A multi-lane ETC transaction distance self-adaptive method and system

Abstract

The present invention discloses a multi-lane ETC transaction distance adaptive method and system. Vehicle data of multiple lanes are obtained through at least one pre-deployed millimeter-wave radar, and vehicle distribution information of the current lane and adjacent lanes is obtained according to the vehicle data; according to the vehicle distribution information of the current lane and adjacent lanes, the transaction distance of the current ETC lane is adaptively adjusted according to a preset rule. If there is no vehicle in the current lane, the transmission power of the ETC antenna in the current lane is adjusted to 0; if there is a vehicle in the current lane, it is determined whether there is a vehicle in the adjacent lane. If there is no vehicle in the adjacent lane, the transmission power of the ETC antenna in the current lane is adjusted to the preset maximum value, and the antenna power of the adjacent lane is adjusted to 0. If there is also a vehicle in the adjacent lane, the power is adjusted according to the vehicle positions, vehicle speeds, and vehicle type data of the current lane and adjacent lanes according to a preset power adjustment algorithm, so as to control the transaction distance. It can accurately identify the vehicle conditions in the lane, realize the adaptive adjustment of the ETC transaction distance between multiple lanes, and can reduce the phenomena of adjacent lanes and following vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation, and particularly relates to a multi-lane ETC transaction distance adaptive method and system. Background Art

[0002] The existing ETC lane transaction distance adjustment is carried out for a single lane and usually at a fixed power. If the power is large, adjacent lane interference is likely to occur. If the power is insufficient, the OBU (OnBoard Unit) may not be awakened. At the same time, due to the difference in vehicle types, there are significant differences in the installation position and angle of the OBU. For example, the OBU of a large vehicle is installed at a high position and the angle is 90° perpendicular to the ground (45° for a small vehicle). When the power is the same, the transaction distance of a large vehicle is farther. In addition, the passing vehicle speeds of ETC in different regions are different, which also causes local differences in the transaction distance. Summary of the Invention

[0003] Therefore, the present invention provides a multi-lane ETC transaction distance adaptive method and system to solve the problems that the existing ETC lane transaction distance is adjusted only according to the current lane, which may cause adjacent lane interference and vehicle following.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] According to the first aspect of the embodiments of the present invention, a multi-lane ETC transaction distance adaptive method is proposed. The method includes:

[0006] Obtain vehicle data of multiple lanes through at least one pre-deployed millimeter-wave radar, and obtain the vehicle distribution information of the current lane and adjacent lanes according to the vehicle data;

[0007] Adaptively adjust the current ETC lane transaction distance according to the vehicle distribution information of the current lane and adjacent lanes according to a preset rule. The preset rule includes:

[0008] If there is no vehicle in the current lane, adjust the transmission power of the ETC antenna used for communicating with the on-vehicle OBU in the current lane to 0. If there is a vehicle in the current lane, determine whether there is a vehicle in the adjacent lane. If there is no vehicle in the adjacent lane, adjust the transmission power of the ETC antenna in the current lane to the preset maximum value and the power of the adjacent lane antenna to 0. If there is also a vehicle in the adjacent lane, adjust the power according to the vehicle position, speed, and vehicle type data of the current lane and adjacent lanes according to a preset power adjustment algorithm, so as to control the transaction distance.

[0009] Further, the preset power adjustment algorithm specifically includes:

[0010] The transmission power of the antenna in the current lane is the sum of the basic power of the current lane and the compensation power of the adjacent lane, that is, Power = P

[0010] ,

[0009] ,

[0008] , 邻 ,

[0007] , , 本 , , +P 邻 , the basic power P of the current lane本 Calculated comprehensively based on the vehicle position, vehicle speed, and vehicle type of the vehicle in this lane, the adjacent lane compensation power P 邻 Calculated comprehensively based on the vehicle position, vehicle speed, and vehicle type of the adjacent lane vehicle; the transmission power of the ETC antenna has a linear correlation with the transaction distance.

[0011] Furthermore, the preset power adjustment algorithm specifically includes:

[0012] It is assumed that the distance from the first vehicle in this lane to the antenna is y1 and the vehicle speed is v1;

[0013] P 本 = b(y1 + a(v1 - v0));

[0014] P 本 Represents the basic power of this lane, where a is the vehicle speed compensation coefficient of this lane, v0 is the lane design standard vehicle speed. The higher the vehicle speed, the longer the driving distance per unit time, and the greater the change in vehicle position within the same transaction time. Therefore, a farther transaction distance is required; b is the large vehicle compensation coefficient of this lane. According to whether the vehicle type is a large vehicle or a small vehicle, compensation is carried out through the compensation coefficient b. The compensation coefficient b corresponding to a large vehicle is less than the compensation coefficient b corresponding to a small vehicle. At the same power, the transaction distance of a large vehicle is greater than that of a small vehicle. Therefore, a large vehicle reduces the power through coefficient compensation.

[0015] Furthermore, the preset power adjustment algorithm specifically further includes:

[0016] It is assumed that the distance from the first vehicle in this lane to the antenna is y1, the vehicle speed is v1, the distances from the first vehicles in two adjacent lanes to the antenna are y2 and y3 respectively, and the vehicle speeds are v2 and v3;

[0017] P 邻 = c(min(y1, y2, y3) – y1) + d(max(v1, v2, v3) - v1) / v0 + e

[0018] P 邻 Represents the adjacent lane compensation power. c(min(y1, y2, y3) – y1) is the adjacent lane vehicle position compensation power value. When the distance from the first vehicle in this lane to the antenna is the closest, that is, min(y1, y2, y3) – y1 = 0, no compensation is required; c is the adjacent lane vehicle position compensation coefficient. When the adjacent lane vehicle is closer than the vehicle in this lane and if the power of this lane is too large, it may access the adjacent lane vehicle. To ensure normal transactions in the adjacent lane, the antenna power of this lane is reduced through the compensation coefficient c;

[0019] d(max(v1, v2, v3) - v1) / v0 is the compensation power value for the speed of adjacent lane vehicles. When the speed of the vehicle in the current lane is the fastest, i.e., max(v1, v2, v3) - v1 = 0, no compensation is required; d is the compensation coefficient for the speed of adjacent lane vehicles. When the speed of the vehicle in the current lane is not the fastest and the speed of the adjacent lane vehicle is faster, if the power of the current lane is relatively large and it is easy to be accessed by the current lane, the antenna power of the current lane is reduced through the compensation coefficient d.

[0020] e is the compensation coefficient for large vehicles in the adjacent lane. When the first vehicle in the adjacent lane is a large vehicle, the access distance is farther and it is easier to be accessed by the current lane. The power is reduced through coefficient compensation.

[0021] Further, the method further includes:

[0022] Each lane is provided with an ETC antenna for communicating with the in-vehicle OBU. The deployment method of the millimeter-wave radar includes:

[0023] Each lane is provided with a millimeter-wave radar. The millimeter-wave radar is built into the ETC antenna box, and the radar coverage area is a single-lane area;

[0024] Each lane is provided with a millimeter-wave radar. The millimeter-wave radar is independent of the ETC antenna box, and the radar coverage area is a single-lane area;

[0025] The millimeter-wave radar is arranged on one of the multi-lanes and is independent of the ETC antenna box, and the radar coverage area is a multi-lane area;

[0026] The millimeter-wave radar is arranged on one of the multi-lanes and is built into the ETC antenna box, and the radar coverage area is a multi-lane area.

[0027] Further, vehicle data of multiple lanes is obtained through at least one pre-deployed millimeter-wave radar, and vehicle distribution information of the current lane and adjacent lanes is obtained according to the vehicle data. Specifically, it includes:

[0028] Receiving radar data, including the radar data of the current lane and the radar data shared among different lanes;

[0029] Processing the received radar data, parsing the vehicle position and speed of the radar points, and dividing the radar points by lane to obtain the vehicle distribution information of the current lane and adjacent lanes.

[0030] Further, the method further includes:

[0031] Checking the synchronization status and performing calibration at fixed intervals to ensure that the clocks of each lane are the same and to ensure the accuracy of the received radar data.

[0032] According to the second aspect of the embodiments of the present invention, a multi-lane ETC transaction distance adaptive system is proposed. The system includes:

[0033] A multi-lane data acquisition module, which is used to acquire vehicle data of multiple lanes through at least one pre-deployed millimeter-wave radar, and obtain vehicle distribution information of the current lane and adjacent lanes according to the vehicle data;

[0034] A transaction distance adjustment module, which is used to adaptively adjust the current ETC lane transaction distance according to the vehicle distribution information of the current lane and adjacent lanes according to a preset rule, and the preset rule includes:

[0035] If there is no vehicle in the current lane, adjust the transmission power of the ETC antenna used for communicating with the in-vehicle OBU in the current lane to 0; if there is a vehicle in the current lane, determine whether there is a vehicle in the adjacent lane. If there is no vehicle in the adjacent lane, adjust the transmission power of the ETC antenna in the current lane to the preset maximum value and adjust the power of the adjacent lane antenna to 0. If there is also a vehicle in the adjacent lane, adjust the power according to the vehicle positions, vehicle speeds, and vehicle type data of the current lane and adjacent lanes according to a preset power adjustment algorithm, so as to control the transaction distance.

[0036] Further, the multi-lane data acquisition module specifically includes:

[0037] A radar data receiving module, which is used to receive radar data, including the radar data of the current lane and the radar data shared between different lanes;

[0038] A radar data processing module, which is used to process the received radar data, analyze the vehicle positions and vehicle speeds of the radar points, divide the radar points by lane, and obtain the vehicle distribution information of the current lane and adjacent lanes;

[0039] A multi-lane information linkage module, which is used to realize the linkage and sharing of radar data between different lanes.

[0040] Further, the system further includes:

[0041] A synchronization module, which is used to check the synchronization status and perform calibration every fixed time to ensure that the clocks of each lane are the same and ensure the accuracy of the received radar data.

[0042] The present invention has the following advantages:

[0043] A multi-lane ETC transaction distance adaptive method and system proposed by the present invention obtain vehicle data of multiple lanes through at least one pre-deployed millimeter-wave radar, and obtain vehicle distribution information of the current lane and adjacent lanes according to the vehicle data; adaptively adjust the current ETC lane transaction distance according to the vehicle distribution information of the current lane and adjacent lanes according to a preset rule, and the preset rule includes: if there is no vehicle in the current lane, adjust the transmission power of the ETC antenna used for communicating with the on-vehicle OBU in the current lane to 0; if there is a vehicle in the current lane, determine whether there is a vehicle in the adjacent lane. If there is no vehicle in the adjacent lane, adjust the transmission power of the ETC antenna in the current lane to the preset maximum value and the antenna power in the adjacent lane to 0. If there is also a vehicle in the adjacent lane, adjust the power according to the vehicle position, vehicle speed and vehicle type data of the current lane and adjacent lanes according to a preset power adjustment algorithm, so as to control the transaction distance. It can accurately identify the vehicle conditions in the lane, realize the adaptive adjustment of the ETC transaction distance between multiple lanes, and can reduce the phenomena of adjacent lanes and following vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained according to the provided drawings.

[0045] Figure 1 It is a schematic flow chart of a multi-lane ETC transaction distance adaptive method provided by an embodiment of the present invention;

[0046] Figure 2 It is a radar layout diagram in a multi-lane ETC transaction distance adaptive method provided by an embodiment of the present invention;

[0047] Figure 3 It is a schematic implementation flowchart of a multi-lane ETC transaction distance adaptive method based on a multi-lane built-in radar layout provided by an embodiment of the present invention;

[0048] Figure 4 It is a schematic structural diagram of a multi-lane ETC transaction distance adaptive system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] The following specific embodiments illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0050] As Figure 1 shown, an embodiment of the present invention proposes a multi-lane ETC transaction distance adaptive method, and the method includes:

[0051] S100. Obtain vehicle data of multiple lanes through at least one pre-deployed millimeter-wave radar, and obtain vehicle distribution information of the own lane and adjacent lanes according to the vehicle data.

[0052] An ETC antenna for communicating with an in-vehicle OBU is provided in each lane. As Figure 2 shown, the deployment methods of the millimeter-wave radar include:

[0053] Layout 1, multi-lane built-in radar layout: A millimeter-wave radar is provided in each lane, and the millimeter-wave radar is built into the ETC antenna box, and the radar coverage area is a single-lane area;

[0054] Layout 2, multi-lane independent radar layout: A millimeter-wave radar is provided in each lane, and the millimeter-wave radar is independent of the ETC antenna box, and the radar coverage area is a single-lane area;

[0055] Layout 3, single-lane independent radar layout: The millimeter-wave radar is set on one of the multiple lanes and is independent of the ETC antenna box, and the radar coverage area is a multi-lane area;

[0056] Layout 4, single-lane built-in radar layout: The millimeter-wave radar is set on one of the multiple lanes and is built into the ETC antenna box, and the radar coverage area is a multi-lane area.

[0057] The layout differences are as follows:

[0058] 1. Whether the radar is built into the antenna box: The built-in scheme can reduce the installation workload, and the independent scheme is convenient for radar position adjustment;

[0059] 2. Whether a radar is arranged in each lane: Using a single radar can save costs, and using multiple radars has higher accuracy.

[0060] Step 100 specifically further includes:

[0061] Step 110. Receive radar data, including own-lane radar data and radar data shared between different lanes; realize radar data linkage between different lanes through a multi-lane information linkage module. One implementation method is that lane controllers are deployed in the same local area network, and the radar information is broadcast using the UDP protocol.

[0062] Step 120. Process the received radar data, analyze the vehicle position and speed of the radar points, divide the radar points by lane, and obtain vehicle distribution information of the own lane and adjacent lanes.

[0063] S200. Adaptively adjust the current ETC lane transaction distance according to the vehicle distribution information of the current lane and adjacent lanes according to a preset rule, where the preset rule includes:

[0064] If there is no vehicle in the current lane, adjust the transmission power of the ETC antenna used for communicating with the in-vehicle OBU in the current lane to 0; if there is a vehicle in the current lane, determine whether there is a vehicle in the adjacent lane. If there is no vehicle in the adjacent lane, adjust the transmission power of the ETC antenna in the current lane to the preset maximum value and the antenna power in the adjacent lane to 0. If there is also a vehicle in the adjacent lane, adjust the power according to the preset power adjustment algorithm based on the vehicle positions, vehicle speeds, and vehicle type data of the current lane and adjacent lanes, so as to control the transaction distance.

[0065] Taking the multi-lane built-in radar as an example, the specific implementation process is as Figure 3 shown.

[0066] In this embodiment, the preset power adjustment algorithm specifically includes:

[0067] The transmission power of the antenna in the current lane is the sum of the basic power in the current lane and the compensation power in the adjacent lane, that is, Power = P 本 + P 邻 . The basic power P 本 in the current lane is calculated comprehensively according to the vehicle position, vehicle speed, and vehicle type of the vehicle in the current lane. The compensation power P 邻 in the adjacent lane is calculated comprehensively according to the vehicle position, vehicle speed, and vehicle type of the vehicle in the adjacent lane; the transmission power of the ETC antenna has a linear correlation with the transaction distance, and the power levels 0-20 correspond to the transaction distances 0-20m.

[0068] Specifically, let the distance of the first vehicle in the current lane from the antenna be y1, the vehicle speed be v1, and the distances of the first vehicles in the two adjacent lanes from the antenna be y2, y3 respectively, and the vehicle speeds be v2, v3;

[0069] P 本 = b(y1 + a(v1 - v0));

[0070] P 本 represents the basic power in the current lane, where a is the vehicle speed compensation coefficient in the current lane, usually taking 0.1. The speed unit is km / h. The faster the vehicle speed, the longer the driving distance per unit time, the greater the change in vehicle position within the same transaction time, and the farther the required transaction distance. v0 is the designed standard vehicle speed of the lane, usually taking 30km / h, which can be adjusted according to the actual situation in each place. When the vehicle speed is greater than v0, the corresponding power is greater than that without vehicle speed compensation. When the vehicle speed is less than v0, the corresponding power is relatively smaller;

[0071] b is the compensation coefficient for large vehicles in this lane. When the first vehicle in this lane is a small vehicle, its value is 1; for large vehicles, it is 0.8. Due to factors such as the OBU position and vehicle height of large vehicles, their trading distance is relatively farther than that of small vehicles under the same power. Therefore, the power can be reduced through coefficient compensation.

[0072] P 邻 = c(min(y1, y2, y3) – y1) + d(max(v1, v2, v3) - v1) / v0 + e

[0073] P 邻 represents the compensation power for adjacent lanes. c(min(y1, y2, y3) – y1) is the compensation power value for the position of adjacent lane vehicles. When the distance of the first vehicle in this lane from the antenna is the closest, i.e., min(y1, y2, y3) – y1 = 0, no compensation is required; c is the compensation coefficient for the position of adjacent lane vehicles, and its value is -0.5. When adjacent lane vehicles are closer than vehicles in this lane, if the power in this lane is too large, it may access adjacent lane vehicles. To ensure normal transactions in adjacent lanes, the power in this lane should be minimized.

[0074] d(max(v1, v2, v3) - v1) / v0 is the compensation power value for the vehicle speed of adjacent lane vehicles. When the vehicle speed in this lane is the fastest, i.e., max(v1, v2, v3) - v1 = 0, no compensation is required; d is the compensation coefficient for the vehicle speed of adjacent lane vehicles, with a value of 0.05. When the vehicle speed in this lane is not the fastest and adjacent lane vehicles are faster, if the power in this lane is relatively large, it is easy to be accessed by this lane, and the power in this lane should be kept as small as possible.

[0075] e is the compensation coefficient for large vehicles in adjacent lanes. When the first vehicle in the adjacent lane is a large vehicle, its value is -1; otherwise, it is 0. When the vehicle is a large vehicle, the access distance is farther, and it is more likely to be accessed by the adjacent lane.

[0076] Furthermore, the method further includes:

[0077] Checking the synchronization status and calibrating at fixed intervals to ensure that the clocks of each lane are the same and to ensure the accuracy of the received radar data.

[0078] Corresponding to the above embodiment, as Figure 4 shown, the embodiment of the present invention proposes a multi-lane ETC trading distance adaptive system, and the system includes:

[0079] A multi-lane data acquisition module, configured to acquire vehicle data of multiple lanes through at least one pre-deployed millimeter-wave radar, and obtain the vehicle distribution information of this lane and adjacent lanes according to the vehicle data;

[0080] A trading distance adjustment module, configured to adaptively adjust the current ETC lane trading distance according to the vehicle distribution information of this lane and adjacent lanes according to a preset rule, and the preset rule includes:

[0081] If there is no vehicle in this lane, the transmission power of the ETC antenna used for communicating with the in-vehicle OBU in this lane is adjusted to 0; if there is a vehicle in this lane, it is determined whether there is a vehicle in the adjacent lane. If there is no vehicle in the adjacent lane, the transmission power of the ETC antenna in this lane is adjusted to the preset maximum value, and the antenna power in the adjacent lane is adjusted to 0. If there is also a vehicle in the adjacent lane, the power is adjusted according to the vehicle positions, vehicle speeds, and vehicle type data in this lane and the adjacent lane according to the preset power adjustment algorithm, so as to control the transaction distance.

[0082] Further, the multi-lane data acquisition module specifically includes:

[0083] A radar data receiving module, which is used to receive radar data, including the radar data of this lane and the radar data shared among different lanes; the data can be transmitted through a network port or a serial port;

[0084] A radar data processing module, which is used to process the received radar data, analyze the vehicle positions and vehicle speeds of the radar points, divide the radar points by lane, and obtain the vehicle distribution information of this lane and the adjacent lanes;

[0085] A multi-lane information linkage module, which is used to realize the linkage and sharing of radar data among different lanes. One implementation method is that the lane controllers are deployed in the same local area network, and the radar information is broadcast using the UDP protocol.

[0086] Further, the system further includes:

[0087] A synchronization module, which is used to check the synchronization status and perform calibration at fixed intervals to ensure that the clocks of each lane are the same and ensure the accuracy of the received radar data. Synchronization can be performed through hardware (such as a synchronizer) or software (such as Beidou clock synchronization, etc.).

[0088] Taking the multi-lane built-in radar as an example, the specific implementation process is as follows:

[0089] 1: Each lane receives the radar data of this lane through the radar data receiving module, and the radar is integrated with the antenna box (ETC toll collection device);

[0090] 2: Each lane shares the radar information of this lane through the multi-lane information linkage module;

[0091] 3: The radar data receiving module receives the linked radar data

[0092] 4: The radar data processing module processes the radar information of this lane and the linked radar information, analyzes the positions and speeds of the radar points, and obtains the vehicle distribution information of this lane and the adjacent lanes;

[0093] 5: The transaction distance adjustment module adaptively adjusts the transaction distance according to the vehicle distribution on the lane according to the preset rules;

[0094] 6: The synchronization module is a separate thread that checks the synchronization status and performs calibration at fixed intervals to ensure accurate data.

[0095] The functions performed by each component in the multi-lane ETC transaction distance adaptive system provided by the embodiments of the present invention have been described in detail in the above embodiments, so no further elaboration will be provided here.

[0096] Although the present invention has been described in detail with general descriptions and specific embodiments above, modifications or improvements can be made based on the present invention, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection of the present invention.

Claims

1. A multi-lane ETC transaction distance adaptive method, characterized in that, The method includes: Obtaining vehicle data of multiple lanes through at least one pre-deployed millimeter-wave radar, and obtaining vehicle distribution information of the own lane and adjacent lanes according to the vehicle data; Adapting and adjusting the current ETC lane transaction distance according to the vehicle distribution information of the own lane and adjacent lanes according to a preset rule, where the preset rule includes: If there is no vehicle in the own lane, adjust the transmission power of the ETC antenna used for communicating with the in-vehicle OBU in the own lane to 0; if there is a vehicle in the own lane, determine whether there is a vehicle in the adjacent lane. If there is no vehicle in the adjacent lane, adjust the transmission power of the ETC antenna in the own lane to the preset maximum value and the antenna power in the adjacent lane to 0. If there is also a vehicle in the adjacent lane, adjust the power according to the vehicle positions, vehicle speeds, and vehicle type data of the own lane and adjacent lanes according to a preset power adjustment algorithm, so as to control the transaction distance; The preset power adjustment algorithm specifically includes: The transmission power of this lane antenna is the sum of the basic power of this lane and the adjacent lane compensation power, that is, Power = P 本 + P 邻 , the basic power P of this lane 本 is comprehensively calculated according to the vehicle position, vehicle speed and vehicle type of the vehicle in this lane, and the adjacent lane compensation power P 邻 is comprehensively calculated according to the vehicle position, vehicle speed and vehicle type of the vehicle in the adjacent lane; the transmission power of the ETC antenna has a linear correlation with the transaction distance; It is assumed that the distance from the first vehicle in the own lane to the antenna is y1 and the vehicle speed is v1; P 本 = b(y1 + a(v1 - v0)); P 本 represents the basic power of this lane, where a is the vehicle speed compensation coefficient of this lane, v0 is the designed standard vehicle speed of the lane. The higher the vehicle speed, the longer the driving distance per unit time, and the greater the change in vehicle position within the same trading time. Therefore, the required trading distance is farther; b is the large vehicle compensation coefficient of this lane. According to whether the vehicle type is a large vehicle or a small vehicle, compensation is carried out through the compensation coefficient b. The compensation coefficient b corresponding to a large vehicle is less than the compensation coefficient b corresponding to a small vehicle. At the same power, the trading distance of a large vehicle is greater than that of a small vehicle. Therefore, the large vehicle reduces the power through coefficient compensation. It is assumed that the distance from the first vehicle in the own lane to the antenna is y1 and the vehicle speed is v1, and the distances from the first vehicles in the two adjacent lanes to the antenna are y2 and y3 respectively, and the vehicle speeds are v2 and v3; P 邻 = c(min(y1, y2, y3) – y1) + d(max(v1, v2, v3) - v1) / v0 + e P 邻 Indicates the adjacent channel compensation power. c(min(y1, y2, y3) – y1) is the adjacent channel vehicle position compensation power value. When the distance of the first vehicle in the current lane from the antenna is the closest, i.e., min(y1, y2, y3) – y1 = 0, no compensation is required; c is the adjacent channel vehicle position compensation coefficient. When the adjacent channel vehicle is closer than the vehicle in the current lane and the power of the current lane is too large, there is a possibility of accessing the adjacent channel vehicle. To ensure normal transactions in the adjacent channel, the antenna power of the current lane is reduced by the compensation coefficient c. d(max(v1, v2, v3) - v1) / v0 is the vehicle speed compensation power value of the adjacent lane vehicle. When the vehicle speed of the vehicle in the own lane is the fastest, that is, max(v1, v2, v3) - v1 = 0, no compensation is required; d is the vehicle speed compensation coefficient of the adjacent lane vehicle. When the vehicle speed in the own lane is not the fastest and the vehicle speed of the adjacent lane vehicle is faster, in order to avoid the own lane power being too large and causing access by the own lane, the transmission power of the own lane antenna is reduced through the compensation coefficient d; e is the large vehicle compensation coefficient of the adjacent lane. When the first vehicle in the adjacent lane is a large vehicle, the access distance is farther and it is more likely to be accessed by the own lane. The power is reduced through coefficient compensation.

2. The multi-lane ETC transaction distance self-adaptive method according to claim 1, wherein The method further includes: An ETC antenna for communicating with the in-vehicle OBU is provided in each lane, and the deployment method of the millimeter-wave radar includes: A millimeter-wave radar is provided in each lane, and the millimeter-wave radar is built into the ETC antenna box, and the radar coverage area is a single-lane area; A millimeter-wave radar is provided in each lane, and the millimeter-wave radar is independent of the ETC antenna box, and the radar coverage area is a single-lane area; The millimeter-wave radar is provided on one of the multiple lanes and is independent of the ETC antenna box, and the radar coverage area is a multi-lane area; The millimeter-wave radar is provided on one of the multiple lanes and is built into the ETC antenna box, and the radar coverage area is a multi-lane area.

3. A multi-lane ETC transaction distance adaptive method according to claim 1, characterized in that Obtaining vehicle data of multiple lanes through at least one pre-deployed millimeter-wave radar, and obtaining vehicle distribution information of the own lane and adjacent lanes according to the vehicle data, specifically includes: Receiving radar data, including the radar data of the own lane and the radar data shared between different lanes; Processing the received radar data, parsing the vehicle positions and vehicle speeds of the radar points, and dividing the radar points by lane to obtain the vehicle distribution information of the own lane and adjacent lanes.

4. A multi-lane ETC transaction distance adaptive method according to claim 1, characterized in that, The method further includes: Checking the synchronization status and performing calibration at fixed intervals to ensure that the clocks of each lane are the same and ensure the accuracy of the received radar data.

5. A multi-lane ETC transaction distance adaptive system, characterized in that, The system includes: The multi-lane data acquisition module is used to acquire vehicle data of multiple lanes through at least one pre-deployed millimeter-wave radar, and obtain the vehicle distribution information of the current lane and adjacent lanes according to the vehicle data; The transaction distance adjustment module is used to adaptively adjust the current ETC lane transaction distance according to the vehicle distribution information of the current lane and adjacent lanes according to a preset rule. The preset rule includes: If there is no vehicle in the current lane, the transmission power of the ETC antenna used for communicating with the in-vehicle OBU in the current lane is adjusted to 0; if there is a vehicle in the current lane, it is judged whether there is a vehicle in the adjacent lane. If there is no vehicle in the adjacent lane, the transmission power of the ETC antenna in the current lane is adjusted to the preset maximum value, and the antenna power in the adjacent lane is adjusted to 0. If there is also a vehicle in the adjacent lane, the power is adjusted according to the vehicle position, vehicle speed, and vehicle type data of the current lane and adjacent lanes according to a preset power adjustment algorithm, so as to control the transaction distance; The preset power adjustment algorithm specifically includes: The transmission power of this lane antenna is the sum of the basic power of this lane and the adjacent lane compensation power, that is, Power = P 本 + P 邻 , the basic power P of this lane 本 is comprehensively calculated based on the vehicle position, vehicle speed and vehicle type of the vehicle in this lane, and the adjacent lane compensation power P 邻 is comprehensively calculated based on the vehicle position, vehicle speed and vehicle type of the vehicle in the adjacent lane; the transmission power of the ETC antenna has a linear correlation with the transaction distance; It is assumed that the distance from the first vehicle in the current lane to the antenna is y1, and the vehicle speed is v1; P 本 = b(y1 + a(v1 - v0)); P 本 represents the basic power of this lane, where a is the vehicle speed compensation coefficient of this lane, v0 is the designed standard vehicle speed of the lane. The higher the vehicle speed, the longer the driving distance per unit time, and the greater the change in vehicle position within the same trading time. Therefore, the required trading distance is farther; b is the large vehicle compensation coefficient of this lane. According to whether the vehicle type is a large vehicle or a small vehicle, compensation is carried out through the compensation coefficient b. The compensation coefficient b corresponding to a large vehicle is less than the compensation coefficient b corresponding to a small vehicle. At the same power, the trading distance of a large vehicle is greater than that of a small vehicle. Therefore, the large vehicle reduces the power through coefficient compensation. It is assumed that the distance from the first vehicle in the current lane to the antenna is y1, and the vehicle speed is v1. The distances from the first vehicles in the two adjacent lanes to the antenna are y2 and y3 respectively, and the vehicle speeds are v2 and v3; P 邻 = c(min(y1, y2, y3) – y1) + d(max(v1, v2, v3) - v1) / v0 + e P 邻 Indicates the adjacent channel compensation power. c(min(y1, y2, y3) – y1) is the adjacent channel vehicle position compensation power value. When the distance of the first vehicle in the current lane from the antenna is the closest, that is, min(y1, y2, y3) – y1 = 0, no compensation is required; c is the adjacent channel vehicle position compensation coefficient. When the adjacent channel vehicle is closer than the vehicle in the current lane and the power of the current lane is too large, it may access the adjacent channel vehicle. To ensure normal transactions in the adjacent channel, the antenna power of the current lane is reduced by the compensation coefficient c. d(max(v1, v2, v3) - v1) / v0 is the vehicle speed compensation power value of the adjacent lane vehicle. When the vehicle speed of the current lane vehicle is the fastest, that is, max(v1, v2, v3) - v1 = 0, no compensation is required; d is the vehicle speed compensation coefficient of the adjacent lane vehicle. When the vehicle speed of the current lane is not the fastest and the vehicle speed of the adjacent lane vehicle is faster, in order to avoid the current lane power being too large and causing access by the current lane, the transmission power of the current lane antenna is reduced by the compensation coefficient d; e is the large vehicle compensation coefficient of the adjacent lane. When the first vehicle in the adjacent lane is a large vehicle, the access distance is farther and it is more likely to be accessed by the current lane. The power is reduced through coefficient compensation.

6. The multi-lane ETC transaction distance adaptive system according to claim 5, characterized in that The multi-lane data acquisition module specifically includes: The radar data receiving module is used to receive radar data, including the radar data of the current lane and the radar data shared between different lanes; The radar data processing module is used to process the received radar data, analyze the vehicle position and vehicle speed of the radar points, divide the radar points by lane, and obtain the vehicle distribution information of the current lane and adjacent lanes; The multi-lane information linkage module is used to realize the radar data linkage and sharing between different lanes.

7. A multi-lane ETC transaction distance adaptive system according to claim 5, characterized in that, The system further includes: The synchronization module is used to check the synchronization status and perform calibration at fixed intervals to ensure that the clocks of each lane are the same and ensure the accuracy of the received radar data.

Images