Barrier control method, vehicle communication method and device

Abstract

The present application relates to the technical field of vehicle non-stop charging, and particularly provides a barrier control method, a vehicle communication method and device. The barrier control method, the vehicle communication method and the device of the present application establish communication with a target vehicle entering a predetermined range, acquire vehicle identification information and vehicle position information of the target vehicle, detect the distance between the barrier and the front vehicle through a distance measuring device arranged at the barrier, match the vehicle position information with the detected distance after the vehicle identification information is verified, and control the opening and closing of the barrier according to whether the matching is successful, thereby increasing the necessary condition for opening the barrier, changing the timing of opening the barrier, and avoiding the situation that some vehicles pass through and cause congestion to escape tolling due to the barrier being opened too early and inaccurate identification of the current passing vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to vehicle non-stop toll collection technology, in particular to a barrier control method, a vehicle communication method and device. BACKGROUND

[0002] ETC (Electronic Toll Collection) system, also known as electronic non-stop toll collection system, is a technology applied to automatic toll collection of expressway or bridge. Through the special short-range communication between the vehicle-mounted electronic tag (on-board unit OBU) installed on the windshield of the vehicle and the microwave antenna (roadside unit RSU) on the ETC lane of the toll station, the computer networking technology and bank settlement processing are used to achieve the purpose of no need to stop the vehicle to pay the expressway or bridge fee at the expressway or bridge toll station. The toll collection system takes less than two seconds per vehicle, and the traffic capacity of the toll lane is 5 to 10 times that of the manual toll lane. However, since the currently used ETC system will open the front barrier immediately after the roadside unit detects a legal on-board unit, there is still a long distance between the vehicle and the front barrier at this time, which leads to the fact that some unscrupulous vehicle owners take advantage of this loophole to speed up and pass through the barrier first to achieve the purpose of passing by stealing others' ETC to escape the fee. And the barrier will fall down after detecting that a vehicle has passed, which will lead to the fact that the normally communicating vehicle is blocked in front of the barrier and cannot pass through. This behavior of passing by stealing others' ETC not only violates the law, brings inconvenience to others, but also brings great safety hazards and increases the risk of vehicle scratching or accidents, so it is urgent to improve the current ETC passing method to curb this behavior. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a barrier control method, a vehicle communication method and device for improving the control of the current ETC system to limit the behavior of passing by stealing others' ETC.

[0004] In a first aspect, an embodiment of the present application provides a barrier control method, which comprises: establishing communication with a target vehicle, the target vehicle being a vehicle entering a predetermined range; obtaining vehicle identification information and vehicle position information of the target vehicle; controlling a distance measuring device arranged at the barrier to detect the distance between the barrier and the front vehicle; in response to the vehicle identification information passing the verification, matching the vehicle position information and the distance; in response to the vehicle position information and the distance failing to match, controlling the barrier to remain closed.

[0005] Further, the method further comprises: in response to the vehicle position information and the distance matching successfully, controlling the barrier to open.

[0006] Further, the vehicle identification information comprises a vehicle identification, and the vehicle position information comprises satellite positioning information and / or distance information measured by the target vehicle to the barrier gate.

[0007] Further, the matching the vehicle position information and the distance comprises: determining whether the positions of the vehicles in front of the barrier gate represented by the vehicle position information and the distance are consistent; in response to the positions being inconsistent, determining that the matching of the vehicle position information and the distance fails; and in response to the positions being consistent, determining that the matching of the vehicle position information and the distance succeeds.

[0008] Further, the determining whether the positions of the vehicles in front of the barrier gate represented by the vehicle position information and the distance are consistent comprises: determining an included angle value between a line connecting the roadside unit and the vehicle and a lane according to the vehicle position information, the included angle value being greater than 90° and less than 150°, and the distance being within a predetermined distance range, and then determining that the positions are consistent; or determining distance values of the target vehicle to the barrier gate and the distance according to the vehicle position information, and then determining that the positions are consistent.

[0009] Further, the distance range is 1 meter to 5 meters.

[0010] Further, the determining the included angle value between the line connecting the roadside unit and the vehicle and the lane according to the vehicle position information comprises: determining a first coordinate of the roadside unit and a second coordinate of the barrier gate in a planar projection coordinate system; determining a third coordinate of the target vehicle in the planar projection coordinate system according to the vehicle position information; and determining the included angle value between the line connecting the roadside unit and the vehicle and the lane according to the first coordinate, the second coordinate and the third coordinate.

[0011] Further, the determining the third coordinate of the target vehicle in the planar projection coordinate system according to the vehicle position information comprises: obtaining the third coordinate of the target vehicle in the planar projection coordinate system according to satellite positioning information mapping; or determining the third coordinate according to the distance information measured by the target vehicle to the barrier gate, the second coordinate and lane direction information.

[0012] Further, the establishing communication with the target vehicle comprises: detecting that a vehicle enters a communication range or drives into a target lane, determining the vehicle as the target vehicle, and generating an establishing communication instruction; in response to the establishing communication instruction, sending a communication signal to the target vehicle; and in response to receiving a valid feedback signal, successfully establishing communication with the target vehicle.

[0013] In a second aspect, the embodiments of the present application further provide a vehicle communication method, which comprises: establishing a communication connection with a roadside unit; and sending vehicle identification information and vehicle position information through the communication connection; wherein the vehicle position information comprises satellite positioning information and / or distance information of the vehicle to the barrier gate.

[0014] In a third aspect, the embodiments of the present application further provide a non-stop toll passage device, which comprises: a roadside unit arranged above or beside the lane, configured to receive and send communication signals and acquire vehicle identification information and vehicle position information; a barrier gate arranged at an exit end of the lane; a distance measuring device arranged on the barrier gate, configured to measure and upload distance between the barrier gate and a front vehicle in real time; and a computer device communicatively connected with the roadside unit, the barrier gate and the distance measuring device, configured to control the roadside unit, the distance measuring device and the barrier gate to implement the barrier gate control method.

[0015] Further, the device further comprises: a loop inductor arranged below an entrance end of the lane, communicatively connected with the computer device, configured to sense whether a vehicle enters the ETC lane and send a start signal to the computer device when a vehicle enters, and the computer device controls the roadside unit, the distance measuring device and the barrier gate to implement the barrier gate control method in response to receiving the start signal.

[0016] In a fourth aspect, the embodiments of the present application further provide a vehicle-mounted device, which comprises: a positioning device configured to acquire vehicle position information; and a vehicle-mounted unit configured to store the vehicle position information and vehicle identification information and execute the vehicle communication method.

[0017] Further, the positioning device comprises: a satellite positioning signal receiving device configured to receive satellite positioning signals and store the satellite positioning information in the vehicle-mounted unit; and / or a vehicle-mounted distance measuring device configured to measure distance of the vehicle to the barrier gate and store the distance information in the vehicle-mounted unit.

[0018] In a fifth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores computer program instructions, and the computer program instructions implement the barrier gate control method or the vehicle communication method when executed by a processor.

[0019] The barrier control method, vehicle communication method and device of the embodiment of the present application establish communication with the target vehicle entering the predetermined range, acquire the vehicle identification information of the target vehicle and the vehicle position information, detect the distance between the barrier and the front vehicle through the distance measuring device arranged at the barrier, match the vehicle position information with the distance detected by the distance measuring device after the vehicle identification information is verified, and control the opening and closing of the barrier according to whether the matching is successful, thereby increasing the necessary condition for opening the barrier, changing the timing of opening the barrier, and avoiding the situation that some vehicles pass through the barrier to escape tolling due to the barrier being opened too early and the inaccurate identification of the current passing vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0020] The above and other objects, features and advantages of the present application will become more apparent from the following description of the embodiments of the present application taken with reference to the accompanying drawings, in which:

[0021] Figure 1 The use scenario diagram of the barrier control method of the embodiment of the present application is shown in FIG. 1.

[0022] Figure 2 The structure diagram of the vehicle-mounted device and the non-stop tolling device of the embodiment of the present application is shown in FIG. 2.

[0023] Figure 3 The principle diagram of the barrier control method of the embodiment of the present application is shown in FIG. 3.

[0024] Figure 4 The information interaction diagram of the vehicle-mounted device and the non-stop tolling device of the embodiment of the present application is shown in FIG. 4.

[0025] Figure 5 The flowchart of the barrier control method of the embodiment of the present application is shown in FIG. 5.

[0026] Figure 6 The specific step diagram of matching the vehicle position information and the distance in the barrier control method of the embodiment of the present application is shown in FIG. 6.

[0027] Figure 7 The flowchart of another embodiment of the barrier control method of the embodiment of the present application is shown in FIG. 7.

[0028] Figure 8 The specific step diagram of establishing communication with the target vehicle in the barrier control method of the embodiment of the present application is shown in FIG. 8.

[0029] Figure 9 The specific step diagram of determining the included angle value between the line connecting the roadside unit and the vehicle and the lane according to the vehicle position information in the barrier control method of the embodiment of the present application is shown in FIG. 9.

[0030] Figure 10Method steps of the vehicle communication method of the embodiment of the present application. DETAILED DESCRIPTION

[0031] The present application is described in detail below based on the embodiments, but the present application is not limited to only these embodiments. In the following detailed description of the present application, some specific details are described in detail. The present application can also be fully understood without the description of these details by those skilled in the art. In order to avoid confusion of the essence of the present application, well-known methods, processes, procedures, elements and circuits are not described in detail.

[0032] In addition, those of ordinary skill in the art should understand that the drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0033] Unless the context clearly requires otherwise, throughout the description, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is to say, in the sense of "including, but not limited to".

[0034] In the description of the present application, it should be understood that the terms "first", "second" and the like are used only for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0035] The ETC system is to complete wireless data communication between the vehicle and the toll station by using vehicle automatic identification technology, to carry out automatic induction identification of the vehicle and exchange of related charging data. Computer network is used to process charging data, to realize non-stop, non-window tolling and full-automatic electronic toll collection system.

[0036] The ETC system carries out wireless communication and information exchange between the on-board device installed on the vehicle and the antenna installed on the lane of the toll station. The ETC system is mainly composed of a vehicle automatic identification system, a central management system and other auxiliary facilities. The vehicle automatic identification system is composed of an on-board unit (OBU), also known as a transponder or electronic tag, a road side unit (RSU) and a loop inductor. The OBU stores the identification information of the vehicle, and is generally installed on the windshield in front of the vehicle. The RSU is installed beside the toll station, and the loop inductor is installed under the lane ground. The central management system has a large database, which stores a large amount of information of registered vehicles and users. When the vehicle passes through the toll station, the loop inductor senses the vehicle, the RSU sends an inquiry signal, the OBU responds, and bidirectional communication and data exchange are carried out; the central management system obtains the vehicle identification information, such as the vehicle ID number, the vehicle type and the like, and compares the information with the corresponding information in the database to determine whether the vehicle is registered, and controls the management system to generate different actions according to different situations, such as the computer toll management system deducting the toll from the prepayment account of the vehicle, or sending instructions to other auxiliary facilities.

[0037] Figure 1 The figure shows the use scene of the barrier control method of the embodiment of the application. Figure 1 As shown in the figure, Figure 1 a and b are vehicles driving on the lane, wherein lane 1 is an ETC lane, and lane 2 is a non-ETC lane. When the vehicle A installed with the on-board unit OBU normally drives into the ETC lane, the OBU is identified by the RSU arranged on the lane, and when the verification is passed, the ETC system controls the barrier in front of the lane 1 to be automatically opened, so as to allow the vehicle a to pass. However, if the vehicle b attempts to illegally escape the toll, when the OBU of the vehicle a is identified by the RSU and the barrier of the lane 1 is opened, the vehicle b will quickly change lanes, insert into the lane in front of the vehicle a, and then pass through the barrier opened by the vehicle a after paying the toll, so as to achieve the purpose of escaping the toll. However, since the barrier is opened only once to allow one vehicle to pass, after the vehicle b passes, the vehicle a will be blocked in front of the barrier and cannot pass, and has to reverse and re-identify. At this time, if other vehicles have driven into the lane 1 behind the vehicle a, a great traffic jam will be caused. In addition, the process of changing lanes and passing by the vehicle b will also cause great safety hazards. Therefore, the embodiment of the application provides a barrier control method which can avoid the occurrence of the above-mentioned passing and escaping the toll.

[0038] Figure 2 The figure shows the structure of the on-board device 01 and the non-stop toll passing device 02 of the embodiment of the application. Figure 2As shown, the non-stop toll pass device 02 of the embodiment includes a roadside unit 4, a barrier gate 6, a distance measuring device 5 and a computer device 7. The roadside unit 4 is arranged above or beside the lane for receiving and transmitting communication signals and obtaining vehicle identification information and vehicle position information. The barrier gate 6 is arranged at the exit end of the lane. The distance measuring device 5 is arranged on the barrier gate 6 for measuring and uploading the distance between the barrier gate 6 and the vehicle in front in real time. The computer device 7 is communicatively connected with the roadside unit 4, the barrier gate 6 and the distance measuring device 5 for controlling the roadside unit 4, the distance measuring device 5 and the barrier gate 6 to implement the barrier gate control method described below, thereby preventing the occurrence of the behavior of rushing through the ETC pass process to escape the fee.

[0039] In some optional embodiments, the device further includes a loop inductor 3. The loop inductor 3 is arranged below the entrance end of the lane and is communicatively connected with the computer device 7 for sensing whether a vehicle enters the ETC lane and sending a start signal to the computer device 7 when a vehicle enters. The computer device 7 controls the roadside unit 4, the distance measuring device 5 and the barrier gate 6 to perform the barrier gate control method described below in response to receiving the start signal. The embodiment can accurately sense the entry of the vehicle into the ETC lane in time by arranging the loop inductor 3, and the roadside unit 4 does not need to send a broadcast signal all the time, thereby reducing the energy consumption of the system.

[0040] The vehicle-mounted device 01 of the embodiment includes a positioning device 1 and a vehicle-mounted unit 2. The positioning device 1 is used to obtain vehicle position information. The vehicle-mounted unit 2 is used to store vehicle position information and vehicle identification information and perform the vehicle communication method described below.

[0041] In a specific real-time manner, the positioning device 1 is a satellite positioning signal receiving device or a vehicle-mounted distance measuring device. The satellite positioning signal receiving device is used to receive satellite positioning signals and store satellite positioning information in the vehicle-mounted unit 4. The vehicle-mounted distance measuring device is used to measure the distance from the vehicle to the barrier gate 6 and store the distance information in the vehicle-mounted unit.

[0042] Figure 3 The principle diagram of the barrier gate control method of the embodiment is shown in FIG. 2. As shown, Figure 3 Figure 2 ​A point is the location of the barrier gate, B point is the location of the RSU, C, C', C'' point is the normal driving vehicle, D point is the vehicle for rushing and escaping fee. In the embodiment of the application, since the positions of the barrier gate and the RSU are fixed, the positions of the A and B points can be determined in advance, then when the vehicle C in driving enters the ETC lane, the RSU will establish a communication connection with the OBU on the vehicle C, and the RSU can obtain the position information of the vehicle C while obtaining the vehicle identification information from the OBU. The position information of the vehicle C can be determined by the vehicle satellite positioning system (such as GPS or Beidou satellite positioning system) and stored in the OBU. At the same time, the barrier gate at the A point is also provided with a ranging device (such as a laser ranging device or an ultrasonic ranging device) for measuring the distance between the barrier gate and the front vehicle, when there is no vehicle for rushing and escaping fee, the distance is the distance between the barrier gate A and the vehicle C, when there is a vehicle D inserted in front of the vehicle C, the distance is the distance between AD. In the embodiment, when the vehicle C is identified to pass through at the C point or the C' point, the barrier gate A will not be opened immediately, and the non-stop toll passage device will match the vehicle position information read from the OBU with the distance between the barrier gate A and the front vehicle measured by the ranging device. When there is no vehicle for rushing and escaping fee, the AC distance obtained by ranging can be matched successfully with the vehicle position displayed by the vehicle position information read from the OBU (for example, the ranging obtained AC distance is 1-5 meters, and the distance between the C point coordinates and the A point coordinates obtained by positioning the vehicle C through the vehicle position information is also 1-5 meters), at this time, the computer equipment will control the barrier gate to be lifted, so that the C vehicle can pass normally. When the D vehicle for attempting to rush and escape fee is inserted in front of the C vehicle, the AD distance obtained by ranging is 1-5 meters, and the distance between the C point coordinates and the A point coordinates obtained by the vehicle position information read from the OBU is still greater than 5 meters, at this time, the vehicle position information and the distance matching fail, and the barrier gate will not be opened, so that the vehicle D cannot escape fee passing.

[0043] Figure 4 The information interaction schematic diagram of the vehicle-mounted device and the non-stop toll passage device in the embodiment of the application. As shown in Figure 4 the information interaction steps of the embodiment are as follows:

[0044] S010, the non-stop toll passage device detects that the vehicle enters the communication range or detects that the vehicle drives into the target lane, and determines the vehicle as the target vehicle.

[0045] S020, the non-stop toll passage device sends a communication signal to the vehicle-mounted device.

[0046] S030, the vehicle-mounted device feeds back a signal to the non-stop toll passage device.

[0047] S040, the non-stop toll passage device successfully establishes communication with the target vehicle in response to receiving the valid feedback signal.

[0048] S050, the non-stop toll passage device detects the distance between the barrier gate and the vehicle in front.

[0049] S060, the vehicle-mounted device receives the satellite positioning signal or measures the distance from the vehicle to the barrier gate, and stores it.

[0050] It is easy to understand that the above steps S040, S050, S060 are not in chronological order.

[0051] S070, the vehicle-mounted device sends the vehicle identification information and the vehicle positioning information to the non-stop toll passage device.

[0052] S080, the non-stop toll passage device verifies the vehicle identification information and matches the vehicle location information with the distance.

[0053] S090, the non-stop toll passage device controls the barrier gate to remain closed or open according to the matching result.

[0054] The embodiment of the application changes the timing of opening the barrier gate by performing the above information interaction steps between the vehicle-mounted device and the non-stop toll passage device, thereby avoiding the situation where vehicles pass through and jam to evade tolls due to the barrier gate being opened too early and inaccurate identification of the current passing vehicle.

[0055] The barrier gate control method and vehicle communication method of the embodiment of the application will be specifically described below according to the above device, principle and information interaction steps.

[0056] Figure 5 The flowchart of the barrier gate control method of the embodiment of the application. According to the above principle, the method for controlling the barrier gate on the RSU side of the embodiment of the application is shown in Figure 5 , which includes the following steps:

[0057] S100, communication with the target vehicle, the target vehicle being a vehicle entering a predetermined range identifiable by the RSU.

[0058] After the vehicle enters the predetermined range identifiable by the RSU, the RSU establishes communication with the OBU.

[0059] S200, obtaining vehicle identification information and vehicle location information of the target vehicle.

[0060] The RSU obtains the vehicle identification information and vehicle location information of the target vehicle from the OBU and uploads it to the computer system.

[0061] S300, controlling the distance measuring device arranged at the barrier gate to detect the distance between the barrier gate and the vehicle in front.

[0062] The ranging device on the barrier measures the distance between the barrier and the nearest vehicle in front, and uploads to the system.

[0063] S400, in response to the vehicle identification information verification, matching the vehicle position information and the distance.

[0064] The system checks the vehicle identification information obtained from the OBU, and after verification, matches the vehicle position information and the distance between the barrier and the vehicle in front. The specific matching process is as shown in Figure 4

[0065] Figure 6 The specific steps of matching the vehicle position information and the distance of the barrier control method of the embodiment of the application are shown in Figure 6

[0066] S410, judging whether the position of the vehicle in front of the barrier represented by the vehicle position information and the distance is consistent.

[0067] The above principle diagram Figure 3 illustrates that according to the vehicle position information, the position of the target vehicle can be represented by the angle value of angle BCA, for example, angle BCA is greater than 90 degrees and less than 150 degrees, and the distance is 1-5 meters, then it is judged to be consistent, and step S420 is executed, otherwise it is inconsistent, and step S430 is executed. According to the vehicle position information, the position of the target vehicle can also be represented by the AC distance value. When the AC distance determined according to the position is 1-5 meters, and the distance measured by the ranging device is also 1-5 meters, it is judged to be consistent, and step S420 is executed, otherwise it is inconsistent, and step S430 is executed.

[0068] S420, in response to the position inconsistency, determining that the vehicle position information and the distance matching fails;

[0069] The position inconsistency means that the vehicle position information obtained from the OBU is inconsistent with the actual vehicle position measured by the ranging device at the barrier, which means that the vehicle measured by the ranging device (i.e. the vehicle in front of the barrier) is not the target vehicle that establishes communication with the RSU, that is, a vehicle is inserted between the target vehicle and the barrier, so it cannot be released, and jumps to step S500, and the barrier is not opened.

[0070] S430, in response to the position consistency, determining that the vehicle position information and the distance matching succeeds.

[0071] The position consistency means that the vehicle in front of the barrier is the target vehicle, which can be released, so it jumps to step S600, and the barrier is opened.

[0072] ​​S500, judging whether the vehicle position information and the distance match successfully.

[0073] If the vehicle position information and the distance fail to match, the following step S600 is performed.

[0074] If the vehicle position information and the distance match successfully, the following step S700 is performed.

[0075] S600, in response to the vehicle position information and the distance failing to match, keeping the barrier closed.

[0076] When there is a vehicle that rushes to escape the fee, the barrier keeps closed, so that the vehicle that attempts to escape the fee cannot pass smoothly, thereby preventing the occurrence of the fee-escape behavior and reducing the probability of traffic congestion and accidents.

[0077] S700, in response to the vehicle position information and the distance matching successfully, controlling the barrier to open.

[0078] When there is no fee-escape vehicle, the vehicle can pass normally, and the passing efficiency of the ETC lane is not affected.

[0079] Figure 7 The flowchart of another embodiment of the barrier control method of the embodiment of the present application is shown in FIG. 7. As shown in FIG. 7, in the embodiment, the steps of the barrier control method are as follows: Figure 7

[0080] S100', establishing communication with a target vehicle.

[0081] The target vehicle is a vehicle that enters a predetermined range, Figure 8 The specific steps of the barrier control method of the embodiment of the present application for establishing communication with a target vehicle are shown in FIG. 8. The specific steps of establishing communication are as follows: Figure 8

[0082] S110', detecting that a vehicle enters a communication range or detects that a vehicle drives into a target lane, determining the vehicle as a target vehicle, and generating a communication establishment instruction.

[0083] ​​The system can detect whether an OBU enters the communication range of the RSU antenna by continuously sending a broadcast signal to determine the target vehicle. The system can also detect whether a vehicle enters the ETC lane by a loop inductor arranged at the entrance of the ETC lane, and determine the vehicle as the target vehicle when detecting that the vehicle enters the ETC lane, and generate a communication establishment instruction to control the RSU to send a communication signal to the OBU. Specifically, the method of detecting whether an OBU enters the communication range of the RSU antenna by continuously sending a broadcast signal to determine the target vehicle does not require additional devices, and the installation of the device is relatively simple and the cost of the device is relatively low. Although the installation process of the loop inductor is relatively complex and the cost of the device is relatively high, the loop inductor can accurately perceive the entry of the vehicle into the ETC lane in a timely manner, and the roadside unit RSU does not need to continuously send a broadcast signal, thereby reducing the energy consumption of the system.

[0084] S120', in response to the communication establishment instruction, sending a communication signal to the target vehicle.

[0085] After the system generates the communication establishment instruction, the RSU is controlled to send a communication signal to the target vehicle.

[0086] S130', in response to receiving a valid feedback signal, successfully establishing communication with the target vehicle.

[0087] After the OBU on the target vehicle receives the communication signal sent by the RSU, the OBU feeds back a signal to the RSU. After the RSU receives the feedback signal, if the signal is a valid signal that meets the communication protocol, the RSU and the OBU can successfully establish a communication connection. After the communication connection is successfully established, the process jumps to step S200'.

[0088] S200', obtaining vehicle identification information and vehicle position information of the target vehicle.

[0089] After the communication connection is established, the RSU can obtain the vehicle identification information and the vehicle position information stored in the OBU through communication. The vehicle identification information can be information such as the vehicle type and the license plate number, and the vehicle position information can be position information obtained through a vehicle satellite positioning system, or the distance of the vehicle from the barrier gate measured by a distance measuring device on the vehicle.

[0090] S300', controlling a distance measuring device arranged at the barrier to detect the distance between the barrier and the vehicle in front of the barrier.

[0091] It can be understood that the order of steps S200' and S300' is not important, and the distance measuring device can continuously detect the distance between the vehicle in front of the barrier and the barrier.

[0092] S400', verifying whether the vehicle identification information is valid.

[0093] In some cases, for example, the vehicle model displayed by the vehicle identification information does not match the actual vehicle model of the target vehicle, or the bank card bound to the on-board unit OBU has overdue fees that cannot be completed, etc. In this case, the vehicle identification information inspection will not pass, and the target vehicle can only change to the manual payment channel. Only when the vehicle identification information inspection passes, can the subsequent steps S500' or S700' be executed.

[0094] S500', determining an angle value of a line connecting the roadside unit and the vehicle with the lane according to the vehicle position information;

[0095] Figure 9 The specific steps of the barrier control method according to the embodiment of the application for determining the angle value of the line connecting the roadside unit and the vehicle with the lane according to the vehicle position information are shown in the schematic diagram as shown in Figure 9 The specific steps of step S500' are as follows:

[0096] S510', determining a first coordinate of the roadside unit and a second coordinate of the barrier in the plane projection coordinate system.

[0097] Since the barrier and the roadside unit are pre-installed and their positions will not change, after establishing the coordinate system, the first coordinate of the roadside unit and the second coordinate of the barrier can be easily obtained by measurement.

[0098] S520', determining a third coordinate of the target vehicle in the plane projection coordinate system according to the vehicle position information.

[0099] Taking the satellite positioning information as an example, after establishing the coordinate system, the position of the vehicle in the coordinate system can be marked as the third coordinate by using the satellite positioning information obtained by the RSU. Specifically, when the user receives the navigation message, the satellite time is extracted and compared with the user's clock to obtain the distance between the satellite and the user. Then, the position of the satellite when the navigation message is transmitted is calculated by using the satellite ephemeris data in the navigation message, and the position, speed, etc. of the user in the WGS-84 coordinate system can be obtained. The WGS-84 coordinate system (World Geodetic System-1984 Coordinate System) is an internationally adopted geocentric coordinate system. The coordinate origin is the center of the earth, the Z axis of the geocentric spatial rectangular coordinate system points to the CTP (Contracted Terrestrial Pole) defined by the BIH (International Time Service Agency) in 1984.0, the X axis points to the intersection of the zero meridian plane of BIH 1984.0 and the CTP equator, and the Y axis is perpendicular to the Z axis and the X axis to form a right-handed coordinate system. After obtaining the coordinate position of the vehicle in the geocentric coordinate system by satellite positioning, the coordinate is converted to the plane projection coordinate system of the embodiment by computer calculation, so as to obtain the third coordinate of the vehicle in the plane projection coordinate system.

[0100] S530', determine the included angle value of the line connecting the roadside unit and the vehicle and the lane according to the first coordinate, the second coordinate and the third coordinate.

[0101] With Figure 3 for reference, Figure 2 the coordinate of point B is the first coordinate, the coordinate of point A is the second coordinate, and the third coordinate changes along C, C', C''... as the vehicle advances. The line connecting the roadside unit and the vehicle is BC, BC', BC''..., and the lane is the straight line AC. The included angle value of the line connecting the roadside unit and the vehicle and the lane is the value of angle BCA, BC'A, BC''A... which can be calculated according to the coordinates of the three points ABC by using trigonometric functions, and will continuously increase as the vehicle C advances. The system will detect the included angle value in real time, and then execute step S600'.

[0102] S600', determine whether the included angle value is greater than 90° and less than 150° and the distance is within a predetermined distance range.

[0103] When the included angle value is greater than 90° and less than 150° and the distance is within a predetermined distance range (e.g. 1 to 5 meters), jump to step S1000', otherwise jump to step S900'. Specifically, according to the second coordinate of the roadside unit in the plane projection coordinate system, it can be calculated that when the included angle value is greater than 90° and less than 150°, the distance between the target vehicle and the barrier gate is between 1 to 5 meters. Within this distance range, there is no space for other vehicles to insert in front, so the possibility of rush escape can be ruled out, that is, the barrier gate can be opened for the target vehicle to pass through.

[0104] S900', matching fails, the barrier gate remains closed.

[0105] Matching fails, proving that a vehicle attempts to rush escape, the barrier gate remains closed, so it cannot pass through.

[0106] S1000', matching succeeds, the barrier gate is opened.

[0107] Matching succeeds, proving that no vehicle attempts to rush escape, the barrier gate is opened, and the vehicle passes through normally.

[0108] In some optional embodiments, the above steps S500' and S600' can also be replaced by steps S700' and S800'. Specifically:

[0109] S700', determine the distance value of the vehicle to the barrier gate according to the vehicle position information.

[0110] The distance value can be directly measured by a vehicle-mounted distance measuring device, or calculated according to satellite positioning information using a coordinate system.

[0111] S800', judging whether the distance values are both within a predetermined distance range.

[0112] The predetermined distance range can be 1-5 meters. If the distance measured by the vehicle-mounted distance measuring device and the distance measuring device on the barrier gate are both 1-5 meters, the process jumps to step S1000', otherwise, the process jumps to step S900'. Preferably, in order to avoid misjudgment, the vehicle-mounted distance measuring device can use communication to measure the distance, such as Bluetooth distance measurement, UWB (Ultra Wide Band) distance measurement, etc. Correspondingly, a transponder capable of communicating with the vehicle-mounted distance measuring device should be provided at the barrier gate position.

[0113] Figure 10 Method steps of the vehicle communication method of the embodiment of the application. Figure 10 The method steps are executed by a vehicle-mounted device including an on-board unit OBU and a positioning device, and the method includes the following steps:

[0114] S1010, establishing a communication connection with a roadside unit;

[0115] Specifically, the OBU feeds back a signal to establish a connection in response to a communication signal of the RSU, which will not be described here.

[0116] S1020, sending vehicle identification information and vehicle position information through the communication connection.

[0117] Specifically, the vehicle identification information includes vehicle type, vehicle ID (such as license plate number), etc. The vehicle position information includes satellite positioning information obtained by a vehicle-mounted satellite positioning system and stored in the OBU, and / or distance information of the vehicle to the barrier gate measured by a vehicle-mounted distance measuring device on the vehicle.

[0118] In summary, the non-stop tolling passage device and the vehicle-mounted device of the embodiment of the application establish communication with a target vehicle entering a predetermined range by executing the barrier gate control method and the communication method described above, obtain vehicle identification information of the target vehicle, and also obtain vehicle position information. The distance between the barrier gate and the vehicle in front is detected by a distance measuring device provided at the barrier gate. After the vehicle identification information is verified, the vehicle position information is matched with the distance detected by the distance measuring device, and the opening and closing of the barrier gate is controlled according to whether the matching is successful, thereby increasing the necessary condition for opening the barrier gate, changing the timing of opening the barrier gate, and avoiding the situation that a vehicle passes through and causes congestion to escape tolling due to the barrier gate being opened too early and inaccurate identification of the current passing vehicle.

[0119] Moreover, as will be appreciated by one skilled in the art, aspects of the present embodiments can be embodied as a system, method or computer program product. Accordingly, aspects of the present embodiments can take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or combinations of software and hardware that can all generally be referred to herein as a "circuit," "module" or "system." Furthermore, aspects of the present embodiments can take the form of a program of instructions (i.e., computer program product) embodied in any tangible medium of

[0120] Computer readable storage media can be, for example, a magnetic, optical, or semiconductor storage. More specific examples (a non-exhaustive list) of the computer readable storage media would include the following: a portable magnetic diskette; a hard disk drive (HDD); 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 context of this document, a computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0121] The specific embodiments of the present application have been shown by way of example in the drawings and the above description. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit and scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A barrier control method characterized by, The method comprises: establishing communication with a target vehicle, the target vehicle being a vehicle entering a predetermined range; obtaining vehicle identification information and vehicle position information of the target vehicle; controlling a distance measuring device arranged at a barrier to detect a distance between the barrier and a vehicle in front of the barrier; in response to the vehicle identification information passing the verification, determining whether the position of the vehicle in front of the barrier represented by the vehicle position information and the distance is consistent, if the positions are inconsistent, determining that the vehicle position information and the distance fail to match, and if the positions are consistent, determining that the vehicle position information and the distance match successfully; in response to the vehicle position information and the distance failing to match, controlling the barrier to remain closed; wherein the determination of whether the position of the vehicle in front of the barrier represented by the vehicle position information and the distance is consistent comprises: determining, according to the vehicle position information, that the position is consistent if an included angle value between a line connecting a roadside unit and the vehicle and a lane is greater than 90° and less than 150° and the distance is within a predetermined distance range; or determining that the position is consistent if a distance value of the vehicle to the barrier and the distance are both within a predetermined distance range.

2. The method of claim 1, wherein, The method further comprises: in response to the vehicle position information and the distance matching successfully, controlling the barrier to open.

3. The method of claim 1, wherein, The vehicle identification information comprises a vehicle identifier, and the vehicle position information comprises satellite positioning information and / or distance information of the target vehicle to the barrier.

4. The method of claim 1, wherein, The distance range is 1 meter to 5 meters.

5. The method of claim 1, wherein, The determination of the included angle value between the line connecting the roadside unit and the vehicle and the lane according to the vehicle position information comprises: determining a first coordinate of the roadside unit and a second coordinate of the barrier in a plane projection coordinate system; determining a third coordinate of the target vehicle in the plane projection coordinate system according to the vehicle position information; determining the included angle value between the line connecting the roadside unit and the vehicle and the lane according to the first coordinate, the second coordinate and the third coordinate.

6. The method of claim 5, wherein, The determination of the third coordinate of the target vehicle in the plane projection coordinate system according to the vehicle position information comprises: obtaining the third coordinate of the target vehicle in the plane projection coordinate system according to satellite positioning information mapping; or determining the third coordinate according to distance information of the target vehicle to the barrier, the second coordinate and lane direction information.

7. The method of claim 1, wherein, The establishment of communication with the target vehicle comprises: detecting that a vehicle enters a communication range or drives into a target lane, determining the vehicle as the target vehicle, and generating a communication establishment instruction; in response to the communication establishment instruction, sending a communication signal to the target vehicle; in response to receiving a valid feedback signal, successfully establishing communication with the target vehicle.

8. A non-stop toll collection device, characterized in that, The device comprises: a roadside unit arranged above or beside a lane for receiving and transmitting communication signals and obtaining vehicle identification information and vehicle position information; a barrier arranged at an exit end of the lane; a distance measuring device arranged on the barrier for real-time measurement and uploading of a distance between the barrier and a vehicle in front of the barrier; and A computer device is in communication connection with the road side unit, the barrier gate and the distance measuring device respectively, for controlling the road side unit, the distance measuring device and the barrier gate to realize the method as claimed in any one of claims 1-7.

9. The apparatus of claim 8, wherein, The device further comprises: A loop inductor is arranged below the entrance end of the lane and is in communication connection with the computer device, for sensing whether a vehicle enters the ETC lane and sending a start signal to the computer device when a vehicle enters.

10. A computer readable storage medium having stored thereon computer program instructions, wherein, The computer program instructions realize the method as claimed in any one of claims 1-7 when executed by a processor.

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