A method and system for rapidly binding intersection radar equipment to entrance and exit roads.

Abstract

This invention discloses a method and system for rapidly binding radar equipment at intersections to entrance and exit roads, aiming to solve the problem of low binding efficiency and accuracy caused by manually binding the relationship between radar equipment and various entrance and exit roads. The method includes: acquiring the original trajectory points collected by the corresponding radar equipment per unit time, the coordinates of the radar equipment, and the illumination direction angle of the radar equipment; calculating the GPS absolute coordinates of the trajectory points; calculating the angle between the direction angle of the line connecting the radar equipment to the trajectory points and the illumination direction angle of the radar equipment; determining whether the trajectory points are located within any road surface; after traversing all trajectory points, filtering all trajectory points according to road range constraints and illumination angle constraints; filtering the road surfaces to be bound according to the number of trajectory points on the road surface, generating a set of road surfaces. It also includes a corresponding system; this invention improves binding efficiency and accuracy by automatically binding the matching relationship between radar equipment and entrance and exit roads.

Description

Technical Field

[0001] This invention relates to the field of radar and access road integration technology, specifically to a method and system for rapidly integrating radar equipment at intersections with access roads. Background Technology

[0002] At various intersections in the city, radar equipment is installed on traffic police poles to illuminate the entrance and exit roads opposite the intersection. The radar equipment itself has location information (GPS coordinates) and illumination angle information, and can also acquire a batch of trajectory point data for a specific time period. The geographical shape coordinates of each entrance and exit road are obtained through high-precision maps. The relationship between the radar equipment and each entrance and exit road is usually manually bound by manual means, which is inefficient and inaccurate. Summary of the Invention

[0003] This invention solves the problem of low binding efficiency and accuracy caused by manually binding radar equipment to various entrance and exit roads. It proposes a rapid binding method and system for radar equipment at intersections and entrance and exit roads, which improves binding efficiency and accuracy by automatically binding the matching relationship between radar equipment and entrance and exit roads.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a method for rapidly binding intersection radar equipment to entrance and exit roads, comprising the following steps:

[0005] S1, obtain the original trajectory points, coordinates of the radar equipment, and illumination direction angle of the radar equipment collected by the corresponding radar equipment per unit time;

[0006] S2, calculate the GPS absolute coordinates of the trajectory point based on the relative coordinates of the original trajectory point with respect to the radar device; calculate the angle between the direction angle of the line connecting the radar device to the trajectory point and the illumination direction angle of the radar device;

[0007] S3, determine whether the trajectory point is within any road surface. If yes, bind the trajectory point to the road surface number; otherwise, leave the road surface number of the trajectory point empty.

[0008] S4. After traversing all trajectory points, filter all trajectory points according to road range constraints and illumination angle constraints.

[0009] S5: Filter the bound road surfaces based on the number of road surface trajectory points to generate a road surface set.

[0010] In this technical solution, the original trajectory points within a unit of time are first obtained from the corresponding radar equipment. Then, the absolute GPS coordinates of the trajectory points and the angle between the direction angle of the line connecting the radar equipment to the trajectory points and the illumination direction angle of the radar equipment are calculated. Next, it is determined whether the trajectory points are within the road surface. Each trajectory point is traversed, and trajectory points that meet the conditions are selected based on road range constraints and illumination angle constraints. Finally, the road surface is filtered to remove irrelevant points on the roads. The resulting set of road surfaces represents all the roads that the corresponding radar equipment needs to be bound to. This invention improves binding efficiency and accuracy by automatically binding the matching relationship between radar equipment and entrance / exit roads.

[0011] The present invention is further configured such that step S1 specifically includes: acquiring the original trajectory points collected by radar device i within a unit time, and generating a set of original trajectory points {p i，1 p i，2 , ..., p i，n}, and obtain the coordinates of the radar equipment (lon) i lat i and the radar equipment's illumination direction angle. i .

[0012] In this technical solution, an original trajectory point set is generated based on the original trajectory points collected by the corresponding radar equipment. At the same time, the coordinates of the radar equipment are obtained for subsequent calculation of the GPS absolute coordinates of the trajectory points. The illumination direction angle of the radar equipment is then calculated to generate angle constraints.

[0013] The present invention is further configured such that the calculation of the GPS absolute coordinates of the trajectory point includes the following steps:

[0014] S21, the radar equipment's illumination direction angle i Convert to radians;

[0015] S22, calculate each original trajectory point (x) i，j y i，j The difference between the latitude and longitude of the radar equipment and the radar equipment is as follows:

[0016] dlon i，j =x i，j ·cos(angle i )-y i，j sin(angle) i )

[0017] dlat i，j =x i，j sin(angle) i )+y i，j ·cos(anglei );

[0018] S23, calculate the GPS absolute coordinates of the trajectory points (lon) i，j lat i，j Specifically:

[0019] lon i，j =lon i +dlon i，j

[0020] lat i，j =lat i +dlat i，j

[0021] Where j ranges from [1, n].

[0022] In this technical solution, the illumination direction angle of the radar equipment is first converted from angle to radian. Then, the difference between the latitude and longitude of the original trajectory point and the radar equipment is calculated. Finally, the absolute GPS coordinates of the trajectory point are calculated by combining the coordinates of the radar equipment.

[0023] The present invention is further configured such that step S3 includes: based on the GPS absolute coordinates (lon) of the trajectory point. i，j lat i，j To determine the trajectory point p i，j Within which road surface is the trajectory point p located? i，j Bind the ID of the road surface; if it is not within the range of any road surface, the trajectory point p i，j The bound road surface ID is empty.

[0024] In this technical solution, the coordinates of the trajectory point are used to determine which road surface it falls into. Since each road surface has its corresponding geographical area shape, after falling into the corresponding road surface, the number id of that road surface is bound.

[0025] The present invention is further configured such that: the road range constraint is: delete trajectory points that are not within the road surface, that is, trajectory points whose road surface number id is empty;

[0026] The illumination angle constraint is: the angle θ between the direction angle of the line connecting the radar device to the trajectory point and the illumination direction angle of the radar device. i，j Less than the angle threshold θ lim The trajectory points.

[0027] In this technical solution, by constraining the road area and the illumination angle, all trajectories that have been traversed are filtered, and trajectory points that are not within the road surface are deleted, as well as those with θ. i，j Less than the angle threshold θlim The trajectory points.

[0028] The present invention is further configured such that step S5 includes the following steps:

[0029] S51, count the number of trajectory points in each road surface;

[0030] S52, filter the road surface based on the number of trajectory points, and filter roads with more than the number of trajectory points β.

[0031] In this technical solution, since the radar equipment has a wide illumination range, some noise or interference points will appear on some unrelated roads. The number of these noise points is small, so this step is used to eliminate roads with too few trajectory points.

[0032] The present invention is further configured such that the quantity threshold β satisfies the following:

[0033]

[0034] The road surface with the most trajectory points is denoted as Road. max The corresponding number of trajectory points is num max .

[0035] In this technical solution, the quantity threshold β can also be set customizable.

[0036] The present invention is further configured such that step S2 includes: calculating the distance from radar device i to trajectory point p. i，j Angle of the connecting line i，j , obtain the direction angle i，j Angle with the direction of illumination of the radar equipment i The included angle θ i，j .

[0037] In this technical solution, the angle is first calculated. i，j Combined with the radar equipment's illumination direction angle i The included angle θ is obtained. i，j .

[0038] The present invention is further configured such that: the angle threshold θ lim The default value is 15°.

[0039] In this technical solution, the included angle θ is deleted. i，j Trajectory points with an angle of less than 15°.

[0040] A rapid binding system for intersection radar equipment and entrance / exit roads, applicable to the aforementioned rapid binding method for intersection radar equipment and entrance / exit roads, includes:

[0041] The data acquisition module acquires the original trajectory points, coordinates of the radar equipment, and illumination direction angle of the radar equipment collected by the corresponding radar equipment per unit time.

[0042] The calculation module calculates the absolute GPS coordinates of the trajectory points and the angle between the direction angle of the line connecting the radar device to the trajectory points and the illumination direction angle of the radar device.

[0043] The trajectory point filtering module filters all trajectory points based on road range constraints and illumination angle constraints;

[0044] The road surface filtering module filters the bound road surfaces based on the number of road surface trajectory points.

[0045] In this technical solution, the data acquisition module is connected to the calculation module, the calculation module is connected to the trajectory point filtering module, and the trajectory point filtering module is connected to the road surface filtering module. The above modules work together to complete the rapid binding of radar equipment and entrance / exit roads, improving binding efficiency and accuracy.

[0046] The present invention has the following beneficial effects:

[0047] The present invention relates to a method and system for rapidly binding radar equipment at intersections to entrance and exit roads, which improves binding efficiency and accuracy by automatically binding the matching relationship between radar equipment and entrance and exit roads. Attached Figure Description

[0048] Figure 1 is a flowchart illustrating a method for quickly binding an intersection radar device to an entrance / exit road according to the present invention.

[0049] Figure 2 This is a schematic diagram illustrating a method for quickly binding an intersection radar device to an entrance / exit road, according to the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only one preferred embodiment of this invention and are only used to explain this invention. They do not limit the scope of protection of this invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0051] Example 1:

[0052] This embodiment proposes a method for quickly binding intersection radar equipment to entrance and exit roads, referring to... Figure 1 It includes the following steps.

[0053] Step S1: Obtain the original trajectory points collected by the corresponding radar device within a unit time, the coordinates of the radar device, and the illumination direction angle of the radar device; more specifically, in this step, obtain the original trajectory points collected by radar device i within a unit time and generate a set of original trajectory points {p i，1 p i，2 ,..., pi，n}, and obtain the coordinates of the radar equipment (lon) i lat i and the radar equipment's illumination direction angle. i In this embodiment, the original trajectory points of radar device i within 5 minutes during peak periods are collected.

[0054] Step S2: Calculate the GPS absolute coordinates of the trajectory point based on its relative coordinates to the radar device; calculate the angle between the direction angle of the line connecting the radar device to the trajectory point and the illumination direction angle of the radar device; specifically, for trajectory point p... i，j The calculation process of GPS absolute coordinates includes the following sub-steps.

[0055] Step S21, set the illumination direction angle of the radar equipment. i Convert to radians; specifically, convert from degrees to radians.

[0056] Step S22, calculate each original trajectory point (x i，j y i，j The difference between the latitude and longitude of the radar equipment and the radar equipment is as follows:

[0057] dlon i，j =x i，j ·cos(angle i )-y i，j sin(angle) i )

[0058] dlat i，j =x i，j sin(angle) i )+y i，j •cos(angle i );

[0059] In this step, for the original trajectory point p i，j The coordinates can be represented as x i，j y i，j .

[0060] Step S23: Calculate the GPS absolute coordinates (lon) of the trajectory points. i，j lat i，j Specifically:

[0061] lon i，j =lon i +dlon i，j

[0062] lat i，j =lat i +dlat i，j

[0063] Where j ranges from [1, n]; based on the coordinates of the radar equipment (lon i lat i ), and combined with the difference in step S22, calculate the absolute GPS coordinates of the trajectory point.

[0064] In addition, step S2 also includes the following steps: calculating the distance from radar device i to trajectory point p. i，j Angle of the connecting line i，j , obtain the direction angle i，j Angle with the direction of illumination of the radar equipment i The included angle θ i，j .

[0065] Step S3: Determine whether the trajectory point is located within any road surface. If yes, bind the trajectory point to the road surface number; otherwise, leave the road surface number empty. Step S3 includes: determining the GPS absolute coordinates (lon) of the trajectory point. i，j lat i，j To determine the trajectory point p i，j Within which road surface is the trajectory point p located? i，j Bind the ID of the road surface; if it is not within the range of any road surface, the trajectory point p i，j The bound road surface ID is empty.

[0066] Step S4: After traversing all trajectory points, filter all trajectory points according to road range constraints and illumination angle constraints; specifically, trajectory point p i，j The process starts from j and iterates repeatedly from j to j+1 to check all trajectory points. If j≤n, it means there are still unchecked trajectory points, and the process of step S3 is repeated. If j>n, it means there are no unchecked original trajectory points, and the process of filtering all trajectory points is entered.

[0067] Among them, the road range constraint is: delete trajectory points that are not within the road surface, that is, trajectory points whose road surface number id is empty;

[0068] The illumination angle constraint is: the angle θ between the direction angle of the line connecting the radar device to the trajectory point and the illumination direction angle of the radar device. i，jLess than the angle threshold θ lim Trajectory points; angle threshold θ lim The default value is 15°; Reference Figure 2 The rightmost image shows the distribution of trajectory points before filtering, while the middle image shows the result after filtering all trajectory points based on road range constraints and illumination angle constraints.

[0069] Step S5: Filter the bound road surfaces according to the number of road surface trajectory points to generate a road surface set; specifically, it includes the following sub-steps.

[0070] Step S51: Count the number of trajectory points in each road surface; based on the road surface IDs bound to the remaining trajectory points, count the number of trajectory points in each Road surface, and denote the road surface with the most trajectory points as the Road. max The corresponding number of trajectory points is num max .

[0071] Step S52: Filter road surfaces based on the number of trajectory points, selecting roads with more trajectory points than a threshold β; specifically, the threshold β satisfies the following:

[0072]

[0073] In this embodiment, the quantity threshold β can also be customized. Furthermore, since the radar equipment has a wide illumination range, some noise or interference points may appear on some unrelated roads. These noise points are few in number, therefore this step is used to eliminate roads with too few trajectory points; (Refer to...) Figure 2 The leftmost image is the image after road surface filtering, where roads with too few trajectory points have been eliminated.

[0074] In this embodiment, the technical solution first obtains the original trajectory points within a unit of time based on the corresponding radar equipment. Then, it calculates the absolute GPS coordinates of the trajectory points and the angle between the direction angle of the line connecting the radar equipment to the trajectory points and the illumination direction angle of the radar equipment. Next, it determines whether the trajectory points are within the road surface. Each trajectory point is traversed, and trajectory points that meet the conditions are selected based on road range constraints and illumination angle constraints. Finally, the road surface is filtered to remove irrelevant points on the roads, and the resulting set of road surfaces represents all the roads that the corresponding radar equipment needs to be bound to. This invention improves binding efficiency and accuracy by automatically binding the matching relationship between radar equipment and entrance / exit roads.

[0075] In the technical solution of this embodiment, an original trajectory point set is generated based on the original trajectory points collected by the corresponding radar device. At the same time, the coordinates of the radar device are obtained for subsequent calculation of the GPS absolute coordinates of the trajectory points. The illumination direction angle of the radar device is then calculated to generate angle constraints.

[0076] In the technical solution of this embodiment, the illumination direction angle of the radar device is first converted from angle to radian. Then, the difference between the latitude and longitude of the original trajectory point and the radar device is calculated. Finally, the GPS absolute coordinates of the trajectory point are calculated by combining the coordinates of the radar device.

[0077] In the technical solution of this embodiment, the coordinates of the trajectory point are used to determine which road surface it falls into. Since each road surface has its corresponding geographical area shape, after falling into the corresponding road surface, the number id of that road surface is bound.

[0078] In this embodiment, the technical solution uses road range constraints and illumination angle constraints to filter all traversed trajectory points, deleting trajectory points not within the road surface, and deleting θ. i，j Less than the angle threshold θ lim The trajectory points.

[0079] In the technical solution of this embodiment, the angle is first calculated. i，j Combined with the radar equipment's illumination direction angle i The included angle θ is obtained. i，j .

[0080] In the technical solution of this embodiment, the included angle θ is deleted. i，j Trajectory points with an angle of less than 15°.

[0081] This embodiment also proposes a rapid binding system for intersection radar equipment and entrance / exit roads, which is applicable to the above-mentioned rapid binding method for intersection radar equipment and entrance / exit roads, and includes the following components.

[0082] The data acquisition module acquires the original trajectory points, coordinates, and illumination direction angle of the radar equipment collected by the corresponding radar equipment per unit time; please refer to step S1 for details.

[0083] The calculation module calculates the absolute GPS coordinates of the trajectory points and the angle between the direction angle of the line connecting the radar device to the trajectory points and the illumination direction angle of the radar device; for details, please refer to step S2.

[0084] The trajectory point filtering module filters all trajectory points based on road range constraints and illumination angle constraints; for details, please refer to steps S3 and S4.

[0085] The road surface filtering module filters the bound road surfaces based on the number of road surface trajectory points; for details, please refer to step S5.

[0086] In the technical solution of this embodiment, the data acquisition module is connected to the calculation module, the calculation module is connected to the trajectory point filtering module, and the trajectory point filtering module is connected to the road surface filtering module. The above modules work together to complete the rapid binding of radar equipment and entrance / exit roads, thereby improving binding efficiency and accuracy.

[0087] In this embodiment, trajectory point data acquired by the radar device over a period of time is scattered across a plane. Trajectory points not within any road range are first deleted. The azimuth angle between the radar device and each trajectory point is calculated. Then, based on the angle between the radar illumination angle and the trajectory point's azimuth angle, trajectory points outside the radar illumination angle range are filtered out and deleted. Next, the number of trajectory points within each entrance / exit lane is counted. Based on the sorting by number, entrance / exit lanes with too few trajectory points within their range are filtered out. The remaining entrance / exit lanes are then bound to the radar device, and finally, a matching relationship table between the radar device and the entrance / exit lanes is generated.

[0088] This embodiment can bring the following technical effects: by automatically binding the matching relationship between radar equipment and entrance / exit roads, the binding efficiency and accuracy are improved; and a prerequisite and guarantee are provided for the calculation of traffic signal intersection indicators and the display of digital roads.

[0089] Example 2

[0090] The method for quickly binding intersection radar equipment to entrance and exit roads described in Example 1 can also be applied to binding video data to entrance and exit roads.

Claims

1. A method for rapidly binding intersection radar equipment to entrance and exit roads, characterized in that, Includes the following steps: S1, obtain the original trajectory points, coordinates of the radar equipment, and illumination direction angle of the radar equipment collected by the corresponding radar equipment per unit time; S2, calculate the GPS absolute coordinates of the trajectory point based on the relative coordinates of the original trajectory point with respect to the radar device; calculate the angle between the direction angle of the line connecting the radar device to the trajectory point and the illumination direction angle of the radar device; S3, determine whether the trajectory point is within any road surface. If yes, bind the trajectory point to the road surface number; otherwise, leave the road surface number of the trajectory point empty. S4. After traversing all trajectory points, filter all trajectory points according to road range constraints and illumination angle constraints. Road boundary constraints: Delete trajectory points that are not within the road surface; Illumination angle constraint: Remove the angle between the azimuth angle of the line connecting the radar device to the trajectory point and the illumination azimuth angle of the radar device. Less than the angle threshold The trajectory points; S5, filter the bound road surfaces based on the number of trajectory points on each road surface, and generate a set of road surfaces; including: counting the number of trajectory points in each road surface; The road surface is filtered based on the number of trajectory points; if the number of trajectory points exceeds a certain threshold, the filtered surface is considered clear. The road.

2. The method for quickly binding intersection radar equipment to entrance and exit roads according to claim 1, characterized in that, Step S1 specifically includes: acquiring radar equipment. i The original trajectory points collected per unit time are generated into a collection of original trajectory points. }, and obtain the coordinates of the radar equipment ( and the illumination direction angle of the radar equipment. .

3. The method for quickly binding intersection radar equipment to entrance and exit roads according to claim 2, characterized in that, The calculation of the GPS absolute coordinates of the trajectory points includes the following steps: S21, the illumination direction angle of the radar equipment Convert to radians; S22, calculate each original trajectory point ( The difference between the latitude and longitude of the radar equipment and the radar equipment is as follows: ， ； S23, calculate the GPS absolute coordinates of the trajectory points ( Specifically: ， ， in, j The range is [1, n ].

4. The method for quickly binding intersection radar equipment to entrance and exit roads according to claim 3, characterized in that, Step S3 includes: determining the GPS absolute coordinates of the trajectory points (… To determine the trajectory points When a trajectory point is located within the geographical area of ​​a road surface, the trajectory point... Bind the ID of the road surface; if it is not within the range of any road surface, the trajectory point... The bound road surface ID is empty.

5. The method for quickly binding intersection radar equipment to entrance and exit roads according to claim 4, characterized in that, Trajectory points that are not within the road surface are those with a road surface ID that is empty.

6. The method for quickly binding intersection radar equipment to entrance and exit roads according to claim 1, characterized in that, The quantity threshold The following conditions must be met: ， The road surface with the most trajectory points is denoted as Road. max The corresponding number of trajectory points is num max .

7. A method for quickly binding an intersection radar device to an entrance / exit road according to claim 5, characterized in that, The angle threshold The default value is 15°.

8. A rapid binding system for intersection radar equipment and entrance / exit roads, applicable to the rapid binding method for intersection radar equipment and entrance / exit roads as described in any one of claims 1-7, characterized in that, include The data acquisition module acquires the original trajectory points, coordinates of the radar equipment, and illumination direction angle of the radar equipment collected by the corresponding radar equipment per unit time. The calculation module calculates the absolute GPS coordinates of the trajectory points and the angle between the direction angle of the line connecting the radar device to the trajectory points and the illumination direction angle of the radar device. The trajectory point filtering module filters all trajectory points based on road range constraints and illumination angle constraints; The road surface filtering module filters the bound road surfaces based on the number of road surface trajectory points.

Images