Fixed-point monitoring system based on vehicle-mounted radar motion monitoring data

Abstract

The present invention discloses a fixed-point monitoring system based on vehicle-mounted radar motion monitoring data, relates to the field of traffic planning, solves the problem that traffic lights in a target road cannot be adjusted in a timely and effective manner, and comprises a monitoring point planning module, a data acquisition module, a road analysis module and a control analysis module; the monitoring point planning module is used to plan the positions corresponding to the road monitoring points according to the historical traffic data of the target road; the data acquisition module is used to collect the real-time motion data of the vehicles to be monitored in the first lane and the second lane of the target road and the total number of real-time vehicles corresponding to the target road; the road analysis module is used to analyze the traffic flow situation of the target road to obtain the congestion level of the corresponding target road; the control analysis module is used to formulate a signal light control plan for the corresponding target road according to the congestion level of the target road, and the present invention realizes timely and effective adjustment of the traffic lights in the target road.

Description

Technical Field

[0001] The invention relates to the technical field of traffic planning, in particular to a fixed-point monitoring system based on vehicle-mounted radar motion monitoring data. Background Art

[0002] With the development of society, the per capita car ownership rate has also increased, and traffic congestion has become increasingly serious. Traffic management is of great significance for maintaining road traffic order, ensuring road traffic safety, improving road traffic efficiency, and protecting the lives and property of the people. Traffic flow monitoring provides data on the number and flow of vehicles passing through different roads, intersections and areas. By analyzing traffic flow, hot spots and peak hours of traffic congestion can be identified. Based on these data, traffic management measures can be formulated to reduce traffic congestion and improve road traffic efficiency.

[0003] However, at present, when adjusting traffic lights on roads, historical traffic flow data over a long period of time is usually collected and then adjusted. However, the adjustment interval is long, and the traffic flow on the road cannot be monitored in real time, and the traffic lights cannot be adjusted in a timely and effective manner, which will cause problems such as traffic congestion and road blockage.

[0004] To this end, the present invention proposes a fixed-point monitoring system based on vehicle-mounted radar motion monitoring data. Summary of the invention

[0005] The purpose of the present invention is to propose a fixed-point monitoring system based on vehicle-mounted radar motion monitoring data to solve the problems raised in the above background technology.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A fixed-point monitoring system based on vehicle-mounted radar motion monitoring data, including a monitoring point planning module, a data acquisition module, a road analysis module, a control analysis module and a signal terminal;

[0008] The monitoring point planning module is used to plan the positions corresponding to the road monitoring points according to the historical traffic data of the target road, and send the positions corresponding to the road monitoring points in the target road to the data acquisition module;

[0009] The data acquisition module is used to collect real-time motion data of the vehicles to be monitored in the first lane and the second lane of the target road and the total number of real-time vehicles corresponding to the target road, and send the real-time motion data and the total number of real-time vehicles corresponding to the target road to the road analysis module;

[0010] The road analysis module is used to analyze the traffic flow of the target road, obtain the congestion level of the corresponding target road and send it to the control analysis module;

[0011] The control and analysis module is used to formulate a signal light control plan corresponding to the target road according to the congestion level of the target road. The control and analysis module sends the signal light adjustment plan and the adjustment ratio X corresponding to the target road to the signal terminal;

[0012] The signal terminal is used to receive a signal light adjustment plan and an adjustment ratio corresponding to a target road, and the signal terminal adjusts the signal light of the target road according to the signal light adjustment plan and the adjustment ratio.

[0013] Furthermore, the planning process of the monitoring point planning module is as follows:

[0014] Get the total road width ZKD corresponding to the target road;

[0015] Get the historical number of vehicles passing through the target road in the previous day LCT;

[0016] The monitoring point boundary value JFJ corresponding to the target road is calculated by the formula, and the formula is as follows:

[0017] JFJ=LCT / ZKD×e; where e is a natural constant;

[0018] If the monitoring point demarcation value is less than or equal to the first demarcation threshold, the position X1 meter away from the traffic light of the target road is used as the road monitoring point; if the monitoring point demarcation value is greater than the first demarcation threshold and less than or equal to the second demarcation threshold, the position X2 meters away from the traffic light of the target road is used as the road monitoring point; if the monitoring point demarcation value is greater than the second demarcation threshold, the position X3 meters away from the traffic light of the target road is used as the road monitoring point; wherein, the first demarcation threshold is less than the second demarcation threshold, 0<X1<X2<X3.

[0019] Furthermore, the data acquisition process of the data acquisition module is as follows:

[0020] The vehicle-mounted radar emits electromagnetic wave signals in all directions, and the electromagnetic wave signals are transmitted as far as the radiation boundary of the vehicle-mounted radar;

[0021] When the electromagnetic wave signal collides with the vehicle to be monitored, the electromagnetic wave signal at the corresponding position of the vehicle to be monitored will become a reflected signal and be reflected back to the road inspection vehicle; the road inspection vehicle receives the reflected signal and extracts the total number of vehicles to be monitored and the position coordinates corresponding to each vehicle to be monitored.

[0022] Furthermore, the total number of vehicles to be monitored and the extraction process of the position coordinates corresponding to each vehicle to be monitored are specifically as follows:

[0023] With the road direction as the X-axis and the perpendicular to the road direction as the Y-axis, a real-time vehicle coordinate system is established;

[0024] Obtain the reflection signal corresponding to the Zth moment, and record the position corresponding to the continuous reflection signal and the part between the first left endpoint and the first right endpoint corresponding to the continuous reflection signal as the vehicle to be identified;

[0025] For the vehicle to be identified, the distance between any point on the vehicle to be identified and the X-axis is read in sequence and recorded as the judgment distance;

[0026] Compare multiple judgment distances of the same vehicle to be identified, record the positions corresponding to the same judgment distances as the same vehicle to be monitored, and identify the coordinates corresponding to the second left endpoint and the coordinates corresponding to the second right endpoint of the vehicle to be monitored;

[0027] The coordinates of the end points corresponding to the second left endpoint and the second right endpoint are calculated by the coordinates corresponding to the second left endpoint and the coordinates corresponding to the second right endpoint, and recorded as the real-time vehicle coordinates of the corresponding vehicle to be monitored.

[0028] Furthermore, the process of extracting the total number of vehicles to be monitored and the position coordinates corresponding to each vehicle to be monitored also includes:

[0029] Obtain the reflection signal corresponding to the Z+1th moment, and identify the real-time vehicle coordinates of the vehicle to be monitored corresponding to the Z+1th moment, and calculate the real-time speed of the vehicle to be monitored by subtracting the real-time vehicle coordinates of the vehicle to be monitored corresponding to the Z+1th moment from the real-time vehicle coordinates of the vehicle to be monitored corresponding to the Zth moment;

[0030] Similarly, the real-time vehicle coordinates and real-time speeds of all vehicles to be monitored in the first lane and the second lane are obtained;

[0031] Count the total number ZS of all vehicles to be detected in the first lane and the second lane, and then obtain the total number N of lanes corresponding to the target road;

[0032] The real-time total number of vehicles SCZ corresponding to the target road is calculated by the formula, which is as follows:

[0033] SCZ=ZS×N / 2.

[0034] Furthermore, the analysis process of the road analysis module is as follows:

[0035] The target road is recorded as the first target road, and then the real-time total number of vehicles to be monitored corresponding to the first target road and the real-time motion data of the vehicles to be monitored in the first lane and the second lane of the first target road are obtained to obtain the real-time position coordinates YZBi and the real-time speed YSDi of the vehicles to be monitored in the first target road; wherein, i is the number of the vehicles to be monitored in the first lane and the second lane of the first target road, i=1, 2, ..., m, and m is a positive integer;

[0036] The target road in the opposite direction to the first target road is recorded as the second target road, the real-time total number of vehicles to be monitored corresponding to the second target road and the real-time motion data of the vehicles to be monitored in the first lane and the second lane of the second target road are obtained, and the real-time position coordinates EZBj and the real-time speed ESDj of the vehicles to be monitored in the first target road are obtained; wherein j is the number of the vehicles to be monitored in the first lane and the second lane of the second target road, j=1, 2, ..., n, and n is a positive integer;

[0037] The total number of vehicles on the first road is obtained by adding the total number of vehicles to be monitored on the first target road to the total number of vehicles to be monitored on the second target road.

[0038] Furthermore, the analysis process of the road analysis module also includes:

[0039] The total number of vehicles on the first road is compared with the total number of vehicles on the road threshold, and if the total number of vehicles on the first road is greater than or equal to the total number of vehicles on the road threshold, the road congestion level of the first target road and the second target road is recorded as level three congestion;

[0040] If the total number of vehicles on the first road is less than the total number of vehicles on the road threshold, the inter-vehicle distance of the vehicles to be monitored on the first target road is calculated using the real-time position coordinates of the vehicles to be monitored, and the inter-vehicle distances of all the vehicles to be monitored are added and averaged to obtain the average first inter-vehicle distance PYJ corresponding to the first target road;

[0041] Similarly, the average second inter-vehicle distance PEJ corresponding to the second target road is calculated;

[0042] The road congestion values ​​YDZ of the first target road and the second target road are calculated by the formula, and the specific formula is as follows:

[0043] ; The larger the road congestion value, the more congested the corresponding target road is.

[0044] Furthermore, the analysis process of the road analysis module also includes:

[0045] Acquire the real-time total number of vehicles to be monitored corresponding to the third target road and the fourth target road which are at a ninety-degree angle to the first target road, and the real-time movement data of the vehicles to be monitored in the first lane and the second lane of the first target road;

[0046] The total number of vehicles on the second road is obtained by adding the total number of vehicles on the third target road corresponding to the vehicles to be monitored to the total number of vehicles on the fourth target road corresponding to the vehicles to be monitored;

[0047] The total number of vehicles on the second road is compared with the total number of vehicles on the road threshold, and if the total number of vehicles on the second road is greater than or equal to the total number of vehicles on the road threshold, the road congestion level of the third target road and the fourth target road is recorded as level 3 congestion;

[0048] If the total number of vehicles on the second road is less than the total number of vehicles on the road threshold, similarly, the second road congestion values ​​corresponding to the third target road and the fourth target road are calculated according to the above formula; the first road congestion value and the second road congestion value are recorded as road congestion values.

[0049] Furthermore, the analysis process of the road analysis module also includes:

[0050] The road congestion value is compared with the road congestion threshold. If the road congestion value is less than or equal to the first road congestion threshold, the congestion level of the corresponding target road is recorded as level one congestion; if the road congestion value is greater than the first road congestion threshold and less than or equal to the second road congestion threshold, the congestion level of the corresponding target road is recorded as level two congestion; if the road congestion value is greater than the second road congestion threshold, the congestion level of the corresponding target road is recorded as level three congestion;

[0051] Among them, the first road congestion threshold is smaller than the second road congestion threshold; the congestion degree of the target road corresponding to the third level congestion is greater than the congestion degree of the target road corresponding to the second level congestion, and the congestion degree of the target road corresponding to the second level congestion is greater than the congestion degree of the target road corresponding to the first level congestion.

[0052] Furthermore, the analysis process of the regulation analysis module is as follows:

[0053] Obtaining congestion levels corresponding to the first target road and the third target road;

[0054] If the congestion level of the first target road is the same as that of the third target road, the traffic light will not be adjusted;

[0055] If the congestion level of the first target road is greater than that of the third target road, the green light duration of the first target road is adjusted to X times that of the third target road, and so on, until the congestion levels of the first target road and the third target road are the same, and a signal light adjustment plan for the corresponding target road is obtained;

[0056] Wherein, X is an Arabic numeral;

[0057] If the congestion level of the third target road is greater than that of the first target road, the green light duration of the third target road is adjusted to X times that of the first target road, and so on, until the congestion levels of the first target road and the third target road are the same, and a signal light adjustment plan for the corresponding target road is obtained.

[0058] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0059] 1. The present invention first plans the position corresponding to the road monitoring point through the monitoring point planning module, and sends the position corresponding to the road monitoring point to the data acquisition module; then collects the real-time movement data of the vehicles to be monitored in the first lane and the second lane of the target road and the total number of real-time vehicles corresponding to the target road according to the data acquisition module, and sends the real-time movement data and the total number of real-time vehicles corresponding to the target road to the road analysis module; finally, the road analysis module is used to analyze the traffic flow situation of the target road, and the congestion level of the corresponding target road is obtained and sent to the control analysis module to realize the judgment of the congestion level of the target road.

[0060] 2. The present invention formulates a traffic light control plan corresponding to the target road through a control analysis module and sends the traffic light adjustment plan and adjustment ratio X of the target road to the signal terminal; finally, the signal terminal receives the traffic light adjustment plan and adjustment ratio of the target road, and adjusts the traffic light of the target road according to the traffic light adjustment plan and adjustment ratio. The present invention realizes timely and effective adjustment of the traffic light on the target road. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0062] Figure 1 It is the overall system block diagram of the present invention.

[0063] Figure 2 is a schematic diagram of a target road in the present invention;

[0064] Figure 3 is a schematic diagram of a lane in a target road in the present invention;

[0065] Figure 4 is a schematic diagram of a vehicle to be monitored in the present invention;

[0066] Figure 5 The figure is a flowchart of the method of the present invention. DETAILED DESCRIPTION

[0067] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] In one embodiment, see Figure 1-Figure 4As shown, the technical solution provided by the present invention is: a fixed-point monitoring system based on vehicle-mounted radar motion monitoring data, which is used to monitor and adjust the traffic flow of a target road. The system includes a database, a monitoring point planning module, a data acquisition module, a road analysis module, a control analysis module and a signal terminal;

[0069] The database is used to store the total road width of the target road and the historical number of vehicles passing through the target road in the previous day and send them to the monitoring point planning module;

[0070] The monitoring point planning module is used to plan the location of the road monitoring point according to the historical traffic data of the target road. The planning process is as follows:

[0071] Get the total road width ZKD corresponding to the target road;

[0072] Get the historical number of vehicles passing through the target road in the previous day LCT;

[0073] The monitoring point boundary value JFJ corresponding to the target road is calculated by the formula, and the formula is as follows:

[0074] JFJ=LCT / ZKD×e; where e is a natural constant;

[0075] If the monitoring point demarcation value is less than or equal to the first demarcation threshold, the position X1 meters away from the traffic light of the target road is used as the road monitoring point; if the monitoring point demarcation value is greater than the first demarcation threshold and less than or equal to the second demarcation threshold, the position X2 meters away from the traffic light of the target road is used as the road monitoring point; if the monitoring point demarcation value is greater than the second demarcation threshold, the position X3 meters away from the traffic light of the target road is used as the road monitoring point; wherein the first demarcation threshold is less than the second demarcation threshold, 0<X1<X2<X3;

[0076] It needs to be explained in detail that the monitoring point demarcation value is proportional to the distance between the road monitoring point and the corresponding traffic light of the target road. Since the road monitoring point has a certain monitoring range, when the vehicle is at the intersection of the road due to the red light, if the road monitoring point is too close to the traffic light, it is easy to cause misjudgment;

[0077] The monitoring point planning module sends the positions corresponding to the road monitoring points in the target road to the data acquisition module.

[0078] The data acquisition module is used to collect the real-time motion data of the vehicles to be monitored in the first lane and the second lane of the target road and the total number of real-time vehicles corresponding to the target road at the road monitoring point, and send the real-time motion data and the total number of real-time vehicles corresponding to the target road to the road analysis module, wherein the real-time motion data is specifically the real-time vehicle coordinates and real-time speed of the vehicles to be monitored;

[0079] The specific data collection module is a vehicle-mounted radar installed on a road inspection vehicle. The road inspection vehicle drives into the target road corresponding to the location of the road monitoring point and collects relevant data on the target road through the vehicle-mounted radar;

[0080] In this embodiment, the data acquisition process of the data acquisition module is as follows:

[0081] The vehicle-mounted radar emits electromagnetic wave signals in all directions, and the electromagnetic wave signals are transmitted as far as the radiation boundary of the vehicle-mounted radar;

[0082] When the electromagnetic wave signal collides with the vehicle to be monitored, the electromagnetic wave signal at the corresponding position of the vehicle to be monitored will become a reflected signal and be reflected back to the road inspection vehicle; the road inspection vehicle receives the reflected signal and extracts the total number of vehicles to be monitored and the position coordinates corresponding to each vehicle to be monitored. The extraction process is as follows:

[0083] It should be noted in advance that the accuracy of monitoring will be greatly reduced after the electromagnetic wave signal is blocked by an object. Therefore, the present invention only monitors the real-time motion data of the vehicles to be monitored in the first lane and the second lane adjacent to the road inspection vehicle through the vehicle-mounted radar, and estimates the total number of real-time vehicles on the entire target road through the number of vehicles to be monitored in the first lane and the second lane.

[0084] like Figure 3 As shown, a real-time vehicle coordinate system is established with the road direction as the X-axis and the direction perpendicular to the road as the Y-axis;

[0085] like Figure 4 As shown, the reflection signal corresponding to the Zth moment is obtained, and the position corresponding to the continuous reflection signal and the part between the first left endpoint and the first right endpoint corresponding to the continuous reflection signal are recorded as the vehicle to be identified;

[0086] For the vehicle to be identified, the distance between any point on the vehicle to be identified and the X-axis is read in sequence and recorded as the judgment distance;

[0087] Compare multiple judgment distances of the same vehicle to be identified, record the positions corresponding to the same judgment distances as the same vehicle to be monitored, and identify the coordinates corresponding to the second left endpoint and the coordinates corresponding to the second right endpoint of the vehicle to be monitored;

[0088] The coordinates of the end points corresponding to the second left endpoint and the second right endpoint are calculated by the coordinates corresponding to the second left endpoint and the coordinates corresponding to the second right endpoint, and recorded as the real-time vehicle coordinates of the corresponding vehicle to be monitored;

[0089] Obtain the reflection signal corresponding to the Z+1th moment, repeat the above steps, and identify the real-time vehicle coordinates of the vehicle to be monitored corresponding to the Z+1th moment, and calculate the real-time speed of the vehicle to be monitored by subtracting the real-time vehicle coordinates of the vehicle to be monitored corresponding to the Z+1th moment from the real-time vehicle coordinates of the vehicle to be monitored corresponding to the Zth moment;

[0090] Similarly, the real-time vehicle coordinates and real-time speeds of all vehicles to be monitored in the first lane and the second lane are obtained;

[0091] Count the total number ZS of all vehicles to be detected in the first lane and the second lane, and then obtain the total number N of lanes corresponding to the target road;

[0092] The real-time total number of vehicles SCZ corresponding to the target road is calculated by the formula, which is as follows:

[0093] SCZ=ZS×N / 2;

[0094] It should be noted that if Figure 4 As shown in FIG. 1 , the monitored vehicle adjacent to the road inspection vehicle is prone to block the monitored vehicle behind it. In this case, directly recording the continuous reflected signals as the same monitored vehicle will result in a large error.

[0095] The road analysis module is used to analyze the traffic flow of the target road. The specific analysis process is as follows:

[0096] The target road is recorded as the first target road, and then the real-time total number of vehicles to be monitored corresponding to the first target road and the real-time motion data of the vehicles to be monitored in the first lane and the second lane of the first target road are obtained to obtain the real-time position coordinates YZBi and the real-time speed YSDi of the vehicles to be monitored in the first target road; wherein, i is the number of the vehicles to be monitored in the first lane and the second lane of the first target road, i=1, 2, ..., m, and m is a positive integer;

[0097] The target road in the opposite direction to the first target road is recorded as the second target road, the real-time total number of vehicles to be monitored corresponding to the second target road and the real-time motion data of the vehicles to be monitored in the first lane and the second lane of the second target road are obtained, and the real-time position coordinates EZBj and the real-time speed ESDj of the vehicles to be monitored in the first target road are obtained; wherein j is the number of the vehicles to be monitored in the first lane and the second lane of the second target road, j=1, 2, ..., n, and n is a positive integer;

[0098] The total number of vehicles on the first road is obtained by adding the total number of vehicles on the first target road corresponding to the vehicles to be monitored to the total number of vehicles on the second target road corresponding to the vehicles to be monitored;

[0099] The total number of vehicles on the first road is compared with the total number of vehicles on the road threshold, and if the total number of vehicles on the first road is greater than or equal to the total number of vehicles on the road threshold, the road congestion level of the first target road and the second target road is recorded as level three congestion;

[0100] If the total number of vehicles on the first road is less than the total number of vehicles on the road threshold, the inter-vehicle distance of the vehicles to be monitored on the first target road is calculated using the real-time position coordinates of the vehicles to be monitored, and the inter-vehicle distances of all the vehicles to be monitored are added and averaged to obtain the average first inter-vehicle distance PYJ corresponding to the first target road;

[0101] Similarly, the average second inter-vehicle distance PEJ corresponding to the second target road is calculated;

[0102] The road congestion values ​​YDZ of the first target road and the second target road are calculated by the formula, and the specific formula is as follows:

[0103] ; The larger the road congestion value, the more congested the corresponding target road is;

[0104] Acquire the real-time total number of vehicles to be monitored corresponding to the third target road and the fourth target road which are at a ninety-degree angle to the first target road, and the real-time movement data of the vehicles to be monitored in the first lane and the second lane of the first target road;

[0105] The total number of vehicles on the second road is obtained by adding the total number of vehicles on the third target road corresponding to the vehicles to be monitored to the total number of vehicles on the fourth target road corresponding to the vehicles to be monitored;

[0106] The total number of vehicles on the second road is compared with the total number of vehicles on the road threshold, and if the total number of vehicles on the second road is greater than or equal to the total number of vehicles on the road threshold, the road congestion level of the third target road and the fourth target road is recorded as level 3 congestion;

[0107] If the total number of vehicles on the second road is less than the total number of vehicles on the road threshold, similarly, the second road congestion value corresponding to the third target road and the fourth target road is calculated according to the above formula; the first road congestion value and the second road congestion value are recorded as the road congestion value;

[0108] The road congestion value is compared with the road congestion threshold. If the road congestion value is less than or equal to the first road congestion threshold, the congestion level of the corresponding target road is recorded as level one congestion; if the road congestion value is greater than the first road congestion threshold and less than or equal to the second road congestion threshold, the congestion level of the corresponding target road is recorded as level two congestion; if the road congestion value is greater than the second road congestion threshold, the congestion level of the corresponding target road is recorded as level three congestion;

[0109] The first road congestion threshold is less than the second road congestion threshold; the congestion degree of the target road corresponding to the third-level congestion is greater than the congestion degree of the target road corresponding to the second-level congestion, and the congestion degree of the target road corresponding to the second-level congestion is greater than the congestion degree of the target road corresponding to the first-level congestion;

[0110] The road analysis module sends the congestion level of the target road to the regulation analysis module.

[0111] Furthermore, the control analysis module is used to formulate a traffic light control plan for the target road according to the congestion level of the target road. The control process is as follows:

[0112] Obtaining congestion levels corresponding to the first target road and the third target road;

[0113] If the congestion level of the first target road is the same as that of the third target road, the traffic light will not be adjusted;

[0114] If the congestion level of the first target road is greater than that of the third target road, the green light duration of the first target road is adjusted to X times that of the third target road, and so on, until the congestion levels of the first target road and the third target road are the same, and a signal light adjustment plan for the corresponding target road is obtained;

[0115] Wherein, X is an Arabic numeral, and in this embodiment, the preferred value of X is 1.1;

[0116] If the congestion level of the third target road is greater than that of the first target road, the green light duration of the third target road is adjusted to X times that of the first target road, and so on, until the congestion levels of the first target road and the third target road are the same, and a signal light adjustment plan for the corresponding target road is obtained;

[0117] The control analysis module sends the signal light adjustment plan and adjustment ratio X corresponding to the target road to the signal terminal, and the signal terminal is used to receive the signal light adjustment plan and adjustment ratio corresponding to the target road, and the signal terminal adjusts the signal light of the target road according to the signal light adjustment plan and adjustment ratio.

[0118] In this application, if corresponding calculation formulas appear, the above calculation formulas are all dimensionless and take their numerical calculations. The weight coefficients, proportional coefficients and other coefficients in the formulas are set to a result value obtained by quantifying each parameter. The size of the weight coefficient and the proportional coefficient can be determined as long as it does not affect the proportional relationship between the parameter and the result value.

[0119] In another embodiment, see Figure 5As shown, based on another concept of the same invention, a fixed-point monitoring method based on vehicle-mounted radar motion monitoring data is now proposed, comprising the following steps:

[0120] Step S101, planning the position corresponding to the road monitoring point according to the historical traffic data of the target road;

[0121] Step S102, collecting real-time motion data of the vehicles to be monitored in the first lane and the second lane of the target road and the total number of real-time vehicles corresponding to the target road at the road detection point;

[0122] Step S103, analyzing the traffic flow of the target road to obtain the congestion level of the corresponding target road;

[0123] Step S104, formulating a traffic light control plan and adjustment ratio corresponding to the target road according to the congestion level of the target road;

[0124] Step S105 , adjusting the traffic lights of the target road according to the traffic light adjustment scheme and the adjustment ratio.

[0125] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A fixed-point monitoring system based on vehicle-mounted radar motion monitoring data, characterized in that: It includes monitoring point planning module, data collection module, road analysis module, control analysis module and signal terminal; The monitoring point planning module is used to plan the positions corresponding to the road monitoring points according to the historical traffic data of the target road, and send the positions corresponding to the road monitoring points in the target road to the data acquisition module; the data acquisition module is used to collect the real-time motion data of the vehicles to be monitored in the first lane and the second lane of the target road and the total number of real-time vehicles corresponding to the target road at the road monitoring point, and send the real-time motion data and the total number of real-time vehicles corresponding to the target road to the road analysis module; The road analysis module is used to analyze the traffic flow of the target road, obtain the congestion level of the corresponding target road and send it to the control analysis module; The planning process of the monitoring point planning module is as follows: Get the total road width ZKD corresponding to the target road; Get the historical number of vehicles passing through the target road in the previous day LCT; The monitoring point boundary value JFJ corresponding to the target road is calculated by the formula, and the formula is as follows: JFJ=LCT / ZKD×e; where e is a natural constant; If the monitoring point demarcation value is less than or equal to the first demarcation threshold, the position X1 meters away from the traffic light of the target road is used as the road monitoring point; if the monitoring point demarcation value is greater than the first demarcation threshold and less than or equal to the second demarcation threshold, the position X2 meters away from the traffic light of the target road is used as the road monitoring point; if the monitoring point demarcation value is greater than the second demarcation threshold, the position X3 meters away from the traffic light of the target road is used as the road monitoring point; wherein the first demarcation threshold is less than the second demarcation threshold, 0<X1<X2<X3; The control and analysis module is used to formulate a signal light control plan for the target road according to the congestion level of the target road and send the signal light adjustment plan and adjustment ratio for the target road to the signal terminal; the signal terminal is used to receive the signal light adjustment plan and adjustment ratio for the target road, and the signal terminal adjusts the signal light of the target road according to the signal light adjustment plan and the adjustment ratio.

2. The fixed-point monitoring system based on vehicle-mounted radar motion monitoring data according to claim 1 is characterized in that: The data acquisition process of the data acquisition module is as follows: The vehicle-mounted radar emits electromagnetic wave signals in all directions, and the electromagnetic wave signals are transmitted as far as the radiation boundary of the vehicle-mounted radar; When the electromagnetic wave signal collides with the vehicle to be monitored, the electromagnetic wave signal at the corresponding position of the vehicle to be monitored will become a reflected signal and be reflected back to the road inspection vehicle; The road inspection vehicle receives the reflected signal and extracts the total number of vehicles to be monitored and the position coordinates corresponding to each vehicle to be monitored.

3. The fixed-point monitoring system based on vehicle-mounted radar motion monitoring data according to claim 2 is characterized in that: The total number of vehicles to be monitored and the extraction process of the position coordinates corresponding to each vehicle to be monitored are specifically as follows: With the road direction as the X-axis and the perpendicular to the road direction as the Y-axis, a real-time vehicle coordinate system is established; Obtain the reflection signal corresponding to the Zth moment, and record the position corresponding to the continuous reflection signal and the part between the first left endpoint and the first right endpoint corresponding to the continuous reflection signal as the vehicle to be identified; For the vehicle to be identified, the distance between any point on the vehicle to be identified and the X-axis is read in sequence and recorded as the judgment distance; Compare multiple judgment distances of the same vehicle to be identified, record the positions corresponding to the same judgment distances as the same vehicle to be monitored, and identify the coordinates corresponding to the second left endpoint and the coordinates corresponding to the second right endpoint of the vehicle to be monitored; The coordinates of the end points corresponding to the second left endpoint and the second right endpoint are calculated by the coordinates corresponding to the second left endpoint and the coordinates corresponding to the second right endpoint, and recorded as the real-time vehicle coordinates of the corresponding vehicle to be monitored.

4. The fixed-point monitoring system based on vehicle-mounted radar motion monitoring data according to claim 3 is characterized in that: The process of extracting the total number of vehicles to be monitored and the position coordinates corresponding to each vehicle to be monitored also includes: Obtain the reflection signal corresponding to the Z+1th moment, and identify the real-time vehicle coordinates of the vehicle to be monitored corresponding to the Z+1th moment, and calculate the real-time speed of the vehicle to be monitored by subtracting the real-time vehicle coordinates of the vehicle to be monitored corresponding to the Z+1th moment from the real-time vehicle coordinates of the vehicle to be monitored corresponding to the Zth moment; Similarly, the real-time vehicle coordinates and real-time speeds of all vehicles to be monitored in the first lane and the second lane are obtained; Count the total number ZS of all vehicles to be detected in the first lane and the second lane, and then obtain the total number N of lanes corresponding to the target road; The real-time total number of vehicles SCZ corresponding to the target road is calculated by the formula SCZ=ZS×N / 2.

5. The fixed-point monitoring system based on vehicle-mounted radar motion monitoring data according to claim 4 is characterized in that: The analysis process of the road analysis module is as follows: The target road is recorded as the first target road, and then the real-time total number of vehicles to be monitored corresponding to the first target road and the real-time motion data of the vehicles to be monitored in the first lane and the second lane of the first target road are obtained to obtain the real-time position coordinates YZBi and the real-time speed YSDi of the vehicles to be monitored in the first target road; wherein, i is the number of the vehicles to be monitored in the first lane and the second lane of the first target road, i=1, 2, ..., m, and m is a positive integer; The target road in the opposite direction to the first target road is recorded as the second target road, the real-time total number of vehicles to be monitored corresponding to the second target road and the real-time motion data of the vehicles to be monitored in the first lane and the second lane of the second target road are obtained, and the real-time position coordinates EZBj and the real-time speed ESDj of the vehicles to be monitored in the first target road are obtained; wherein j is the number of the vehicles to be monitored in the first lane and the second lane of the second target road, j=1, 2, ..., n, and n is a positive integer; The total number of vehicles on the first road is obtained by adding the total number of vehicles to be monitored on the first target road to the total number of vehicles to be monitored on the second target road.

6. The fixed-point monitoring system based on vehicle-mounted radar motion monitoring data according to claim 5 is characterized in that: The analysis process of the road analysis module also includes: The total number of vehicles on the first road is compared with the total number of vehicles on the road threshold, and if the total number of vehicles on the first road is greater than or equal to the total number of vehicles on the road threshold, the road congestion level of the first target road and the second target road is recorded as level three congestion; If the total number of vehicles on the first road is less than the total number of vehicles on the road threshold, the inter-vehicle distance of the vehicles to be monitored on the first target road is calculated using the real-time position coordinates of the vehicles to be monitored, and the inter-vehicle distances of all the vehicles to be monitored are added and averaged to obtain the average first inter-vehicle distance PYJ corresponding to the first target road; Similarly, the average second inter-vehicle distance PEJ corresponding to the second target road is calculated; The road congestion values ​​YDZ of the first target road and the second target road are calculated by the formula, and the specific formula is as follows: ; The larger the road congestion value, the more congested the corresponding target road is.

7. The fixed-point monitoring system based on vehicle-mounted radar motion monitoring data according to claim 6 is characterized in that: The analysis process of the road analysis module also includes: Acquire the real-time total number of vehicles to be monitored corresponding to the third target road and the fourth target road which are at a ninety-degree angle to the first target road, and the real-time movement data of the vehicles to be monitored in the first lane and the second lane of the first target road; The total number of vehicles on the second road is obtained by adding the total number of vehicles on the third target road corresponding to the vehicles to be monitored to the total number of vehicles on the fourth target road corresponding to the vehicles to be monitored; The total number of vehicles on the second road is compared with the total number of vehicles on the road threshold, and if the total number of vehicles on the second road is greater than or equal to the total number of vehicles on the road threshold, the road congestion level of the third target road and the fourth target road is recorded as level 3 congestion; If the total number of vehicles on the second road is less than the total number of vehicles on the road threshold, similarly, the second road congestion value corresponding to the third target road and the fourth target road is calculated according to the above formula; the first road congestion value and the second road congestion value are recorded as road congestion values.

8. The fixed-point monitoring system based on vehicle-mounted radar motion monitoring data according to claim 7 is characterized in that: The analysis process of the road analysis module also includes: The road congestion value is compared with the road congestion threshold. If the road congestion value is less than or equal to the first road congestion threshold, the congestion level of the corresponding target road is recorded as level one congestion; if the road congestion value is greater than the first road congestion threshold and less than or equal to the second road congestion threshold, the congestion level of the corresponding target road is recorded as level two congestion; if the road congestion value is greater than the second road congestion threshold, the congestion level of the corresponding target road is recorded as level three congestion; Among them, the first road congestion threshold is smaller than the second road congestion threshold; the congestion degree of the target road corresponding to the third level congestion is greater than the congestion degree of the target road corresponding to the second level congestion, and the congestion degree of the target road corresponding to the second level congestion is greater than the congestion degree of the target road corresponding to the first level congestion.

9. The fixed-point monitoring system based on vehicle-mounted radar motion monitoring data according to claim 8, characterized in that: The analysis process of the regulation and analysis module is as follows: Obtaining congestion levels corresponding to the first target road and the third target road; If the congestion level of the first target road is the same as that of the third target road, the traffic light will not be adjusted; If the congestion level of the first target road is greater than that of the third target road, the green light duration of the first target road is adjusted to X times that of the third target road, and so on, until the congestion levels of the first target road and the third target road are the same, and a signal light adjustment plan for the corresponding target road is obtained; wherein X is an Arabic numeral; If the congestion level of the third target road is greater than that of the first target road, the green light duration of the third target road is adjusted to X times that of the first target road, and so on, until the congestion levels of the first target road and the third target road are the same, and a signal light adjustment plan for the corresponding target road is obtained.

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