CN208422108U - Transport investigation device based on millimetre-wave radar and laser radar - Google Patents
Transport investigation device based on millimetre-wave radar and laser radar Download PDFInfo
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- CN208422108U CN208422108U CN201721589875.5U CN201721589875U CN208422108U CN 208422108 U CN208422108 U CN 208422108U CN 201721589875 U CN201721589875 U CN 201721589875U CN 208422108 U CN208422108 U CN 208422108U
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Abstract
The utility model discloses a kind of transport investigation device based on millimetre-wave radar and laser radar, it is installed on the portal frame above lane, data exchange is carried out with central server, at least radar cell, for obtaining the movement velocity of vehicle, and the motion velocity information is sent to the laser cell and administrative unit；Laser cell, for obtaining the appearance profile information of the vehicle, and the motion velocity information of the vehicle according to radar cell transmitting obtains vehicle parameter information, obtains the information of vehicles by vehicle classification algorithm and is sent to the administrative unit；Administrative unit, for receive the radar cell and the laser cell transmitting vehicle the motion velocity information and the information of vehicles, and count storage section information of vehicles and with central server carry out data exchange；Power supply, for providing power supply to the radar cell, the laser cell and the administrative unit.
Description
Technical field
The utility model relates to radar application technical field, more particularly to it is a kind of based on millimetre-wave radar and laser radar into
The investigation apparatus of row traffic conditions Information Statistics.
Background technique
With the development of national economy, domestic automobile quantity is more and more, so the monitoring of vehicle becomes more next with management
It is more important, wherein the investigation in relation to traffic conditions is the extremely important component part of Highway Traffic Information statistics.And it is related at present
The detection mode of transport investigation equipment according to working principle probably be divided into: Microwave Detecting Technology, ultrasonic detection technology,
Ground induction coil detection technique, piezoelectric detection technology, earth induction detection technique, scanning type laser detection technique, video detection skill
Art, fixed laser detection technique, passive infrared detection technique and infrared emission detection technique etc..But these detection techniques
All there are some technical deficiencies, such as: Microwave Detecting Technology measurement accuracy is influenced by wavelength and rear end DSP processing capacity,
It cannot point-device resolution vehicle；Ultrasonic detection technology weatherability is poor, and wind, sleet can all affect greatly；Ground sense
Coil Detector technology weatherability is preferable, although not by the wind, the influence of sleet, construction cost is high, and maintenance cost is high, destroys road
Face, some areas do not allow to install；Piezoelectric detection technology weatherability is preferable, and cost is relatively low, but construction cost and maintenance cost compared with
It is high；Earth induction detection technique good weatherability, cost is relatively low, and construction cost is medium, but needs to destroy road surface；Scanning type laser
When detection technique multilane, influenced by oversize vehicle, will lead to that partial data is imperfect, and weatherability is poor because blocking, haze and
Sleet, sand and dust etc. can affect greatly laser ranging, and the optical window of scanning type laser is larger, be easy by dust and mist
Drop pollution etc.；Video detection technology requires height to ambient brightness, and season, weather, illumination etc. are likely to interfere, and night needs
Additional illumination is wanted, if having light pollution using visible light；Passive infrared detection technique is affected by pavement temperature, part
Vehicle can missing inspection；Infrared emission detection technique cost is very low, and installation cost is high, and occasion is limited.
There is above-mentioned technological deficiency based on existing detection technique, therefore being badly in need of one kind can be with the acquisition road of precise and high efficiency
Road traffic conditions realize the technical solution that Traffic Information effectively counts.
Summary of the invention
The utility model aim is to provide a kind of transport investigation device based on millimetre-wave radar and laser radar, can
To realize the acquisition road traffic condition of precise and high efficiency, realize that Traffic Information effectively counts.
The utility model solves technical problem and adopts the following technical scheme that
A kind of transport investigation device based on millimetre-wave radar and laser radar, the portal frame being installed in above lane
On, data exchange is carried out with central server, includes at least radar cell, laser cell, administrative unit and power supply:
The radar cell for obtaining the movement velocity of vehicle, and the motion velocity information is sent to described
Laser cell and administrative unit；
The laser cell, for obtaining the appearance profile information of the vehicle, and according to radar cell transmitting
The motion velocity information of vehicle obtains vehicle parameter information, obtains the information of vehicles by vehicle classification algorithm and transmits
To the administrative unit；
The administrative unit, the fortune of the vehicle for receiving the radar cell and laser cell transmitting
Dynamic velocity information and the information of vehicles, and count storage section information of vehicles and carry out data exchange with central server；
The power supply, for providing power supply to the radar cell, the laser cell and the administrative unit.
Wherein, the radar cell includes at least radar data acquisition subelement and radar data handles subelement:
Radar data acquisition subelement, for obtaining the radar data of the vehicle on lane by detections of radar region, and
It is sent to the radar data processing subelement；
Radar data handles subelement, and the radar data for being transmitted according to the radar data acquisition subelement calculates institute
State the motion velocity information of vehicle.
Wherein, the laser cell includes at least:
Laser data acquires subelement, for obtaining time of the tested vehicle by laser detection point, range information, according to
Laser distance ground distance, calculates appearance profile, the overall height of tested vehicle, and is sent to vehicle commander's computation subunit；
Vehicle commander's computation subunit, it is logical for acquiring the tested vehicle that subelement issues according to the laser data
The time of test point, the vehicle commander of car speed calculating tested vehicle are spent, and is sent to the vehicle cab recognition subelement；
The vehicle cab recognition subelement, the vehicle commander, overall height, vehicle for being calculated according to vehicle commander's computation subunit
Appearance profile judges vehicle according to the vehicle targets of proposition and is sent to the vehicle data submitting subelement；
The vehicle data sends out subelement, described for sending the vehicle, speed, vehicle commander, overall height information to
Administrative unit.
Wherein, the administrative unit includes:
Section information of vehicles counts subelement, for being obtained according to the radar cell and the laser cell in each lane
The information of vehicles statistical analysis taken obtains the automobile traffic amount of the section, motor vehicle spot spe J, time headway, follow the bus percentage
Than, space headway, average space headway, time occupancy data information；
Data management subelement, for storing, showing, exporting the section information of vehicles statistics subelement statistics section
Information of vehicles.
Wherein, the radar cell, laser cell, administrative unit and power supply are mounted on described as integrated equipment
On portal frame.
It wherein, further include the network switch being connect with the power supply and the administrative unit, for the management is single
The information of member transmitting carries out data transmission in internal network.
The utility model has the following beneficial effects:
Transport investigation device and method in the utility model embodiment based on millimetre-wave radar and laser radar, base
In millimetre-wave radar measuring principle and single-point laser range measurement principle, proposes that one kind is simple, stablize, is reliable, being accurately and efficiently based on
The investigation apparatus of the traffic conditions of millimetre-wave radar and laser radar is constructed without destroying road surface without road closure in use, peace
Fill, debug, safeguard it is simple and convenient, can be with the acquisition traffic conditions of precise and high efficiency based on radar velocity measurement technology and laser ranging technique
Information.
Detailed description of the invention
Fig. 1 is the structural representation of the transport investigation device based on millimetre-wave radar and laser radar of the utility model
Figure；
Fig. 2 is the radar cell of the present embodiment and the structural schematic diagram of laser cell；
Fig. 3 is the structural schematic diagram of the administrative unit of the present embodiment；
Fig. 4 is the bicycle road radar cell of the present embodiment and the installation side view of laser cell；
Fig. 5 is that the bicycle road radar cell of the present embodiment and laser cell install top view；
Fig. 6 is the specific example of the transport investigation device based on millimetre-wave radar and laser radar in the present embodiment
Schematic diagram；
Fig. 7 is the process flow of the transport investigation method based on millimetre-wave radar and laser radar in the present embodiment
Figure.
Specific embodiment
The technical solution of the utility model is further elaborated below with reference to examples and drawings.
The utility model provides a kind of transport investigation device based on millimetre-wave radar and laser radar, is installed in vehicle
On portal frame above road, data exchange is carried out with central server, refering to what is shown in Fig. 1, including at least radar cell 101, is swashed
Light unit 102, administrative unit 103 and power supply 105: the radar cell 101, for obtaining the movement speed of the vehicle passed through
Degree, and the motion velocity information is sent to the laser cell 102 and administrative unit 103；The laser cell
102, for obtaining the appearance profile information of the vehicle, and the movement of the vehicle according to the radar cell 101 transmitting
Velocity information obtains vehicle parameter information, obtains the information of vehicles by vehicle classification algorithm and is sent to the administrative unit
103；The administrative unit 103, for receiving vehicle that the radar cell 101 and the laser cell 102 transmit
The motion velocity information and the information of vehicles, and count storage section information of vehicles and carry out data friendship with central server
It changes；The power supply 105, for being provided to the radar cell 101, the laser cell 102 and the administrative unit 103
Power supply.
Structural schematic diagram referring to figs. 1 to radar cell 101 in the present embodiment shown in fig. 5 and laser cell 102 and
Application scenarios schematic diagram, the radar cell 101 can be for the installations of integral type equipment on the gantry, at this with laser cell 102
In embodiment, the effective range of the integrated equipment can be bicycle road, or be arranged on multiple lanes according to demand.This implementation
It further include the network switch 106 being connect with the power supply 105 and the administrative unit 103 in example, for the management is single
The information of 103 transmitting of member carries out data transmission in internal network.
Refering to what is shown in Fig. 6, the radar cell 101 includes at least radar data acquisition subelement 401 and radar data
Subelement 402 is handled, wherein the radar data acquisition subelement 401, for obtaining on lane through detections of radar region
The radar data of vehicle, and it is sent to the radar data processing subelement 402, the radar data handles subelement 402,
Radar data for being transmitted according to the radar data acquisition subelement 401 calculates the motion velocity information of the vehicle.This
The Collecting and dealing of millimetre-wave radar data, and related millimetre-wave radar can be used in utility model in relation to radar cell 101
Working principle and processing mode can be implemented by using the prior art, no longer repeated herein.
The laser cell 102 includes at least, and laser data acquires subelement 501, for obtaining tested vehicle by swashing
The time of light detection point, range information calculate appearance profile, the overall height of tested vehicle according to laser distance ground distance, and pass
It send to vehicle commander's computation subunit；Vehicle commander's computation subunit 502, for acquiring subelement according to the laser data
501 tested vehicles issued calculate the vehicle commander of tested vehicle by the time of test point, the car speed, and are sent to
The vehicle cab recognition subelement 503；The vehicle cab recognition subelement 503, for being calculated according to vehicle commander's computation subunit
502 vehicle commander, overall height, contour of the vehicle profile, judge vehicle according to the vehicle targets of proposition and are sent to the vehicle
Data send out subelement；The vehicle data sends out subelement 504, is used for the vehicle, speed, vehicle commander, overall height information
Send the administrative unit 103 to.The collection of laser radar data can be used in the utility model in relation to laser cell 102
And processing, and working principle and processing mode in relation to laser radar can be implemented by using the prior art, and no longer go to live in the household of one's in-laws on getting married herein
It states.
In the embodiments of the present invention, the administrative unit 103 includes that section information of vehicles counts subelement 601,
For obtaining the section in the information of vehicles statistical analysis that each lane obtains according to the radar cell and the laser cell
Automobile traffic amount, motor vehicle spot spe J, time headway, follow the bus percentage, space headway, average space headway, time
The data information of occupation rate；Data management subelement 602, it is single for storing, showing, exporting section information of vehicles statistics
Member 601 counts the information of vehicles of section.
In transport investigation device of the utility model based on millimetre-wave radar and laser radar, millimeter wave thunder can be based on
Up to measuring principle and single-point laser range measurement principle, proposes that one kind is simple, stablize, is reliable, accurately and efficiently based on millimetre-wave radar
With the investigation apparatus of the traffic conditions of laser radar, construct without destroying road surface without road closure in use, installation, debugging, dimension
Protect it is simple and convenient, can be with the acquisition traffic conditions information of precise and high efficiency based on radar velocity measurement technology and laser ranging technique.
Conceived based on same utility model, the traffic conditions tune based on millimetre-wave radar and laser radar of the utility model
Device is looked into, following treatment process is included at least:
Radar data acquisition processing, obtains the movement velocity of vehicle；In the present embodiment, radar data acquisition processing step
It at least includes the following steps: radar data acquisition, radar waveform signal when acquiring vehicle by millimetre-wave radar；At radar signal
Collected radar signal is carried out FIR filtering, FFT calculating is carried out after filtering by reason, calculates the movement velocity letter for obtaining vehicle
Breath.
Laser data acquisition process obtains the appearance profile information of the vehicle, and according to the described of the vehicle got
Motion velocity information obtains vehicle parameter information, obtains the information of vehicles by vehicle classification algorithm；In the present embodiment, swash
Light data acquisition process at least includes the following steps: laser data acquisition, and laser acquires height of the outer profile of vehicle apart from laser
Information is spent, vehicle's contour information is obtained according to setting parameter and timestamp algorithm；Laser data pretreatment, to the vehicle of acquisition
Data are overturn and are filtered；Vehicle characteristics extract, and vehicle classification information can most be reflected by extracting from vehicle's contour data
Feature Mapping obtains the information of vehicles to feature space.
According to the motion velocity information of the vehicle of acquisition and the information of vehicles, statistics storage section information of vehicles is simultaneously
Data exchange is carried out with central server.It is specially categorised decision processing in statistics storage section information of vehicles in the present embodiment,
For classifying to sample according to setting rule in feature space.
With specific reference to shown in Fig. 7, in the embodiments of the present invention, specifically there is following processing step:
Step 701, radar data acquisition, radar waveform signal when acquiring vehicle by millimetre-wave radar；
Step 702, collected radar signal is carried out FIR filtering, FFT calculating is carried out after filtering by Radar Signal Processing,
Calculate car speed；
Step 703, laser data acquires, in order to identify vehicle, it is necessary first to complete information of vehicles is obtained,
Data acquisition module includes that device configuration information is read and the transmission of data configures between every group of laser according to on-site actual situations
Distance configures the mounting height of single laser.Laser acquires elevation information of the outer profile of vehicle apart from laser, while recording vehicle
Entry time stamp and time departure stamp, the acquisition of timestamp is according to being that timer time stabs.
Step 704, laser data pre-processes, and pretreated purpose is that the vehicle data of acquisition is overturn and filtered,
To obtain more accurate information of vehicles.Height letter of the collected outer profile for vehicle of laser sensor apart from laser
Breath calculates the side outline value for obtaining vehicle by the difference that laser mounting height and laser ranging are worth.Lead in the present embodiment
It crosses sliding window method to be filtered the side outline of vehicle, so that vehicle side outline data are more accurate.According to single laser
Entry time stamp and time departure stamp difference, can calculate vehicle there are the times.According to vehicle, there are times and speed
Product as Vehicle length, while calculating height of car.
Step 705, vehicle characteristics extract, and the feature that can most reflect vehicle classification information is extracted from vehicle's contour data
It is mapped to feature space, here it is vehicle characteristics extractions.The long ratio in top of vehicle, space occupancy are calculated, for example, 6 sections of vehicle is
Each section of space occupancy, headstock height, height of wagon, vehicle of the Vehicle length less than 6 meters put down data latter half after point
10 sections are divided into, space occupancy is calculated separately；Vehicle length is greater than 6 meters of vehicle, is used as headstock number for before data 1/5
According to being equally divided into 6 sections, calculate separately space occupancy, be used as car data for rear the 4/5 of data, be equally divided into 10 sections, respectively
Calculate space occupancy.
Step 706, categorised decision, categorised decision are classified to sample according to certain rule in feature space.It is first
First on the basis of sample training, decision rule is formulated according to certain statistical law, later with being tested, realizes that classification is determined
Plan.This system is exactly to establish vehicle classification device after the feature distribution for counting a large amount of vehicles, the final identification realized to vehicle
With classification.In the present invention, setting and sample training process in relation to rule can use the scheme of the prior art
It carries out, is no longer repeated herein.
Because the principle that the transport investigation method based on millimetre-wave radar and laser radar solves the problems, such as with based on milli
Metre wave radar is similar to the transport investigation device of laser radar, so the traffic feelings based on millimetre-wave radar and laser radar
The implementation of condition investigation method may refer to the implementation of the transport investigation device based on millimetre-wave radar and laser radar, repeat
Place repeats no more.
The sequencing of above embodiments is not only for ease of description, represent the advantages or disadvantages of the embodiments.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that:
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (6)
1. a kind of transport investigation device based on millimetre-wave radar and laser radar, the portal frame being installed in above lane
On, with central server carry out data exchange, which is characterized in that include at least radar cell, laser cell, administrative unit and
Power supply:
The radar cell for obtaining the movement velocity of vehicle, and the motion velocity information is sent to and described is swashed
Light unit and administrative unit；
The laser cell, for obtaining the appearance profile information of the vehicle, and the vehicle according to radar cell transmitting
The motion velocity information obtain vehicle parameter information, the information of vehicles is obtained by vehicle classification algorithm and is sent to institute
State administrative unit；
The administrative unit, the movement speed of the vehicle for receiving the radar cell and laser cell transmitting
Information and the information of vehicles are spent, and counts storage section information of vehicles and carries out data exchange with central server；
The power supply, for providing power supply to the radar cell, the laser cell and the administrative unit.
2. the transport investigation device according to claim 1 based on millimetre-wave radar and laser radar, feature exist
In the radar cell includes at least radar data acquisition subelement and radar data handles subelement:
Radar data acquisition subelement for obtaining the radar data of the vehicle on lane by detections of radar region, and is sent
Subelement is handled to the radar data；
Radar data handles subelement, and the radar data for being transmitted according to the radar data acquisition subelement calculates the vehicle
Motion velocity information.
3. the transport investigation device according to claim 1 based on millimetre-wave radar and laser radar, feature exist
In the laser cell includes at least:
Laser data acquires subelement, for obtaining time of the tested vehicle by laser detection point, range information, according to laser
Apart from ground distance, appearance profile, the overall height of tested vehicle are calculated, and is sent to vehicle commander's computation subunit；
Vehicle commander's computation subunit passes through inspection for acquiring the tested vehicle that subelement issues according to the laser data
The time of measuring point, the car speed calculate the vehicle commander of tested vehicle, and are sent to the vehicle cab recognition subelement；
The vehicle cab recognition subelement, the vehicle commander, overall height, contour of the vehicle for being calculated according to vehicle commander's computation subunit
Profile judges vehicle according to the vehicle targets of proposition and is sent to the vehicle data submitting subelement；
The vehicle data sends out subelement, for the vehicle, speed, vehicle commander, overall height information to be sent to the management
Unit.
4. the transport investigation device according to claim 1 based on millimetre-wave radar and laser radar, feature exist
In the administrative unit includes:
Section information of vehicles counts subelement, for what is obtained according to the radar cell and the laser cell in each lane
Information of vehicles statistical analysis obtain the automobile traffic amount of the section, motor vehicle spot spe J, time headway, follow the bus percentage,
The data information of space headway, averagely space headway, time occupancy；
Data management subelement, for storing, showing, exporting the vehicle of the section information of vehicles statistics subelement statistics section
Information.
5. the transport investigation device according to claim 1 based on millimetre-wave radar and laser radar, feature exist
In the radar cell, laser cell, administrative unit and power supply are mounted on the portal frame as integrated equipment.
6. the transport investigation device according to claim 1 based on millimetre-wave radar and laser radar, feature exist
In further including the network switch being connect with the power supply and the administrative unit, the letter for transmitting the administrative unit
Breath carries out data transmission in internal network.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107895482A (en) * | 2017-11-24 | 2018-04-10 | 北京安航达科技有限公司 | Transport investigation device and method based on millimetre-wave radar and laser radar |
| CN109830109A (en) * | 2019-03-20 | 2019-05-31 | 北京交通大学 | A kind of road traffic monitoring equipment based on laser ranging |
| CN110361735A (en) * | 2019-07-22 | 2019-10-22 | 成都纳雷科技有限公司 | A kind of vehicle speed measuring method and device based on velocity radar |
| CN110471070A (en) * | 2019-08-09 | 2019-11-19 | 上海慧希电子科技有限公司 | Combined detection system and sensitive detection parts |
| CN112700646A (en) * | 2020-12-28 | 2021-04-23 | 山西省交通科技研发有限公司 | Actual measurement method for traffic volume and lane coefficient of section of operation road |
| CN112700638A (en) * | 2020-12-04 | 2021-04-23 | 杭州亥迪交通设备有限公司 | Intelligent road section intelligent detection system based on laser radar and millimeter wave radar |
| CN113701577A (en) * | 2021-08-23 | 2021-11-26 | 中国北方工业有限公司 | Layout method of active laser and active millimeter wave common-caliber composite detection device |
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2017
- 2017-11-24 CN CN201721589875.5U patent/CN208422108U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107895482A (en) * | 2017-11-24 | 2018-04-10 | 北京安航达科技有限公司 | Transport investigation device and method based on millimetre-wave radar and laser radar |
| CN109830109A (en) * | 2019-03-20 | 2019-05-31 | 北京交通大学 | A kind of road traffic monitoring equipment based on laser ranging |
| CN110361735A (en) * | 2019-07-22 | 2019-10-22 | 成都纳雷科技有限公司 | A kind of vehicle speed measuring method and device based on velocity radar |
| CN110471070A (en) * | 2019-08-09 | 2019-11-19 | 上海慧希电子科技有限公司 | Combined detection system and sensitive detection parts |
| CN112700638A (en) * | 2020-12-04 | 2021-04-23 | 杭州亥迪交通设备有限公司 | Intelligent road section intelligent detection system based on laser radar and millimeter wave radar |
| CN112700646A (en) * | 2020-12-28 | 2021-04-23 | 山西省交通科技研发有限公司 | Actual measurement method for traffic volume and lane coefficient of section of operation road |
| CN113701577A (en) * | 2021-08-23 | 2021-11-26 | 中国北方工业有限公司 | Layout method of active laser and active millimeter wave common-caliber composite detection device |
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