CN113990064B - Traffic data acquisition method, system and computer readable storage medium - Google Patents
Traffic data acquisition method, system and computer readable storage medium Download PDFInfo
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- CN113990064B CN113990064B CN202111072936.1A CN202111072936A CN113990064B CN 113990064 B CN113990064 B CN 113990064B CN 202111072936 A CN202111072936 A CN 202111072936A CN 113990064 B CN113990064 B CN 113990064B
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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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
- G08—SIGNALLING
- 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 discloses a traffic data acquisition method, a system and a computer readable storage medium, wherein the method comprises the following steps: the traffic data processing system receives and processes the vehicle passing condition sent by each data acquisition device; the traffic data processing system obtains vehicle passing information of each lane according to the vehicle passing condition; and the traffic data processing system classifies and arranges the vehicle traffic information according to lane types. The method is adopted to collect traffic data, so that the traffic data statistics of lane level can be realized.
Description
Technical Field
The invention relates to the field of intelligent traffic, in particular to a traffic data acquisition method, a traffic data acquisition system and a computer-readable storage medium.
Background
With the development of science and technology, the field of intelligent transportation has already been put into practical application of traffic data management systems, which are based on modern computer science, geography, information science and the like, and are closely combined with the traditional traffic information analysis and processing technology, and the traffic geographic information is processed by adopting the latest technologies such as database, computer graphics, multimedia and the like, so that traffic intersection data can be accurately acquired and managed in real time, and a system for providing visual support for traffic decision-making and travelers is provided. The traffic data management system provides a new thinking mode for the development of the traffic industry in a new period. The traffic intersection is formed by intersecting roads on a plane, the types of a plurality of lanes at different intersections are different, and the different lane types bring difficulty to traffic data acquisition equipment for data acquisition.
Disclosure of Invention
To solve at least one of the above problems, it is an object of the present invention to provide a traffic data processing method, system and computer-readable storage medium,
in order to achieve the purpose, the invention adopts the following technical scheme:
a first aspect of the present invention provides a traffic data processing method, including:
the traffic data processing system receives and processes the vehicle passing condition sent by each data acquisition device;
the traffic data processing system obtains vehicle passing information of each lane according to the vehicle passing condition;
and the traffic data processing system classifies and arranges the vehicle passing information according to lane types.
Specifically, the obtaining, by the traffic data processing system, the vehicle passing information of each lane according to the vehicle passing condition specifically includes:
the traffic data processing system establishes a three-dimensional coordinate system of the current road based on the pre-collected road information, and judges the lane where the vehicle is located based on the vehicle track points and the pre-set lane positioning anchor points to obtain the vehicle passing information of each lane.
The three-dimensional coordinate system takes the installation position of the data acquisition equipment as an origin, the direction of the vehicle coming from the lane starting from the origin is taken as the positive direction of a first coordinate axis, the direction perpendicular to the ground is taken as the positive direction of a second coordinate axis starting from the origin, and the straight line starting from the origin and perpendicular to the first coordinate axis and the second coordinate axis is taken as a third coordinate axis.
Specifically, the data acquisition equipment comprises a millimeter wave radar, and the positioning precision is 0.2m; the arrangement of the lane positioning anchor point takes the positioning precision of the data acquisition equipment as a scale.
Specifically, the pre-collected road information includes the lane type and the lane width; the vehicle passing information comprises traffic flow and vehicle speed information.
A second aspect of the present invention provides a traffic data acquisition system, including:
the system comprises data acquisition equipment and a traffic data processing system;
the data acquisition equipment comprises a millimeter wave radar for monitoring the vehicle passing condition of the road;
the traffic data processing system is used for receiving and processing the vehicle passing condition sent by each data acquisition device, obtaining the vehicle passing information of each lane according to the vehicle passing condition, and classifying and sorting the vehicle passing information according to lane types.
Specifically, the traffic data processing system establishes a three-dimensional coordinate system of the current road based on the road information collected in advance, and judges the lane where the traffic data processing system is located based on the preset lane positioning anchor points and the vehicle track points, so as to obtain the vehicle passing information of each lane.
The three-dimensional coordinate system takes the installation position of the data acquisition equipment as an origin, the direction of the coming vehicle of the lane is pointed by the origin as a positive direction of a first coordinate axis, the direction perpendicular to the ground is perpendicular to the direction of the original point as a positive direction of a second coordinate axis, and the straight line which is perpendicular to the first coordinate axis and the second coordinate axis is pointed by the origin as a third coordinate axis.
Specifically, the data acquisition equipment is arranged at the edge of a lane, and at least one data acquisition equipment is arranged at a single intersection.
A third aspect of the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a traffic data acquisition method as provided in the first aspect of the invention.
The invention has the following beneficial effects:
the invention aims to provide a traffic data acquisition method, a system and a computer readable storage medium, and the traffic data acquisition method, the system and the computer readable storage medium can realize lane-level traffic data management by adopting the invention to acquire traffic data.
Drawings
Fig. 1 shows a step diagram of a traffic data processing method of the invention.
Fig. 2 is a schematic diagram of a traffic data collection system according to an embodiment of the present invention;
fig. 3 shows a schematic diagram of a traffic data acquisition system according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
One embodiment of the present invention provides a traffic data collecting method, as shown in fig. 1, including:
the traffic data processing system receives and processes the vehicle passing condition sent by each data acquisition device;
the traffic data processing system obtains vehicle passing information of each lane according to the vehicle passing condition;
and the traffic data processing system classifies and arranges the vehicle traffic information according to lane types.
The vehicle passing condition comprises vehicle track points, running speed and vehicle pictures.
In a specific embodiment, the traffic data processing system establishes a three-dimensional coordinate system of a current road based on pre-collected road information, maps vehicle track points into the three-dimensional coordinate system, and judges lanes where vehicles are located based on preset lane positioning anchor points and vehicle track points to obtain vehicle passing information of each lane;
the road information and the lane positioning anchor point are manually collected and written into the traffic data processing system; the road information includes, but is not limited to, lane type and lane width;
the three-dimensional coordinate system uses data acquisition equipment mounted position is the original point to set out directional lane by the original point and come the car direction and regard as first coordinate axis positive direction, set out perpendicular to ground direction by the original point and be second coordinate axis positive direction, set out by the original point and regard as the third coordinate axis with first coordinate axis and the perpendicular straight line of second coordinate axis.
By establishing a three-dimensional coordinate system with the installation position of the data acquisition equipment as an original point, the positioning anchor point of each lane is accurately set, and lane types are calibrated, so that the conditions of traffic data such as traffic flow, speed, vehicle distance and the like on different lanes can be conveniently and subsequently judged.
In a specific embodiment, the data acquisition device comprises a millimeter wave radar, and the positioning accuracy is 0.2m;
in a specific embodiment, the data acquisition equipment comprises a millimeter wave radar, an ETC and a camera, and the positioning precision is 0.2m;
the arrangement of the lane positioning anchor points takes the positioning precision of the data acquisition equipment as a scale, and the lane positioning anchor points are arranged on traffic marking lines of lanes.
The pre-collected road information comprises lane types and lane widths;
the vehicle passing information comprises traffic flow and vehicle speed information.
One embodiment of the present invention provides a traffic data collecting system, as shown in fig. 2, including:
the system comprises data acquisition equipment 1 and a traffic data processing system which are arranged at the edge of intersections, wherein the data acquisition equipment 1 and the information processing system can carry out data interaction, and each intersection is provided with at least one data acquisition equipment 1;
the data acquisition equipment comprises a millimeter wave radar for monitoring the vehicle passing condition of the road;
the traffic data processing system is used for receiving and processing the vehicle passing condition sent by each data acquisition device, obtaining the vehicle passing information of each lane according to the vehicle passing condition, and classifying and sorting the vehicle passing information according to lane types. The vehicle passing condition comprises vehicle track points, running speed and vehicle pictures.
In a specific embodiment, the traffic data processing system establishes a three-dimensional coordinate system of the current road based on the pre-collected road information, and sets a lane positioning anchor point based on the three-dimensional coordinate system so as to judge the lane where the vehicle is located according to the vehicle track point and obtain the vehicle passing information of each lane;
the three-dimensional coordinate system takes the data acquisition equipment installation position as the origin to set out directional lane direction of coming as first coordinate axis positive direction by the origin, set out perpendicular to ground direction by the origin and be the second coordinate axis, set out by the origin and regard as the third coordinate axis with the straight line that first coordinate axis and second coordinate axis are perpendicular.
In a specific embodiment, the data acquisition equipment consists of an ETC, a radar and camera equipment, the positioning precision of the data acquisition equipment can reach 0.2m, the data acquisition equipment is arranged at the edge of a lane, and at least one data acquisition equipment is arranged at a single intersection;
the traffic data processing system establishes a three-dimensional coordinate system by taking the positioning accuracy as a scale, as shown in fig. 2, by taking the installation position of the data acquisition equipment as an original point, taking the direction from the original point to the lane as the positive direction of an x axis, taking the direction perpendicular to the ground from the original point as the positive direction of a z axis, taking a straight line which starts from the original point and is perpendicular to a first coordinate axis and a second coordinate axis as a y axis, and measuring the width of each lane to be 3.5m, wherein the XY coordinates of a first lane positioning anchor point of the first traffic marking are (0.2, 0), the XY coordinates of a second lane positioning anchor point are (0.4, 0), and the like, the XY coordinates of a first lane positioning anchor point of the second traffic marking are (0.2, 3.5), the XY coordinates of a second lane positioning anchor point are (0.4, 3.5), the XY coordinates of a third lane positioning anchor point are (0.6, 3.5), and the XY coordinates of a fourth lane positioning anchor point are (0.8, 3.5); the XY coordinates of the first lane positioning anchor point of the third traffic marking are (0.2, 7.0), the XY coordinates of the second lane positioning anchor point are (0.4, 7.0), the XY coordinates of the third lane positioning anchor point are (0.6, 7.0), and the XY coordinates of the fourth lane positioning anchor point are (0.8, 7.0); the XY coordinates of a first lane positioning anchor point of the fourth traffic marking are (0.2, 10.5), the XY coordinates of a second lane positioning anchor point are (0.4, 10.5), the XY coordinates of a third lane positioning anchor point are (0.6, 10.5), and the XY coordinates of a fourth lane positioning anchor point are (0.8, 10.5); the XY coordinates of a first lane positioning anchor point of the fifth traffic marking are (0.2, 14.0), the XY coordinates of a second lane positioning anchor point are (0.4, 14.0), the XY coordinates of a third lane positioning anchor point are (0.6, 14.0), and the XY coordinates of a fourth lane positioning anchor point are (0.8, 14.0); the number of the specific positioning anchor points is determined according to the field situation. The positioning anchor points on the first traffic marking and the second traffic marking are used for judging vehicles running on a first lane 3, the positioning anchor points on the second traffic marking and the third traffic marking are used for judging vehicles running on a second lane 4, the positioning anchor points on the third traffic marking and the fourth traffic marking are used for judging vehicles running on a third lane 5, and the positioning anchor points on the fourth traffic marking and the fifth traffic marking are used for judging vehicles running on a fourth lane 6.
In a specific embodiment, the traffic data acquisition device comprises a data acquisition device 1 and a traffic data processing system which are arranged at the edge of a T-shaped intersection, the data acquisition device 1 and the information processing system can perform data interaction, and at least one data acquisition device 1 is arranged at each of the three intersections;
in a specific embodiment, as shown in fig. 3, the traffic data acquisition device comprises a data acquisition device 1 and a traffic data processing system, which are arranged at the edge of an irregular road intersection, the data acquisition device 1 and the information processing system can perform data interaction, the measured lane width is 3.5m, the XY plane coordinates of two demarcation points of one traffic marking of a first lane (namely, a ring lane) are a (0.2, -2.2), B (0.27, -2.1), and the XY plane coordinates of two demarcation points of the other traffic marking are C (0.35, -5.4), D (0.48, -5.32).
The XY plane coordinates of two dividing points of one traffic marking of the second lane are E (0.2, 1.3) and F (0.4, 1.3), the XY plane coordinates of two dividing points of the other traffic marking are G (0.2, 4.8) and H (0.4, 4.8), and the rest dividing point coordinates are analogized.
And the XY plane coordinates of two dividing points of one traffic marking of the third lane are G (0.2, 4.8) and H (0.4, 4.8), the XY plane coordinates of two dividing points of the other traffic marking are M (0.2, 8.3) and L (0.4, 8.3), the coordinates of the rest dividing points are analogized, and the dividing points are equal to lane positioning anchor points and used for judging the lanes to which the vehicle belongs.
It should be noted that the principle and the working flow of the traffic data acquisition method provided in this embodiment are similar to those of the traffic data acquisition system, and reference may be made to the above description for relevant points, which is not described herein again.
It should be understood by those skilled in the art that the application of the traffic data collecting method and system provided by the present invention is not limited to intersections, and can be applied to intersections of T-shape, Y-shape, cross-shape, X-shape, dislocation, ring shape, etc.
A third embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method provided by the first embodiment. In practice, the computer readable storage medium may take any combination of one or more computer readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus 30, or device. A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (8)
1. A method of traffic data acquisition, the method comprising:
the traffic data processing system receives and processes the vehicle passing condition sent by each data acquisition device;
the traffic data processing system obtains vehicle passing information of each lane according to the vehicle passing condition;
the traffic data processing system classifies and arranges the vehicle traffic information according to lane types;
the traffic data processing system obtains the vehicle passing information of each lane according to the vehicle passing condition, and the traffic data processing system comprises:
the traffic data processing system establishes a three-dimensional coordinate system of the current road based on the pre-collected road information, judges the lane where the vehicle is located based on the vehicle track points and the pre-set lane positioning anchor points, and obtains the vehicle passing information of each lane,
the lane positioning anchor point is arranged on a traffic marking line of a lane.
2. The method of claim 1,
the three-dimensional coordinate system takes the data acquisition equipment installation position as the origin to set out by the origin and point to the lane and come the car direction and regard as first coordinate axis positive direction, set out perpendicular to ground direction by the origin and be the second coordinate axis positive direction, set out by the origin and regard as the third coordinate axis with the straight line that first coordinate axis and second coordinate axis are perpendicular.
3. The method of claim 1,
the pre-collected road information includes lane type and lane width.
4. The method of claim 1,
the data acquisition equipment comprises a millimeter wave radar, and the positioning precision is 0.2m;
the arrangement of the lane positioning anchor point takes the positioning precision of the data acquisition equipment as a scale.
5. A traffic data collection system, comprising:
the system comprises data acquisition equipment and a traffic data processing system;
the data acquisition equipment comprises a millimeter wave radar for monitoring the vehicle passing condition of the road;
the traffic data processing system is used for receiving and processing the vehicle passing condition sent by each data acquisition device, obtaining the vehicle passing information of each lane according to the vehicle passing condition, and classifying and sorting the vehicle passing information according to the lane type;
the traffic data processing system establishes a three-dimensional coordinate system of the current road based on the road information collected in advance, judges the lane where the traffic data processing system is positioned based on the preset lane positioning anchor points and vehicle track points, and obtains the vehicle passing information of each lane,
the lane positioning anchor point is arranged on a traffic marking of the lane.
6. The system of claim 5,
the three-dimensional coordinate system takes the data acquisition equipment installation position as the origin to set out directional lane direction of coming as first coordinate axis positive direction by the origin, set out perpendicular to ground direction by the origin and be the second coordinate axis, set out by the origin and regard as the third coordinate axis with the straight line that first coordinate axis and second coordinate axis are perpendicular.
7. The system of claim 5,
the data acquisition equipment is arranged at the edge of a lane, and at least one data acquisition equipment is arranged at a single intersection.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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| JP5968064B2 (en) * | 2012-05-08 | 2016-08-10 | アルパイン株式会社 | Traveling lane recognition device and traveling lane recognition method |
| CN103729892B (en) * | 2013-06-20 | 2016-06-29 | 深圳市金溢科技股份有限公司 | Vehicle positioning method, device and processor |
| JP6357737B2 (en) * | 2013-07-24 | 2018-07-18 | 富士通株式会社 | Vehicle flow measuring device, method and program |
| DE102014200638A1 (en) * | 2014-01-16 | 2015-07-30 | Bayerische Motoren Werke Aktiengesellschaft | Method and system for estimating a lane course |
| CN108428358B (en) * | 2018-03-29 | 2022-03-08 | 斑马网络技术有限公司 | Lane cognitive system applied to navigation and method thereof |
| CN110837092B (en) * | 2018-08-17 | 2022-06-21 | 北京四维图新科技股份有限公司 | Method and device for vehicle positioning and lane-level path planning |
| CN112880693B (en) * | 2019-11-29 | 2024-07-19 | 北京市商汤科技开发有限公司 | Map generation method, positioning method, device, equipment and storage medium |
| CN112489457B (en) * | 2020-12-23 | 2021-11-02 | 东南大学 | Intersection vehicle passing guiding method in automatic driving environment |
| CN113112830B (en) * | 2021-04-08 | 2021-12-17 | 同济大学 | Signal control intersection emptying method and system based on laser radar and track prediction |
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