters are smaller than the set value, and judging to be independent statistics if any one of the parameters is larger than the set value; and after repeated statistics is judged, respectively calculating Euclidean distances of the target vehicle relative to the centers of the first lane and the second lane, and judging the lane to which the target vehicle belongs.
The high-precision traffic flow detection system based on the novel direction recognition narrow-wave millimeter wave radar realizes high-precision traffic flow statistics of various road scenes by adopting the novel direction recognition narrow-wave radar and a deduplication resolution processing mechanism, and the accuracy is more than 99.5%.
Drawings
Fig. 1 schematically shows a vehicle contour information extraction flowchart;
FIG. 2 schematically illustrates a vehicle lane line travel;
fig. 3 schematically shows a data processing flow diagram of a deduplication resolution information handler.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Taking a typical two-lane application scene as an example, the invention mainly comprises two novel direction recognition narrow-wave radars and a repeat-resolution information processor.
Narrow-wave radar capable of recognizing type and direction
The horizontal 3dB main lobe beam width of the novel azimuth identification narrow-wave radar transmitting antenna is not more than 6 degrees, and multi-channel receiving is used for azimuth judgment. And a rapid continuous wave frequency modulation system is adopted to realize accurate judgment of the distance, the speed and the vehicle type of the target vehicle.
The method for realizing the distance and the speed of the target vehicle by using the rapid continuous wave frequency modulation system is a common processing mode in the prior art. The radar has three main tasks, namely distance estimation, phase velocity estimation and direction estimation, in order to realize good distinguishing and detection of multiple targets, a two-dimensional FFT processing technology is adopted, targets are distinguished from a distance dimension, a velocity dimension and a two-dimensional dimension, a constant false alarm detection technology is adopted, and the detection probability of the radar is improved on the premise of keeping a low false alarm rate. And a higher angle resolution is obtained in the angle dimension through a DBF technology and a phase comparison angle measurement principle, so that the positioning precision and the distinguishing capability of multiple targets are improved. And performing target similarity correlation on position, speed and acceleration by adopting a fuzzy mathematical method. A Kalman filter is adopted to realize the estimation of the value of a random signal of observation data with noise, the estimation is used for processing radar data, and position information can be extracted from a detected target to form trace data.
The method for judging the vehicle type is based on the radar echo scattering point of a target vehicle, vehicle contour information including the height, the length and the width of the vehicle is inverted and reconstructed, and the specific method is as follows:
and extracting the distance, speed and angular speed information of the characteristic points by integrating and processing the radar echo data. Establishing a characteristic point motion equation based on the three groups of data, and then combining a tracking filtering algorithm to carry out adaptability adjustment; and simultaneously, applying the three groups of data to fuzzy recognition of a vehicle scattering model and carrying out dynamic adjustment. And finally, combining the two methods to dynamically match the vehicle type scattering information with the characteristic points, and outputting the length, width and height of the vehicle.
Second, duplicate removal decision information processor
And the de-duplication decision information processor is used for outputting the real-time position of the vehicle and identifying the vehicle type to the de-duplication decision processor respectively by the radars of the first lane and the second lane when the vehicle is pressed to run. The duplication elimination decision processor judges and integrates the vehicles running through pressing lines according to the information of the motion tracks, the motion equation, the vehicle types, the speed and the like of the two radar detection targets, and avoids repeated statistics of the traffic flow.
When a vehicle runs on the line, and the first radar and the second radar stably track at the same time, the vehicle detected by the first radar in the first lane is defined as a first target, and the vehicle detected by the second radar in the second lane is defined as a second target. According to the method, vehicle information collected by a direction identification narrow-wave radar is subjected to information fusion, the transverse distance and the longitudinal distance of two targets are sequentially compared, when the difference value of the two is smaller than a set value, the vehicle length and the vehicle height are further compared, if the parameters are smaller than the set value, repeated statistics can be judged, and if any one of the parameters is larger than the set value, independent statistics can be judged. After being judged as a repeated statistic, according toAnd respectively calculating Euclidean distances of the target vehicle relative to the centers of the first lane and the second lane, and judging the lane to which the target vehicle belongs.
The high-precision traffic flow detection system based on the novel direction recognition narrow-wave millimeter wave radar realizes high-precision traffic flow statistics of various road scenes by adopting the novel direction recognition narrow-wave radar and a deduplication resolution processing mechanism, and the accuracy is more than 99.5%.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A high accuracy vehicle flow detecting system based on orientation discernment narrow wave radar, its characterized in that includes:
the azimuth recognition narrow-wave radar is used for transmitting a horizontal 3dB main lobe beam width of an antenna to be not more than 6 degrees, multi-channel receiving is used for azimuth judgment, and a rapid continuous wave frequency modulation system is adopted to realize accurate judgment of the distance, the speed and the vehicle type of a target vehicle;
the duplication-elimination decision-making information processor is used for judging and integrating vehicles running on the pressed line into a whole according to the real-time positions of the vehicles output by the radars of the first lane and the second lane, the recognized vehicle types, the motion tracks of the detection targets, the motion equation, the vehicle types and the speed when the vehicles run on the pressed line, so that the repeated statistics of the vehicle flow is avoided;
the data processing flow of the deduplication decision information processor is as follows: when a vehicle runs on a pressed line and the first radar and the second radar stably track at the same time, defining a vehicle detected by the first radar in a first lane as a first target and a vehicle detected by the second radar in a second lane as a second target; according to the vehicle information that orientation discernment narrow wave radar gathered carries out information fusion, include: sequentially comparing the transverse distance and the longitudinal distance of the two targets, further comparing the vehicle length and the vehicle height when the difference value of the two targets is smaller than a set value, judging to be repeated statistics if the parameters are smaller than the set value, and judging to be independent statistics if any one of the parameters is larger than the set value; and after repeated statistics is judged, respectively calculating Euclidean distances of the target vehicle relative to the centers of the first lane and the second lane, and judging the lane to which the target vehicle belongs.
2. The system of claim 1, wherein in order to achieve good discrimination and detection of multiple targets, the accurate discrimination of the distance, speed and vehicle type of the target vehicle by using the fast continuous wave frequency modulation system comprises:
adopting a two-dimensional FFT processing technology to distinguish the targets in a two-dimensional mode from a distance dimension and a velocity dimension;
the detection probability of the radar is improved by adopting a constant false alarm detection technology on the premise of keeping a lower false alarm rate;
the method has the advantages that higher angle resolution is obtained in the angle dimension through a DBF technology and a phase comparison angle measurement principle, so that the positioning accuracy and the distinguishing capability of multiple targets are improved;
performing target similarity correlation on position, speed and acceleration by adopting a fuzzy mathematic method;
a Kalman filter is adopted to realize the estimation of the value of a random signal of observation data with noise, the estimation is used for processing radar data, and position information can be extracted from a detected target to form trace data.
3. The system of claim 1, wherein the method for identifying the vehicle type is based on radar scattering points of a target vehicle, and vehicle contour information including vehicle height, length and width is inversely reconstructed.
4. The system of claim 3, wherein the inversely reconstructing vehicle profile information based on target vehicle radar echo scattering points comprises:
extracting distance, speed and angular speed information of the characteristic points by integrating and processing radar echo data;
establishing a characteristic point motion equation based on the three groups of data, combining a tracking filtering algorithm to perform adaptive adjustment, and simultaneously applying the three groups of data to fuzzy recognition of a vehicle scattering model and performing dynamic adjustment;
and finally, combining the two methods to dynamically match the vehicle type scattering information with the characteristic points, and outputting the length, width and height of the vehicle.
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