CN102930738A - Vehicle positioning and traffic flow detection system and method - Google Patents

Abstract

The invention discloses a vehicle positioning and traffic flow detection system and method. The system includes a plurality of roadside equipment, a vehicle positioning unit and a remote monitoring center; The wireless signal of the device position and ID; the vehicle positioning unit receives and fuses the satellite positioning signal and the signal transmitted by the roadside equipment, calculates the position and speed of the vehicle, and sends it to the remote monitoring center; the remote monitoring center receives the position and speed information sent by different vehicles and display. The invention also discloses a vehicle positioning and traffic flow detection method. Through the installation on the roadside, the invention can easily realize a large detection coverage and realize the detection of traffic flow, vehicle speed, and even traffic events. It can be used for traffic flow detection of intelligent transportation system and is the core equipment of intelligent transportation system.

Description

System and method for vehicle positioning and traffic flow detection

technical field

The invention relates to the technical field of intelligent transportation, in particular to a vehicle positioning and traffic flow detection system and method.

Background technique

With the continuous increase of vehicle ownership in large and medium-sized cities, many traffic problems have been caused, such as road congestion, frequent accidents, environmental deterioration, and air pollution. In order to solve these problems, intelligent transportation systems (Intelligent Transportation Systems, ITS) emerge accordingly. With the deepening of people's understanding of the relationship between people, vehicles and roads, intelligent transportation systems are playing an increasingly important role in people's lives. The intelligent transportation system uses computers as tools and information technology as means to coordinate the relationship between people, vehicles and roads, and realize efficient, safe and energy-saving transportation through the coordination of multiple factors. The research in this field has been widely valued all over the world and has achieved rapid development.

In the intelligent transportation system, the detection and control of road traffic flow is one of the core technologies. Through the positioning and tracking of vehicles, traffic information such as traffic flow and vehicle speed of the detected road section can be obtained, and the traffic signal control and guidance system can control or guide traffic signals according to the detected traffic information to realize traffic control .

At present, vehicle positioning and navigation technology based on satellite navigation system is widely used. Satellite positioning technology can be used to obtain vehicle position and speed information, but satellite positioning methods cannot normally receive satellite navigation signals, such as roads under bridges in the city, high-rise buildings on both sides, and outdoor tunnels, etc., satellite signals are easily blocked However, it cannot be received normally, or the number of visible navigation satellites is less than the minimum number of satellites. Sometimes, due to the serious decline in GNSS positioning accuracy caused by multipath effects, the satellite positioning method is subject to certain restrictions. The vehicle odometer is also a means of positioning, but the positioning method based on the odometer has accumulated errors, and the error will become larger and larger as the distance increases; a vehicle positioning method based on GSM/GPRS has also been proposed, using different base stations received by mobile terminals The strength of the signal can be used for positioning, but due to the occlusion and reflection of buildings in the city, the accuracy is poor; the vehicle positioning technology based on radio frequency identification technology (RFID) usually requires a certain distance between the vehicle and the radio frequency identification device on the roadside requirements, and the speed of the vehicle should not be too fast, otherwise the reliability will decrease; there are also some vehicle positioning technologies that integrate the two positioning methods, such as GPS/INS fusion positioning. This positioning can achieve higher results, but The cost of this combination is very high, and it is not easy to popularize.

Contents of the invention

The technical problem solved by the invention is that through the installation on the roadside, it is easy to realize a large detection coverage and realize the detection of traffic flow, vehicle speed, and even traffic events.

In order to solve the above technical problems, the embodiment of the present invention discloses a vehicle positioning and traffic flow detection system, including a plurality of roadside equipment, a vehicle positioning unit and a remote monitoring center;

The roadside equipment is installed on both sides of the road, and transmits a wireless signal containing the location and ID of the roadside equipment to the vehicle positioning unit;

The vehicle positioning unit receives and fuses the satellite positioning signal and the signal transmitted by the roadside equipment, calculates the position and speed of the vehicle, and sends it to the remote monitoring center;

The remote monitoring center receives and displays the position and speed information sent by different vehicles.

Preferably, the vehicle positioning unit further includes a satellite positioning receiver, a roadside wireless signal receiver, a wireless positioning module, a fusion positioning module and a remote communication transceiver;

The satellite positioning receiver is used to receive satellite positioning information;

The roadside wireless signal receiver is used to receive the signal transmitted by the roadside equipment;

The wireless positioning module is used to determine the position information according to the signal received by the roadside wireless signal receiver;

The fusion positioning module is used to fuse satellite positioning and roadside equipment positioning information;

The remote communication transceiver is used for communicating with the remote monitoring center.

Preferably, the vehicle positioning unit further includes an information display module for displaying information.

Preferably, the remote monitoring center includes a wireless transceiver and a monitoring information processing center; the wireless transceiver is used to communicate with the vehicle positioning unit;

The monitoring information processing center is used to process and display traffic information.

Preferably, the satellite positioning is GPS or GNSS or Beidou 2BD2.

The embodiment of the present invention also discloses a vehicle positioning and traffic flow detection method, comprising the following steps:

The vehicle positioning unit first receives wireless signals transmitted by at least two roadside devices, and confirms the location of the roadside device according to the ID data in the received roadside signals;

Use the roadside wireless signal receiver to obtain the signal strength of the roadside device;

Estimate the vehicle's position and speed based on the known positions of multiple roadside devices and their signal strength;

Fuse the estimated position and speed of the vehicle with the position and speed obtained by the satellite receiver to improve the reliability and accuracy of the positioning results;

In the monitoring information processing center, by collecting the position and speed information of all vehicles in the coverage area, combined with the electronic map, the vehicle is marked to a certain road section of the map according to the position of the vehicle; through the information statistics of all vehicles, each road section in the coverage area is obtained The total number of vehicles and their average speed.

Through the installation on the roadside, the present invention can easily realize a large detection coverage and realize the detection of traffic flow, vehicle speed, and even traffic events. It can be used for traffic flow detection of intelligent transportation system and is the core equipment of intelligent transportation system.

Description of drawings

A more complete and better understanding of the invention, and many of its attendant advantages, will readily be learned by reference to the following detailed description when considered in conjunction with the accompanying drawings, but the accompanying drawings illustrated herein are intended to provide a further understanding of the invention and constitute A part of the present invention, the exemplary embodiment of the present invention and its description are used to explain the present invention, and do not constitute an improper limitation of the present invention, wherein:

Figure 1 is a schematic diagram of a vehicle positioning and traffic flow detection system.

Fig. 2 is a schematic structural diagram of the vehicle positioning unit.

Fig. 3 is a flow chart of data processing of the vehicle positioning unit.

Fig. 4 is a flow chart of data processing in the monitoring information processing center.

Detailed ways

Embodiments of the present invention will be described with reference to FIGS. 1 to 4 .

In order to make the above objects, features and advantages more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, a vehicle positioning and traffic flow detection system includes a plurality of roadside equipment 1, a vehicle positioning unit 2 and a remote monitoring center 3;

The roadside device 1 is arranged on both sides of the road, and transmits a wireless signal containing the location and ID of the roadside device 1 to the vehicle positioning unit 2;

The vehicle positioning unit 2 receives and fuses the satellite positioning signal and the signal transmitted by the roadside equipment, calculates the position and speed of the vehicle, and sends it to the remote monitoring center 3;

The remote monitoring center 3 receives and displays the position and speed information sent by different vehicles.

Example 1:

The wireless transmission of the roadside device 1 adopts a dedicated short-range wireless communication (DSRC) module, and the datagram includes the latitude and longitude of the roadside device 1 .

As shown in Figure 2, the roadside wireless signal receiving 5 of the vehicle positioning unit 2 adopts a DSRC module, and when the module receives data such as longitude and latitude of the roadside equipment through the wireless positioning module 7, it can also detect the strength of the received signal; the satellite positioning receiver 4 uses a GPS positioning receiver; the remote communication transceiver 6 uses a 3G module; the GPS positioning output and the output of wireless signal positioning are fused through the fusion positioning module 7 using Kalman (Kalman) filtering to realize the fusion of positioning information. And display it through the information display 9 module.

On the remote monitoring center 3 side, the wireless receiving device 10 adopts a 3G module. The monitoring information processing center 11 matches the received position of each vehicle according to the position of the road in the electronic map, and marks the current position of the vehicle to a certain road section; the number of all vehicles in this road section at the current moment can be counted, and The position change of each vehicle is derived with respect to time to obtain the speed value, and the speed of different vehicles is averaged to obtain the average speed of this road section.

Example 2:

The wireless transmission of the roadside device 1 adopts the WLAN module, and the datagram includes the latitude and longitude of the roadside device.

As shown in Figure 2, the roadside wireless signal receiving 5 of vehicle positioning unit 2 adopts WLAN module, when this module receives data such as longitude and latitude of roadside equipment by wireless positioning module 7, can also detect the strength of received signal; Satellite positioning receiver 4 adopts BD2 (Beidou 2) positioning receiver; remote communication transceiver 6 adopts GPRS module; BD2 positioning output and wireless signal positioning output, through fusion positioning module 7 adopts Kalman (Kalman) filter to realize the fusion of positioning information. And display it through the information display 9 module.

On the side of the remote monitoring center 3, the wireless receiving device 10 adopts a GPRS module. The monitoring information processing center 11 matches the received position of each vehicle according to the position of the road in the electronic map, and marks the current position of the vehicle to a certain road section; the number of all vehicles in this road section at the current moment can be counted, and The position change of each vehicle is derived with respect to time to obtain the speed value, and the speed of different vehicles is averaged to obtain the average speed of this road section.

The invention also discloses a vehicle positioning and traffic flow detection method, comprising the following steps:

The vehicle positioning unit first receives wireless signals transmitted by at least two roadside devices, and confirms the location of the roadside device according to the ID data in the received roadside signals;

Use the roadside wireless signal receiver to obtain the signal strength of the roadside device;

Estimate the vehicle's position and speed based on the known positions of multiple roadside devices and their signal strength;

Fuse the estimated position and speed of the vehicle with the position and speed obtained by the satellite receiver to improve the reliability and accuracy of the positioning results;

In the monitoring information processing center, by collecting the position and speed information of all vehicles in the coverage area, combined with the electronic map, the vehicle is marked to a certain road section of the map according to the position of the vehicle; through the information statistics of all vehicles, each road section in the coverage area is obtained The total number of vehicles and their average speed.

Figure 3 is the data processing flow chart of the vehicle positioning unit. One way judges whether the GNSS signal is available, and the other way performs positioning estimation based on the signal strength RSSI of the roadside equipment according to the input of multiple roadside wireless data. The above data is fused and processed, and finally used for data display, data storage, and data transmission.

Figure 4 is the data processing flow chart of the monitoring information processing center, which receives vehicle positioning data, determines the road section where the vehicle is located in combination with the electronic map, counts the vehicles in the same direction on the road section, calculates the average speed of the road section, and then performs data display and historical data storage .

Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these specific embodiments are only for illustration, and those skilled in the art can make the above-mentioned Various omissions, substitutions, and changes were made in the details of the methods and systems. For example, it is within the scope of the present invention to combine the above method steps so as to perform substantially the same function in substantially the same way to achieve substantially the same result. Accordingly, the scope of the invention is limited only by the appended claims.

Claims (6)

1. a vehicle location and traffic flow detection system is characterized in that, comprise a plurality of roadside devices, vehicle positioning unit and remote monitoring center;

Roadside device is arranged on the road both sides, comprises the wireless signal of roadside device position and ID to the emission of vehicle positioning unit;

The reception of vehicle positioning unit and fusion satellite positioning signal and roadside device transmit, and calculate position and the speed of vehicle, and are sent to remote monitoring center;

Remote monitoring center receives position and velocity information and the demonstration that different vehicle sends.

2. vehicle location according to claim 1 and traffic flow detection system, it is characterized in that described vehicle positioning unit further comprises satellite positioning receiver, trackside wireless signal receiver, wireless locating module, fusion locating module and telecommunications transceiver;

Satellite positioning receiver is used for receiving satellite positioning information;

The trackside wireless signal receiver is used for receiving the signal of roadside device emission;

Wireless locating module is used for receiving signal according to the trackside wireless signal receiver and determines positional information;

Merge locating module and be used for merging satnav and roadside device locating information;

Telecommunications transceiver is used for communicating by letter with remote monitoring center.

3. vehicle location according to claim 2 and traffic flow detection system is characterized in that, described vehicle positioning unit further comprises information display module, are used for information and show.

4. vehicle location according to claim 1 and traffic flow detection system is characterized in that, described remote monitoring center comprises wireless transmitter, monitor message processing enter;

Wireless transmitter is used for and the vehicle positioning unit communication;

The monitor message processing enter for the treatment of with show transport information.

5. vehicle location according to claim 1 and traffic flow detection system is characterized in that, described satnav is GPS or GNSS or Big Dipper 2BD2.

6. a vehicle location and magnitude of traffic flow detection method is characterized in that, may further comprise the steps:

The vehicle positioning unit at first receives the wireless signal of at least two roadside device emissions, according to the ID data in the trackside signal that receives, confirms the position of this roadside device;

Utilize the trackside wireless signal receiver to obtain the signal intensity of this roadside device;

According to position and its signal intensity of known a plurality of roadside devices, estimation obtains position and the speed of vehicle;

This estimation is obtained position and speed that the position of vehicle and speed and satellite receiver obtain merge, improve reliability and the precision of positioning result;

In the monitor message processing enter, by gathering position and the velocity information of all vehicles in the overlay area, in conjunction with electronic chart, the marking of cars is arrived a certain highway section of map according to the position of vehicle; By the Information Statistics of all vehicles, obtain vehicle fleet and the average velocity in each highway section in the overlay area.

Images