Vehicle queue control method, device and system integrating ETC and self-service robot

Abstract

The invention discloses a vehicle queue control method, device and system integrating ETC and a self-service robot. The method comprises the following steps: constructing a transaction cooperation mechanism based on double control queues; when the front-end ETC antenna recognizes the vehicle, if the control queue does not have the vehicle success record, adding a non-passing queue and triggering the initial ETC transaction; when the vehicle drives into the grating, recognizing a license plate through a front-end license plate recognition instrument, if the non-passing queue is empty, creating a vehicle record containing the license plate and a non-transaction state, adding the vehicle record into the passing queue, otherwise, adding the head of the non-passing queue into the tail of the passing queue; when the self-service robot is not occupied, the rear-end ETC antenna triggers the secondary transaction of the vehicle with the first ETC failure in the passing queue; when the self-service robot is used and the trigger coil induces the vehicle, starting a self-service process, and inserting into the head of the passing queue if the transaction succeeds; correcting or deleting abnormal vehicle records in the control queue; and determining whether to lift the rod to release according to the transaction result of the vehicle at the head of the passing queue, and deleting the vehicle record at the head of the queue.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a vehicle queue control method, device and system integrating ETC and self-service robots. Background Art

[0002] A self-service toll collection robot (abbreviated as a self-service robot) is a composite card dispenser with voice and interface guidance. Installed in highway toll booth lanes, it provides self-service toll collection services for passing vehicles. It integrates card issuance and receipt, mobile payment, and invoice printing. Primarily used in busy lanes at highway toll booths, it dispenses composite cards, enabling semi-automated management of entrance and exit toll collection systems and reducing the workload of toll collectors.

[0003] The standardized ETC lane scheme, proposed in 2017 to guide ETC lane construction, features an automatic barrier at the rear end of the toll island, normally closed, and an ETC antenna at the front end, normally open. Since 2018, most ETC lanes constructed in various provinces have adopted or adapted this scheme.

[0004] In 2020, as the nationwide elimination of provincial highway toll booths progressed, provinces and cities expanded or renovated a large number of dedicated ETC lanes to meet the needs of a large number of ETC vehicle users for faster passage. At the same time, a small number of mixed ETC / manual lanes were retained to handle the passage needs of vehicles with malfunctioning ETC or those without ETC equipment. To reduce the workload of toll collectors and facilitate the construction of unmanned toll booths, provinces began converting some lanes into mixed lanes with self-service robots starting in 2022. To date, most toll lanes on China's highways are either dedicated ETC lanes or a combination of ETC / manual or ETC / self-service toll collection robots, with fast-pass lanes and low-speed lanes physically separated. This construction method has the following disadvantages: 1. The dedicated ETC toll lane system is mainly used for the rapid passage of normal ETC vehicles. Abnormal vehicles (vehicles with abnormal ETC equipment or no ETC equipment) that mistakenly enter the ETC lane cannot complete the transaction automatically. The vehicle needs to be reversed out of the lane or manual intervention is required for the abnormal vehicle; 2. Mixed lanes in an idle state (ETC / manual or ETC / self-service toll robot lanes) cannot quickly process ETC vehicles. Whether it is a normal ETC vehicle or an ordinary vehicle that collects CPC cards, the vehicle needs to reach the toll booth or the location of the self-service robot to complete the transaction; 3. When the ratio of the number of dedicated ETC lanes and the number of mixed lanes at the toll station is too different from the ratio of ETC to non-ETC vehicles in the actual passing vehicles, it is easy to cause some lanes to be congested while some lanes are idle.

[0005] In order to solve the above problems, there is an urgent need for a vehicle queue control method / device and lane system based on standardized ETC-integrated self-service toll collection robots that integrate dedicated ETC lanes with self-service toll collection robots, which can not only quickly conduct transactions for ETC vehicles, but also automatically conduct transactions for non-ETC vehicles. Summary of the Invention

[0006] In order to solve the problems that existing dedicated ETC lanes cannot handle non-ETC vehicles and conventional mixed lanes cannot meet the needs of normal ETC vehicles for rapid passage, the present invention provides a vehicle queue control method that integrates ETC and self-service robots. By constructing a transaction coordination mechanism based on dual control queues, integrating the standardized ETC and self-service toll collection robot interaction process, and utilizing queue state flow and transaction and logic step collaboration, the vehicle state and transaction process of ETC and self-service toll collection robots are integrated into a unified queue control logic, solving the compatibility defect that dedicated ETC lanes can only handle ETC vehicles, improving the transaction and passage efficiency of normal ETC vehicles, and achieving full-scene support for the integrated lanes that can both pass ETC vehicles at high speed and handle ordinary vehicles by themselves. The present invention also relates to a vehicle queue control device and lane system that integrates ETC and self-service robots.

[0007] The technical solutions of the present invention are as follows:

[0008] A vehicle queue control method integrating ETC and self-service robots includes the following steps:

[0009] Control queue setting step: The control queue includes a passing queue and a non-passing queue. The passing queue is used to store transaction information of vehicles that have arrived at the lane entrance but have not yet left the lane exit or reversed from the lane entrance. The non-passing queue is used to store information of vehicles that have been searched by the front-end ETC antenna but have not yet arrived at the lane entrance.

[0010] Vehicle identification and initial ETC transaction steps: When a vehicle equipped with an ETC device enters the transaction range of the front-end ETC antenna deployed at the head of the toll island, the front-end ETC antenna automatically identifies the vehicle information of the vehicle's OBU and determines whether there is a successful transaction record of the vehicle in the control queue; if so, no ETC transaction is performed; if not, the vehicle information is added to the non-pass queue, and the initial ETC transaction of the vehicle is triggered based on the vehicle information. Based on the initial ETC transaction result of the vehicle, the status of the corresponding vehicle in the control queue is updated according to the initial transaction result;

[0011] Queue transfer step: When the light barrier deployed at the head of the toll island and with the sensing area physically connected to the lane entrance recognizes that a vehicle has entered the lane entrance, the front-end license plate recognition device deployed at the head of the toll island recognizes the license plate of the vehicle and checks whether the non-passing queue is empty. If the non-passing queue is empty, a vehicle record containing the license plate and untransaction status is created based on the vehicle's license plate and added to the passing queue; if the non-passing queue is not empty, the vehicle information at the head of the non-passing queue is taken out and transferred to the end of the passing queue;

[0012] Secondary ETC transaction steps: When a vehicle that has failed the initial ETC transaction joins the passage queue and the self-service toll collection robot set at the end of the toll island is not operated, the vehicle information of the OBU of the vehicle that failed the initial ETC transaction is identified by the rear-end ETC antenna set at the end of the toll island; based on the vehicle information, the secondary ETC transaction is triggered, and the status of the corresponding vehicle in the control queue is updated based on the result of the secondary ETC transaction;

[0013] Self-service toll collection robot transaction steps: When the self-service toll collection robot is used and a vehicle is sensed by the self-service trigger coil deployed in front of the self-service toll collection robot at the end of the toll island, the self-service transaction process is triggered; when the result of the self-service transaction is successful, the transaction result of the vehicle at the head of the passage queue is obtained; if the transaction result of the head of the queue is a transaction failure, the vehicle information at the head of the passage queue is modified to the vehicle information of the self-service transaction success; if the transaction result of the head of the queue is a transaction success, the vehicle information of the self-service transaction success is inserted into the head of the passage queue;

[0014] Queue correction step: Based on the license plate recognition results or the preset time threshold, abnormal vehicles in the control queue are corrected or deleted;

[0015] Release control step: when the passage queue changes, the transaction result of the vehicle at the head of the passage queue is obtained. If the transaction result is a success, the lane barrier is raised to release the vehicle to pass; if the transaction result is a failure or the passage queue is empty, the lane barrier is lowered to prevent the vehicle from passing; when the release verification coil deployed under the lane barrier senses that a vehicle has passed, the vehicle information at the head of the passage queue is deleted, and then the transaction result of the vehicle at the head of the passage queue is obtained; if the transaction result is a success, the lane barrier remains raised; if the transaction result is a failure, the lane barrier is lowered.

[0016] Preferably, in the control queue setting step, the non-passing queue supports storing multiple vehicles with successful transactions and at most one vehicle with failed transactions;

[0017] In the vehicle identification and initial ETC transaction steps, when the vehicle information is added to the non-passing queue, if the rear vehicle in the non-passing queue is in a transaction failure state, the rear vehicle is directly replaced; if the rear vehicle in the non-passing queue is in a transaction success state, it is added to the rear of the non-passing queue.

[0018] Preferably, in the queue correction step, the abnormal vehicles in the control queue are corrected or deleted, specifically including:

[0019] License plate recognition correction: The vehicle's license plate is identified by a back-end license plate recognition device deployed at the end of the toll island. The identified license plate is then fuzzy matched with the license plate of a vehicle at the head of the toll queue that has successfully completed the transaction. If the match fails, if the license plate is the license plate of a subsequent vehicle in the toll queue, the vehicle is moved from another position in the toll queue to the head of the queue. Otherwise, a vehicle in a failed transaction state is added to the head of the toll queue.

[0020] Timeout correction: When a vehicle joins the passage queue, the time it joins the passage queue is recorded. If the vehicle stays in the lane for longer than the preset time threshold and does not reverse out or exit normally, it is automatically determined to be a false alarm and an abnormal vehicle that was logically added incorrectly, and the timed-out vehicle is deleted from the passage queue.

[0021] Abnormal traffic behavior correction: When all vehicles in the traffic queue are in the transaction success state, the traffic queue will not perform the reverse operation even if the raster logic determines that there is a vehicle reversing behavior;

[0022] Reversing deletion: When the light barrier detects that a vehicle is reversing out of the lane entrance, it first checks whether the status of all vehicles in the queue is a successful transaction. If all vehicles in the queue are in a successful transaction status, the reversing event will not be responded to at this time; if there is a vehicle in the queue that has failed the transaction, it is determined that the reversing behavior of the vehicle was caused by the failed transaction vehicle. At this time, the reversing event will be responded to and the vehicle at the end of the queue will be deleted from the queue.

[0023] Preferably, in the vehicle identification and initial ETC transaction steps, the status of the corresponding vehicle in the control queue is updated according to the initial transaction result, and the status of the corresponding vehicle is marked as initial ETC transaction success or initial ETC transaction failure;

[0024] In the secondary ETC transaction step, the status of the corresponding vehicle in the control queue is updated based on the secondary ETC transaction result, and the status of the corresponding vehicle is marked as a secondary ETC transaction success or a secondary ETC transaction failure; if the secondary ETC transaction is successful, the status of the corresponding vehicle in the pass queue is first modified to a transaction success status, and then it is determined whether there are any vehicles with failed transactions in the pass queue. If there are any vehicles with failed transactions in the pass queue, the rear-end ETC antenna is continued to be turned on to trade with the vehicles with failed transactions, otherwise the rear-end ETC antenna is turned off;

[0025] In the self-service toll collection robot transaction step, when the card retrieval button of the entrance self-service toll collection robot is pressed or a card is inserted into the card receiving port of the exit self-service toll collection robot, the robot self-service transaction process is triggered to determine whether the vehicle at the head of the access queue is a vehicle with failed transaction. If the vehicle at the head of the access queue is a vehicle with failed transaction, the back-end ETC antenna is turned off, and the subsequent card reading and writing, card issuance or payment process of the self-service payment robot is continued; after the self-service transaction is successful, if the vehicle at the head of the access queue is a vehicle with failed transaction, the vehicle at the head of the access queue is modified to a vehicle with successful transaction; if the vehicle at the head of the queue is a vehicle with successful transaction, the vehicle with successful transaction is directly inserted into the head of the access queue; after the self-service transaction is completed, the self-service transaction process is exited and it is determined whether there are still vehicles with failed transactions in the access queue. If there are still vehicles with failed transactions, the back-end ETC antenna is turned on again for transaction.

[0026] A vehicle queue control device integrating ETC and self-service robots includes a queue setting module, a vehicle identification and primary ETC transaction module, a queue transfer module, a secondary ETC transaction module, a self-service toll collection robot transaction module, a queue correction module, and a release control module, which are connected in sequence.

[0027] The control queue setting module: sets the control queue to include a passing queue and a non-passing queue. The passing queue is used to store transaction information of vehicles that have arrived at the lane entrance but have not yet left the lane exit or reversed from the lane entrance. The non-passing queue is used to store information of vehicles that have been searched by the front-end ETC antenna but have not yet arrived at the lane entrance;

[0028] The vehicle identification and initial ETC transaction module: When a vehicle equipped with an ETC device enters the transaction range of the front-end ETC antenna deployed at the head of the toll island, the front-end ETC antenna automatically identifies the vehicle information of the vehicle OBU and determines whether there is a successful transaction record of the vehicle in the control queue; if so, no ETC transaction is performed; if not, the vehicle information is added to the non-pass queue, and the initial ETC transaction of the vehicle is triggered based on the vehicle information. Based on the initial ETC transaction result of the vehicle, the status of the corresponding vehicle in the control queue is updated according to the initial transaction result;

[0029] The queue transfer module: When a light barrier deployed at the head of the toll island and with its sensing area physically connected to the lane entrance recognizes that a vehicle has entered the lane entrance, the front-end license plate recognition device deployed at the head of the toll island recognizes the vehicle's license plate and checks whether the non-passing queue is empty. If the non-passing queue is empty, a vehicle record containing the license plate and untransaction status is created based on the vehicle's license plate and added to the passing queue; if the non-passing queue is not empty, the vehicle information at the head of the non-passing queue is taken out and transferred to the end of the passing queue;

[0030] The secondary ETC transaction module: when a vehicle that has failed the initial ETC transaction joins the passage queue and the self-service toll collection robot set at the end of the toll island is not operated, the rear-end ETC antenna set at the end of the toll island identifies the vehicle information of the OBU of the vehicle that failed the initial ETC transaction; based on the vehicle information, triggers the secondary ETC transaction, and updates the status of the corresponding vehicle in the control queue based on the secondary ETC transaction result;

[0031] The self-service toll collection robot transaction module: when the self-service toll collection robot is in use and a vehicle is sensed by the self-service trigger coil deployed in front of the self-service toll collection robot at the end of the toll collection island, the self-service transaction process is triggered; when the result of the self-service transaction is successful, the transaction result of the vehicle at the head of the passage queue is obtained; if the transaction result of the head of the queue is a transaction failure, the vehicle information at the head of the passage queue is modified to the vehicle information of the self-service transaction success; if the transaction result of the head of the queue is a transaction success, the vehicle information of the self-service transaction success is inserted into the head of the passage queue;

[0032] The queue correction module corrects or deletes abnormal vehicles in the control queue based on the license plate recognition result or the preset time threshold;

[0033] The release control module: when the passage queue changes, the vehicle transaction result at the head of the passage queue is obtained; if the transaction result is a success, the lane barrier is raised to allow the vehicle to pass; if the transaction result is a failure or the passage queue is empty, the lane barrier is lowered to prevent the vehicle from passing; when a vehicle passing is sensed by the release verification coil deployed under the lane barrier, the vehicle information at the head of the passage queue is deleted, and then the vehicle transaction result at the head of the passage queue is obtained; if the transaction result is a success, the lane barrier remains raised; if the transaction result is a failure, the lane barrier is lowered.

[0034] Preferably, in the control queue setting module, the non-passing queue supports storing multiple vehicles with successful transactions and at most one vehicle with failed transactions;

[0035] In the vehicle identification and initial ETC transaction module, when the vehicle information is added to the non-pass queue, if the rear vehicle in the non-pass queue is in a transaction failure state, the rear vehicle is directly replaced; if the rear vehicle in the non-pass queue is in a transaction success state, it is added to the rear of the non-pass queue.

[0036] Preferably, the queue correction module includes a license plate recognition correction unit, a timeout correction unit, an abnormal traffic behavior correction unit and a back-up deletion unit.

[0037] The license plate recognition and correction unit: identifies the vehicle's license plate through a rear-end license plate recognition device deployed at the end of the toll island, and performs fuzzy matching on the identified vehicle's license plate with the license plate of a vehicle at the head of the toll queue that has successfully completed the transaction. If the match fails, if the license plate is the license plate of a subsequent vehicle in the toll queue, the vehicle is moved from another position in the toll queue to the head of the toll queue; otherwise, a vehicle in a failed transaction state is added to the head of the toll queue;

[0038] The timeout correction unit records the time a vehicle joins the passage queue when it joins the passage queue. If the vehicle stays in the lane for longer than a preset time threshold and does not reverse out or exit normally, the unit automatically determines that the vehicle is a false alarm and has been logically added incorrectly, and deletes the timeout vehicle from the passage queue.

[0039] The abnormal traffic behavior correction unit: when all vehicles in the traffic queue are in the transaction success state, even if the raster logic determines that there is a vehicle reversing behavior, the traffic queue does not perform the reversing operation;

[0040] The reversing deletion unit: when the light barrier detects that a vehicle is reversing out of the lane entrance, it first checks whether the status of all vehicles in the passage queue is a successful transaction status. If all vehicles in the passage queue are in a successful transaction status, the reversing event is not responded to at this time; if there is a vehicle with a failed transaction in the passage queue, it is determined that the reversing behavior of the vehicle is caused by the failed transaction vehicle, and the reversing event is responded to at this time, and the vehicle at the end of the passage queue is deleted from the queue.

[0041] A lane system integrating ETC and self-service robots, comprising the above-mentioned vehicle queue control device deployed in a toll collection server, and a front-end ETC antenna, a grating, a front-end license plate recognition device, a self-service toll collection robot, a back-end ETC antenna, a self-service trigger coil and a release verification coil arranged on a toll collection island or a lane; wherein: the front-end ETC antenna is deployed at the head of the toll collection island, and is used to identify the OBU information of vehicles entering the transaction range and trigger the initial ETC transaction; the grating is deployed at the head of the toll collection island, and its sensing area is physically connected to the lane entrance, and is used to detect whether a vehicle has entered the lane entrance; the front-end license plate recognition device is deployed at the head of the toll collection island, and is used to identify the license plate information of vehicles entering the lane entrance; the The self-service toll collection robot is deployed at the end of the toll island to provide self-service transaction services for users; the rear-end ETC antenna is deployed at the end of the toll island to conduct a secondary ETC transaction for vehicles that failed the initial ETC transaction; the self-service trigger coil is deployed directly in front of the self-service toll collection robot at the end of the toll island to sense whether the vehicle has reached the self-service transaction area; the release verification coil is deployed under the lane railing to detect whether the vehicle has passed the railing and trigger release control; the toll collection server is respectively communicated with the front-end ETC antenna, grating, front-end license plate recognition device, self-service toll collection robot, rear-end ETC antenna, self-service trigger coil and release verification coil, and is configured to execute the operation of the vehicle queue control device.

[0042] Preferably, the lane system also includes a vehicle model and license plate identifier and a rear-end license plate identifier, both of which are communicatively connected to the toll server; the vehicle model and license plate identifier is arranged in front of the front-end ETC antenna, for identifying the vehicle model and license plate of the passing vehicle, and associating the vehicle model with the license plate, and sending the associated vehicle model and license plate data to the toll server for storage; the rear-end license plate identifier is arranged at the end of the toll island, between the rear-end ETC antenna and the release verification coil, for identifying the license plate of the vehicle undergoing self-service transaction when the self-service toll robot transaction module triggers the self-service transaction process, and sending the identified license plate information to the toll server for storage; when the self-service toll robot transaction module performs the self-service transaction process, the toll server matches the associated vehicle model from the stored associated vehicle model and license plate data according to the license plate information identified by the rear-end license plate identifier, and sends the matching result to the self-service toll robot transaction module for fee calculation.

[0043] Preferably, the lane system further comprises a front-end fee display device and a back-end fee display device, wherein the front-end fee display device is arranged at the front-end license plate recognition device, and the back-end fee display device is arranged at the lane barrier, located between the release verification coil and the back-end ETC antenna, and both the front-end fee display device and the back-end fee display device are communicatively connected to the toll collection server;

[0044] When the queue correction module performs addition, deletion, and modification operations on the passage queue, the external processing logic flow is triggered: when the passage queue is an empty queue, a barrier drop instruction is generated and the lane railing is controlled to drop, a first display instruction is generated and sent to the back-end fee display device, and the back-end fee display device displays a welcome message after receiving the instruction; when the passage queue is not an empty queue, the transaction result of the first vehicle in the passage queue is obtained. If the transaction result is successful, a barrier lift instruction is generated and the lane railing is controlled to remain lifted, a second display instruction is generated and sent to the back-end fee display device, and the back-end fee display device displays a vehicle transaction success message after receiving the instruction; if the transaction result fails, a barrier drop instruction is generated and the lane railing is controlled to drop. A third display instruction is generated and sent to the back-end fee display device. After receiving the instruction, the back-end fee display device displays the vehicle transaction failure information; when the non-passed queue is an empty queue, a first display instruction is generated and sent to the front-end fee display device. After receiving the instruction, the front-end fee display device displays the welcome interface; when the non-passed queue is not an empty queue, the transaction result of the vehicle at the end of the non-passed queue is obtained. If the transaction result is successful, a second display instruction is generated and sent to the front-end fee display device. After receiving the instruction, the front-end fee display device displays the vehicle transaction success information; if the transaction result fails, a third display instruction is generated and sent to the front-end fee display device. After receiving the instruction, the front-end fee display device displays the vehicle transaction failure information.

[0045] The beneficial effects of the present invention are as follows:

[0046] The present invention provides a vehicle queue control method that integrates ETC and self-service robots, that is, a vehicle queue control method based on the lane layout of the standardized ETC integrated self-service toll collection robot, which can also be understood as a method for controlling the transaction logic control of a toll lane system after the standardized ETC and the self-service toll collection robot are integrated. The method identifies the vehicle OBU by keeping the front-end ETC antenna always open and judges the transaction status based on the control queue (pass queue + non-pass queue). If the transaction is unsuccessful, the vehicle will be added to the non-pass queue to trigger the initial ETC transaction, so as to meet the normal ETC vehicle fast passage requirements; relying on the pass queue status flow, abnormal vehicles automatically connect to the back-end self-service transaction process to make up for the shortcomings of the dedicated ETC lane; based on the full-process status changes of the vehicle queue on the toll island, the ETC transaction at the island head and the self-service transaction at the island tail are linked, so that the transaction can be faster and more accurate. This method sets up a control queue, including a passing queue and a non-passing queue. The passing queue is used to store the transaction information of vehicles that have arrived at the lane entrance but have not yet driven out of the lane exit or reversed from the lane entrance, providing the main data basis for the opening and closing of the back-end ETC antenna, the operation and suspension of the self-service payment robot, etc. The non-passing queue is used to store the information of vehicles that have been searched by the front-end ETC antenna but have not yet reached the lane entrance, solving the problem of storing transaction information of vehicles that have entered the transaction range of the front-end ETC antenna but have not reached the lane entrance. The dual queue realizes the precise partition management of vehicle information in different spatial positions (before the entrance, between the entrance and the exit) and different states (identified but not traded, in transaction, transaction completed) in the lane. This clear partition isolation greatly reduces the logic complexity, lays a solid foundation for subsequent precise transaction triggering, state flow, queue transfer and final release control, and is the efficient and reliable operation of the entire collaborative mechanism. The key prerequisite for the operation of ETC is that when a vehicle equipped with ETC equipment enters the transaction range of the front-end ETC antenna deployed at the head of the toll island, the front-end ETC antenna automatically identifies the vehicle information of the vehicle OBU and determines whether to conduct the first ETC transaction based on whether there is a successful transaction record of the vehicle in the control queue. By utilizing the contactless and fast recognition characteristics of ETC technology, the vehicle identity recognition and transaction attempt are actively performed before the vehicle enters the lane entrance, and the repeated transactions of processed vehicles are avoided by checking the control queue. For newly identified ETC vehicles, they are immediately added to the non-passing queue and the first ETC transaction is triggered, which greatly advances the transaction time window, so that most compliant ETC vehicles have completed the deduction (transaction successful) before actually entering the lane entrance, significantly shortening the waiting time of vehicles in the lane, greatly improving the traffic efficiency of ETC vehicles, and at the same time, updating the transaction results to the queue status in real time, providing an accurate decision-making basis for subsequent steps.When the light barrier detects a vehicle entering the lane entrance and the vehicle identity is confirmed in combination with license plate recognition, if the non-passing queue is empty (usually meaning that the vehicle has not been identified by ETC in advance or ETC recognition has failed), a record will be created for it and added to the passing queue (status is untransacted) to ensure that all vehicles entering the lane are included in the management. If the non-passing queue is not empty, the "first in, first out" principle will be followed to transfer the vehicle information at the head of the queue (i.e. the earliest identified) to the end of the passing queue. This mechanism strictly guarantees the timing of vehicle processing, is based on the control queue, conforms to the physical characteristics of the toll lane, is easy to control and maintain, and realizes the orderly and accurate migration of vehicle information between the two queues. When there is an initial ET When a vehicle whose transaction failed in C is added to the passage queue and the self-service toll collection robot is not controlled, the vehicle information of the OBU of the vehicle whose initial ETC transaction failed is identified through the back-end ETC antenna, triggering a secondary ETC transaction. By integrating the standardized ETC and self-service toll collection robot interaction process, an automatic retry opportunity is provided for vehicles that have failed the initial ETC transaction and have entered the passage queue, thereby improving the ETC transaction success rate and passage efficiency, and reducing dependence on self-service robots. At the same time, the real-time update of the secondary ETC transaction results to the queue status provides an accurate decision-making basis for subsequent steps; when the self-service toll collection robot is used and senses the vehicle through the self-service trigger coil, it is triggered In the self-service transaction process, if the transaction of the vehicle at the head of the queue fails (usually the vehicle waiting to pay), the self-service successful vehicle information will be directly overwritten, which is equivalent to the failed vehicle having completed the payment and being released. If the transaction of the vehicle at the head of the queue is successful, the self-service successful vehicle information will be inserted into the head of the queue to ensure that the vehicle that has just completed the payment can immediately become the next released vehicle, thereby improving the traffic efficiency and realizing the seamless integration of self-service payment and traditional ETC lanes. Ideally, the vehicle detection equipment at the entrance and exit of the lane can accurately grasp the actual number of vehicles in the lane, but in the actual operation process, it is inevitable that occasional logical misjudgments will occur due to equipment failure and other reasons, that is, the queue will be disordered or erroneous. Therefore, based on the license plate recognition results or the preset time threshold, abnormal vehicles in the control queue are corrected or deleted to complete the queue maintenance and achieve data accuracy of the dual queues. This is the basis for the long-term stable operation of the entire control logic and the avoidance of cumulative errors, thus maintaining the traffic efficiency of the lanes. When the traffic queue changes, if the transaction result at the head of the queue is successful, the lane barrier is raised to release the vehicle. Before the vehicle approaches the lane barrier, the transaction status is judged in advance to achieve rapid vehicle release. If the transaction result is failed or the traffic queue is empty, the lane barrier is lowered to prevent the vehicle from passing. Accurate and safe release decisions are made based on the authoritative status of the control queue.When a vehicle passes through the release verification coil deployed under the lane barrier, the vehicle information at the head of the queue is immediately deleted to avoid the record of the released vehicle remaining in the queue. Then the transaction result of the vehicle at the head of the queue is obtained. If the transaction result is successful, the lane barrier remains raised. If the transaction result is failed, the lane barrier falls, ensuring that each released vehicle has completed valid payment and the queue is updated in time to achieve accurate and rapid release of vehicles. By controlling queue setting, vehicle identification and initial ETC transactions, queue transfer, secondary ETC transactions, self-service toll collection robot transactions, queue correction and release control, combined with the transaction coordination mechanism of dual-control queues, integrating the standardized ETC and self-service toll collection robot interaction process, and utilizing queue state flow and transaction and logic step collaboration, the vehicle state and transaction process of ETC and self-service toll collection robots are integrated into a unified queue control logic, solving the compatibility defect that dedicated ETC lanes can only handle ETC vehicles, further solving the control problem of the same lane being compatible with ETC and self-service toll collection robots, improving the normal ETC vehicle transaction and traffic efficiency, and achieving full-scene support for the integrated lane that can both pass ETC vehicles at high speed and handle ordinary vehicles by itself. The vehicle queue control method integrating ETC and self-service robots of the present invention incorporates the ETC fast transaction system and the hybrid lane system into the control, and is suitable for the mode in which the ETC lane is integrated with the self-service robot, and is also suitable for a simple ETC dedicated lane or a simple self-service robot lane, and has a wide range of applications.

[0047] The present invention's failed queue supports storing multiple vehicles with successful transactions and up to one failed transaction. This addresses the issue of interference from the leading lanes, as the front-end ETC antenna's transaction range is typically one vehicle's length, with the closest end of its range coinciding with the lane entrance. When a vehicle's information is added to the failed queue, if the last vehicle in the queue has a failed transaction, it is directly replaced; if the last vehicle in the queue has a successful transaction, it is added to the last vehicle in the failed queue. This ensures the accuracy of the queue's vehicle data.

[0048] The present invention effectively solves the problem of logical misjudgment caused by interference from following vehicles or equipment abnormalities, that is, queue disorder or errors, through dynamic queue correction mechanisms such as license plate recognition correction, timeout correction, abnormal traffic behavior correction and reverse deletion. Among them, license plate recognition correction uses the back-end license plate recognition device to identify the license plate of the vehicle, and fuzzy matches the identified license plate of the vehicle with the license plate of the vehicle with successful transaction at the head of the passing queue. When the match fails, if the license plate is the license plate of the subsequent vehicle in the passing queue, the vehicle is moved from other positions in the passing queue to the head of the passing queue. Otherwise, a vehicle with failed transaction status is added to the head of the passing queue, which accurately solves the queue dislocation problem caused by interference from following vehicles, avoids the wrong release or wrong interception caused by queue sequence errors, and ensures the consistency of the vehicle's physical position and logical queue, greatly improving the release accuracy and lane order; timeout correction, when the vehicle stays in the lane for more than the preset time threshold and does not reverse out or drive normally When a vehicle exits the queue, it is automatically determined to be a false alarm and is logically added incorrectly. The timed-out vehicle is deleted from the passage queue. The timeout deletion is triggered based on the length of time the vehicle stays in the passage queue, effectively clearing the "ghost vehicle" records caused by system misjudgment or abnormal detention; abnormal passage behavior correction: when all vehicles in the passage queue are in a successful transaction state, even if the grating logic determines that there is a vehicle reversing behavior, the passage queue will not perform the reversing operation. This strategy fundamentally avoids the risk of "successful transaction vehicles being mistakenly deleted because the following vehicle reverses"; reverse departure deletion: the tail record is deleted only when there is a failed transaction vehicle in the queue and reversing is detected. The reversing event handling mechanism is summarized based on a large number of historical events, which is in line with the facts and accurately distinguishes normal departure from abnormal reversing behavior. Through these four dynamic queue correction mechanisms, logical misjudgments caused by interference from following vehicles or equipment abnormalities, that is, queue confusion or errors, are effectively resolved, greatly improving the system's fault tolerance. This not only ensures the authenticity and accuracy of self-service transactions, but also enhances the lane's adaptability to complex scenarios such as vehicles cutting in, following vehicles too closely, and equipment abnormalities, avoiding traffic disorder at the source and ensuring continuous and healthy operation capabilities.

[0049] When the secondary ETC transaction status is updated in the present invention, if successful, the status in the queue is immediately marked, and other failed vehicles in the queue are checked. If there are no failed vehicles in the queue, the back-end ETC antenna is automatically turned off. When the self-service toll collection robot is triggered and the vehicle is a vehicle with a failed transaction, the back-end ETC antenna is preferentially turned off to avoid conflicts between the ETC signal and manual operations. After the self-service transaction is completed, the self-service transaction process is exited and a determination is made as to whether there are any other failed vehicles in the passage queue. If there are still failed vehicles, the back-end ETC antenna is turned on again to conduct the transaction. In this way, ineffective scanning energy consumption and signal interference are reduced. This mechanism ensures that the queue status is strictly synchronized with the physical vehicle payment status, providing a reliable basis for release decisions and optimizing equipment resource scheduling.

[0050] The present invention also relates to a vehicle queue control device that integrates ETC and self-service robots. The device corresponds to the above-mentioned vehicle queue control method that integrates ETC and self-service robots, and can be understood as a system that realizes the above-mentioned vehicle queue control method that integrates ETC and self-service robots, including a control queue setting module, a vehicle identification and initial ETC transaction module, a queue transfer module, a secondary ETC transaction module, a self-service toll collection robot transaction module, a queue correction module and a release control module. Each module works together. The control queue setting module uses a dual-queue mode to realize the orderly flow and precise management of vehicle information; the vehicle identification and initial ETC transaction module can quickly identify the information of the ETC vehicle entering, and complete the initial ETC transaction, thereby improving the transaction efficiency of the ETC vehicle; the queue transfer module transfers the ETC vehicles in the non-passing queue to the passing queue, and at the same time adds ordinary vehicles to the end of the passing queue, so that the order of vehicles in the queue is consistent with the order of vehicles in the lane, thereby realizing precise control of the queue; the secondary ETC When the self-service toll collection robot is not operated, the transaction module conducts a secondary ETC transaction for vehicles that failed the initial ETC transaction, integrates the standardized ETC and self-service toll collection robot interaction processes, realizes supplementary transactions for ETC vehicles, improves the transaction success rate of ETC vehicles, and increases the traffic efficiency of vehicles in the lane; the self-service toll collection robot transaction module triggers the self-service transaction process through a double verification mechanism in which the self-service toll collection robot is triggered and the self-service trigger coil senses the vehicle, completes the transaction processing of vehicles that failed the secondary ETC transaction and ordinary vehicles, and solves the compatibility defect problem that the dedicated ETC lane can only handle ETC vehicles; the queue correction module solves the queue data anomaly problems in the two queues caused by equipment abnormalities or following behaviors through license plate recognition results and preset time thresholds, ensuring the long-term stable operation of the lane; the release control module controls the release or blocking of vehicles according to the transaction results of the head vehicle in the passing queue, and deletes the head vehicle information in time after releasing the vehicle to ensure the accuracy of the passing queue data.

[0051] The present invention also relates to a lane system that integrates ETC and a self-service robot. The system includes a vehicle queue control device that integrates ETC and the self-service robot, deployed in a toll collection server, as well as a front-end ETC antenna, a light barrier, a front-end license plate recognition device, a self-service toll collection robot, a back-end ETC antenna, a self-service trigger coil, and a release verification coil, all located on a toll island or in a lane. By deploying the ETC antenna at the head of the toll island, rapid and automatic identification and transactions are achieved upon vehicle entry. The light barrier acts as a physical trigger device, accurately determining the movement of vehicles entering the toll area and, in conjunction with the front-end license plate recognition device, capturing license plate information, enabling accurate identification of vehicles entering the lane entrance. The self-service toll collection robot, as a supplement to the ETC system, provides multiple payment methods such as cash and QR code scanning for ETC transaction failures or non-ETC users. Combined with the self-service trigger coil, a dual verification mechanism ensures accurate identification of vehicles undergoing self-service transactions. The back-end ETC antenna provides a secondary ETC transaction for vehicles whose initial ETC transaction failed, thereby improving the transaction success rate for ETC vehicles. When the release verification coil senses a vehicle passing through, it combines with the lane barrier to quickly release vehicles that have successfully completed the transaction.

[0052] The lane system of the present invention, which integrates ETC and a self-service robot, also includes a vehicle model and license plate identifier and a back-end license plate identifier, both of which are in communication with the toll server. The vehicle model and license plate identifier is set in front of the front-end ETC antenna, and is used to identify the vehicle model and license plate of the passing vehicle, and associate the vehicle model with the license plate, and send the associated vehicle model and license plate data to the toll server for storage; the back-end license plate identifier is set at the end of the toll island, between the back-end ETC antenna and the release verification coil, and is used to identify the license plate of the vehicle undergoing self-service transactions during the self-service transaction process, and send the identified license plate information to the toll server for storage. The vehicle model and license plate identifier collects the association information between the vehicle model and license plate through the front-end, and the back-end license plate identifier collects the license plate of the self-service transaction vehicle through the back-end. During the self-service transaction, the information collected by the two is combined to provide an accurate billing basis for the self-service transaction, and at the same time, a vehicle file is established in advance, shortening the response time of the self-service transaction process. The dual verification mechanism of "pre-collection and post-verification" not only enhances the fault tolerance capability of identifying abnormal vehicles, but also improves the efficiency of toll evasion inspection through vehicle type and license plate binding. At the same time, it provides data support for vehicles that fail ETC transactions to switch to self-service transactions or self-service transactions for vehicles without ETC equipment, further optimizing the traffic continuity and reliability of lanes that integrate standardized ETC and self-service toll collection robots.

[0053] The lane system of the present invention, which integrates ETC and a self-service robot, also includes a front-end fee display device and a back-end fee display device. The front-end fee display device is arranged at the front-end license plate recognition device, and the back-end fee display device is arranged at the lane railing, between the release verification coil and the back-end ETC antenna. Both the front-end fee display device and the back-end fee display device are connected to the charging server. When the queue correction module performs operations such as adding, deleting, and modifying the passage queue, it triggers the external processing logic flow: the back-end fee display device combines the transaction result at the head of the passage queue to feedback the success or failure status in real time, ensuring that the driver is informed of the passage authority in time, reducing accidental entry or detention; when the passage queue is empty, the railing is automatically controlled to fall and switch to the standby welcome interface, thereby improving the utilization rate of lane resources; when the queue is not empty, the railing action is accurately controlled according to the transaction result, and the back-end fee display prompt is synchronized. The driver's trust is enhanced through real-time information disclosure, avoiding disputes caused by information opacity, and at the same time strengthening the ability to respond quickly to abnormal lane conditions, further ensuring traffic efficiency and order stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a flow chart of the vehicle queue control method integrating ETC and self-service robots of the present invention.

[0055] Figure 2 This is a schematic diagram of the vehicle queue control method that integrates ETC and self-service robots in the present invention.

[0056] Figure 3 This is a structural diagram of the vehicle queue control device that integrates ETC and self-service robots in the present invention.

[0057] Figure 4 Schematic diagram of vehicle queue control according to the present invention.

[0058] Figure 5 This is a preferred architecture diagram of the lane system that integrates ETC and self-service robots in the present invention.

[0059] Figure 6 This is a schematic diagram of the lane layout of the lane system that integrates ETC and self-service robots in the present invention. DETAILED DESCRIPTION

[0060] The present invention will be described below with reference to the accompanying drawings.

[0061] The present invention discloses a vehicle queue control method integrating ETC and self-service robot, such as Figure 1 As shown, the following steps are included:

[0062] 1. Control queue setting steps: The control queue includes a passing queue and a non-passing queue (also called a transaction queue). The passing queue is used to store transaction information of vehicles that have arrived at the lane entrance but have not yet left the lane exit or reversed from the lane entrance. The non-passing queue is used to store information of vehicles that have been searched by the front-end ETC antenna but have not yet arrived at the lane entrance.

[0063] Furthermore, the "failed" queue is used to store information about vehicles that have been detected by the front-end ETC antenna but have not yet reached the front-end grating or laser vehicle detector (referred to as the "lane entrance"). This solves the problem of storing transaction information for vehicles that enter the front-end ETC antenna's transaction range but do not reach the lane entrance. Since the front-end ETC antenna's transaction range is generally the distance of one vehicle body, the closest end of its transaction range coincides with the lane entrance. In addition, the front-end ETC antenna may be affected by factors such as interference from the leading road. Therefore, the "failed" queue can support the storage of multiple vehicles with successful transactions and up to one vehicle with failed transactions.

[0064] Traffic queue: used to save the transaction information of vehicles that have arrived at the lane entrance but have not yet left the barrier coil position (referred to as "lane exit") or reversed from the lane entrance, providing the main data basis for the opening and closing of the back-end ETC antenna, the operation and suspension of the self-service payment robot, and other processes.

[0065] 2. Vehicle identification and initial ETC transaction steps: Figure 2 The front-end ETC transaction process shown is that when a vehicle equipped with ETC equipment enters the transaction range of the front-end ETC antenna deployed at the head of the toll island, the front-end ETC antenna automatically identifies the vehicle information of the vehicle OBU and determines whether there is a successful transaction record of the vehicle in the control queue (that is, determines whether the vehicle has been traded). In other words, it determines whether the vehicle to which the OBU belongs is in the control queue (including the non-pass queue and the pass queue) and has successfully traded. If it exists, that is, the judgment is passed, it means that the transaction of the vehicle has been completed, and no ETC transaction will be performed. If it does not exist, the vehicle information is added to the non-pass queue. The non-pass queue is essentially a transaction pre-processing queue, which undertakes the transaction queuing and status registration functions, so it is understood as follows Figure 2 The vehicle information is inserted into the transaction queue, and the first ETC transaction of the vehicle is triggered based on the vehicle information (corresponding to Figure 2 The front-end ETC quick transaction in the control queue is performed), and based on the initial ETC transaction result of the vehicle, the status of the corresponding vehicle in the control queue is updated according to the initial transaction result, that is, the transaction status of the vehicle in the control queue is modified.

[0066] Furthermore, when the embodiment of the present invention adds the vehicle information to the non-passing queue, if the rear vehicle of the non-passing queue is in a transaction failure state, the rear vehicle is directly replaced; if the rear vehicle of the non-passing queue is in a transaction success state, it is added to the rear of the non-passing queue.

[0067] Furthermore, embodiments of the present invention update the status of the corresponding vehicle in the control queue based on the initial transaction result, marking the corresponding vehicle's status as either a successful initial ETC transaction or a failed initial ETC transaction. If the front-end ETC antenna successfully completes the transaction for the vehicle, the vehicle's status in the queue is modified to a successful initial ETC transaction. It should be noted that the vehicle may not have yet reached the lane entrance and is still in the non-passing queue, or it may have already reached the lane entrance and been transferred from the non-passing queue to the passing queue.

[0068] 3. Queue transfer steps: Figure 2 The front and rear grating coil control process shown is that when the grating deployed at the head of the toll island and whose sensing area is physically connected to the lane entrance (corresponding to the lane entrance position) recognizes that a vehicle enters the lane entrance, the license plate of the vehicle is recognized by the front-end license plate recognition device deployed at the head of the toll island, and checks whether the non-passing queue is an empty queue. If the non-passing queue is an empty queue, a vehicle record containing the license plate and the non-transaction status is created based on the license plate of the vehicle and added to the passing queue; if the non-passing queue is not an empty queue, the vehicle information at the head of the non-passing queue is taken out and transferred to the end of the passing queue.

[0069] That is to say, when a vehicle enters the lane entrance, the first vehicle in the non-passing queue will be moved to the passing queue. If there is no vehicle in the non-passing queue, the initialized untraded vehicle will be added to the passing queue. When the license plate recognized is not in the passing queue, the passing queue will be corrected and an untraded vehicle will be added.

[0070] Furthermore, the deletion of vehicles in the queue is controlled: when a vehicle backs out of the lane entrance and leaves the lane, the vehicle is deleted from the end of the passing queue; when a vehicle passes through the lane exit normally, the vehicle is deleted from the head of the passing queue; when a vehicle stays in the lane for a long time without leaving the lane, the vehicle that has stayed for a long time is deleted from the passing queue.

[0071] 4. Secondary ETC transaction steps: When a vehicle that has failed the initial ETC transaction joins the passage queue and the self-service toll collection robot at the end of the toll island is not operated, the vehicle information of the OBU of the vehicle that failed the initial ETC transaction is identified by the rear-end ETC antenna at the end of the toll island; based on the vehicle information, the secondary ETC transaction is triggered (corresponding to Figure 2The back-end ETC supplementary transaction and robot self-service transaction process in the control queue are updated based on the secondary ETC transaction results, that is, the vehicle transaction status in the control queue is modified.

[0072] Furthermore, the embodiment of the present invention updates the status of the corresponding vehicle in the control queue based on the result of the secondary ETC transaction, and marks the status of the corresponding vehicle as a successful secondary ETC transaction or a failed secondary ETC transaction; if the secondary ETC transaction is successful, the status of the corresponding vehicle in the passage queue is first modified to a successful transaction status, and then a determination is made as to whether there are any vehicles with failed transactions in the passage queue; if there are any vehicles with failed transactions in the passage queue, the rear-end ETC antenna is turned on to conduct transactions with the vehicles with failed transactions, otherwise the rear-end ETC antenna is turned off; if there is no vehicle information in the passage queue, the information is searched from the head of the passage queue to the back, and the first vehicle with failed transaction is modified to the vehicle with successful ETC transaction.

[0073] 5. Self-service charging robot transaction steps: Figure 2 The back-end ETC supplementary transaction and robot self-service transaction process shown in the figure triggers the self-service transaction process when the self-service toll collection robot is used and a vehicle is sensed by the self-service trigger coil deployed in front of the self-service toll collection robot at the end of the toll island; when the result of the self-service transaction is successful, the transaction result of the vehicle at the head of the passing queue is obtained. If the transaction result at the head of the queue is a transaction failure, the vehicle information at the head of the passing queue is modified to the vehicle information of the successful self-service transaction (that is, the head of the queue is modified to be successful); if the transaction result at the head of the queue is a transaction success, the vehicle information of the successful self-service transaction is inserted into the head of the passing queue.

[0074] Furthermore, when the card-taking button of the entrance self-service toll collection robot is pressed or a card is inserted into the card receiving port of the exit self-service toll collection robot, the robot's self-service transaction process is triggered to determine whether the vehicle at the head of the access queue is a vehicle with failed transaction. If the vehicle at the head of the access queue is a vehicle with failed transaction, the back-end ETC antenna is turned off, and the subsequent card reading and writing, card issuance or payment process of the self-service payment robot is continued; after the self-service transaction is successful, if the vehicle at the head of the access queue is a vehicle with failed transaction, the vehicle at the head of the access queue is modified to a vehicle with successful transaction; if the vehicle at the head of the queue is a vehicle with successful transaction, the vehicle with successful transaction is directly inserted into the head of the access queue; after the self-service transaction is completed, the self-service transaction process is exited and it is determined whether there are still vehicles with failed transactions in the access queue. If there are still vehicles with failed transactions, the back-end ETC antenna is turned on again for transaction.

[0075] Furthermore, if the self-service toll collection robot is operated by a driver, it determines whether the vehicle at the head of the queue is a vehicle with failed transaction. If the vehicle at the head of the queue is a vehicle with failed transaction, the rear-end ETC antenna is turned off. If the vehicle at the head of the queue is a vehicle with successful transaction, the subsequent card reading and writing, card issuance or payment process of the self-service payment robot is stopped; if the self-service toll collection robot is operated by a toll collector, the rear-end ETC antenna is directly turned off, and the subsequent card reading and writing, card issuance or payment process of the self-service payment robot continues.

[0076] 6. Queue correction step: Based on the license plate recognition results or the preset time threshold, abnormal vehicles in the control queue are corrected or deleted.

[0077] Ideally, the vehicle detection equipment at the lane entrance and exit can accurately grasp the number of vehicles in the actual lane. However, in actual operation, it is inevitable that logical misjudgments may occur occasionally due to equipment failures and other reasons, that is, the queue becomes disordered or erroneous. In this case, a certain mechanism is needed to automatically handle the queue (such as correcting or deleting vehicles in the queue). The embodiment of the present invention corrects or deletes abnormal vehicles in the control queue, specifically including:

[0078] License plate recognition correction: The vehicle's license plate is identified by a back-end license plate reader deployed at the end of the toll island. The identified license plate is then fuzzy matched with the license plate of a vehicle at the head of the toll queue that has successfully completed a transaction (for example, only matching the last five digits of the license plate). If the match fails, if the license plate is the license plate of a subsequent vehicle in the toll queue, the vehicle is moved from another position in the toll queue to the head of the queue. Otherwise, a vehicle in a failed transaction state is added to the head of the toll queue.

[0079] Timeout correction: When a vehicle joins the queue, the time it joins the queue is recorded. If the vehicle stays in the lane for longer than a preset time threshold (e.g., 10 minutes) and does not reverse out or exit normally, it is automatically determined to be a false alarm and an abnormal vehicle that was logically added incorrectly, and the timed-out vehicle is deleted from the queue.

[0080] Abnormal traffic behavior correction: When all vehicles in the traffic queue are in the transaction success state, the traffic queue will not perform the reverse operation even if the raster logic determines that there is a vehicle reversing behavior;

[0081] Reversing deletion: When the light barrier detects that a vehicle is reversing out of the lane entrance, it first checks whether the status of all vehicles in the passage queue is a successful transaction status. If all vehicles in the passage queue are in a successful transaction status, the reversing event will not be responded to at this time (in actual operation, it is found that when all vehicles in the lane are in a successful transaction status, the vehicle will not deliberately reverse. Therefore, when all vehicles in the queue are in a successful transaction status, no operation is performed); if there is a vehicle with failed transaction in the passage queue, it is determined that the reversing behavior of the vehicle is caused by the failed transaction vehicle. At this time, the reversing event is responded to and the vehicle at the end of the passage queue is deleted from the queue.

[0082] 7. Release control steps: Figure 2 The control process of the front and rear grating coils shown in the figure is that when the passage queue changes (such as addition, deletion, or change of transaction status), the transaction result of the vehicle at the head of the passage queue is obtained. If the transaction result is a success, the lane barrier is lifted to allow the vehicle to pass; if the transaction result is a failure or the passage queue is empty, the lane barrier is lowered to prevent the vehicle from passing; when the release verification coil deployed under the lane barrier senses that a vehicle has passed (at this time, the vehicle with a successful transaction has successfully passed the barrier), the vehicle information at the head of the passage queue is deleted (the record of the vehicle that has passed the barrier in the passage queue is deleted), and then the transaction result of the vehicle at the head of the passage queue is obtained; if the transaction result is a success, the lane barrier remains raised; if the transaction result is a failure, the lane barrier is lowered.

[0083] Based on the same inventive concept, one or more embodiments of this specification also provide a vehicle queue control device that integrates ETC and a self-service robot. Since the operating principle of the vehicle queue control device that integrates ETC and a self-service robot is the same as the aforementioned vehicle queue control method that integrates ETC and a self-service robot, the implementation of the vehicle queue control device that integrates ETC and a self-service robot can refer to the aforementioned implementation of the vehicle queue control method that integrates ETC and a self-service robot, and the repeated parts are not repeated here. The vehicle queue control device based on the standardized ETC integrated self-service toll collection robot lane layout is used in a lane system in which standardized ETC fast-pass lanes are integrated with self-service toll collection robots. It solves the coordination work between the front-end ETC transaction module and the back-end robot self-service transaction module, ensuring that vehicles can correctly trade and pass while driving in the lane.

[0084] Figure 3 This is a structural diagram of a vehicle queue control device that integrates ETC and self-service robots, provided in one or more embodiments of this specification. Figure 3As shown, the vehicle queue control device includes a queue setting module 101, a vehicle identification and primary ETC transaction module 102, a queue transfer module 103, a secondary ETC transaction module 104, a self-service toll collection robot transaction module 105, a queue correction module 106 and a release control module 107 connected in sequence.

[0085] The control queue setting module 101 sets the control queue to include a passing queue and a non-passing queue. The passing queue is used to store transaction information of vehicles that have arrived at the lane entrance but have not yet left the lane exit or reversed from the lane entrance. The non-passing queue is used to store information of vehicles that have been searched by the front-end ETC antenna but have not yet arrived at the lane entrance.

[0086] The vehicle identification and initial ETC transaction module 102, when a vehicle equipped with an ETC device enters the transaction range of the front-end ETC antenna deployed at the head of the toll island, the front-end ETC antenna automatically identifies the vehicle information of the vehicle OBU and determines whether there is a successful transaction record of the vehicle in the control queue; if so, no ETC transaction is performed; if not, the vehicle information is added to the non-pass queue, and the initial ETC transaction of the vehicle is triggered based on the vehicle information. Based on the initial ETC transaction result of the vehicle, the status of the corresponding vehicle in the control queue is updated according to the initial transaction result (the interaction between the vehicle identification and initial ETC transaction module and the pass queue is as shown in the figure). Figure 4 shown);

[0087] The queue transfer module 103, when a light barrier deployed at the toll island head and with its sensing area physically connected to the lane entrance recognizes a vehicle entering the lane entrance, uses the front-end license plate recognition device deployed at the toll island head to recognize the vehicle's license plate and check whether the non-passing queue is empty. If the non-passing queue is empty, a vehicle record containing the license plate and untransaction status is created based on the vehicle's license plate and added to the passing queue. If the non-passing queue is not empty, the vehicle information at the head of the non-passing queue is removed and transferred to the end of the passing queue.

[0088] The secondary ETC transaction module 104, when a vehicle that has failed the initial ETC transaction joins the passage queue and the self-service toll collection robot set at the end of the toll island is not operated, identifies the vehicle information of the OBU of the vehicle that failed the initial ETC transaction through the rear-end ETC antenna set at the end of the toll island; based on the vehicle information, triggers the secondary ETC transaction, and updates the status of the corresponding vehicle in the control queue based on the secondary ETC transaction result (the interaction between the secondary ETC transaction module and the passage queue is as follows Figure 4 shown);

[0089] The self-service toll collection robot transaction module 105 triggers the self-service transaction process when the self-service toll collection robot is used and senses a vehicle through the self-service trigger coil deployed in front of the self-service toll collection robot at the end of the toll island. When the self-service transaction is successful, the transaction result of the vehicle at the head of the pass queue is obtained. If the transaction result of the head of the queue is a transaction failure, the vehicle information at the head of the pass queue is modified to the vehicle information of the self-service transaction success; if the transaction result of the head of the queue is a transaction success, the vehicle information of the self-service transaction success is inserted into the head of the pass queue (the interaction between the self-service toll collection robot transaction module and the pass queue is as follows Figure 4 shown);

[0090] The queue correction module 106 corrects or deletes abnormal vehicles in the control queue based on the license plate recognition result or the preset time threshold;

[0091] The release control module 107 obtains the transaction result of the vehicle at the head of the passage queue when there is a change in the passage queue (such as addition, deletion, or change in transaction status). If the transaction result is a successful transaction, the lane barrier is raised to release the vehicle to pass; if the transaction result is a failed transaction or the passage queue is empty, the lane barrier is lowered to prevent the vehicle from passing; when the release verification coil deployed under the lane barrier senses that a vehicle has passed (at this time, the vehicle with a successful transaction has successfully passed the barrier), the vehicle information at the head of the passage queue is deleted (the record of the vehicle that has passed the barrier in the passage queue is deleted), and then the transaction result of the vehicle at the head of the passage queue is obtained; if the transaction result is a successful transaction, the lane barrier remains raised; if the transaction result is a failed transaction, the lane barrier is lowered.

[0092] Furthermore, in the control queue setting module 101, the failed queue supports saving multiple vehicles with successful transactions and at most one vehicle with failed transactions;

[0093] In the vehicle identification and initial ETC transaction module 102, when the vehicle information is added to the non-passing queue, if the last vehicle in the non-passing queue is in a transaction failure state, the last vehicle in the queue is directly replaced; if the last vehicle in the non-passing queue is in a transaction success state, it is added to the end of the non-passing queue.

[0094] Furthermore, the queue correction module 101 includes a license plate recognition correction unit, a timeout correction unit, an abnormal traffic behavior correction unit and a back-up deletion unit, wherein:

[0095] The license plate recognition and correction unit uses the rear-end license plate recognition device deployed at the end of the toll island to identify the vehicle's license plate and perform a fuzzy match between the identified vehicle's license plate and the license plate of the vehicle at the head of the toll queue that has successfully completed the transaction. If the match fails, if the license plate is the license plate of a subsequent vehicle in the toll queue, the vehicle will be moved from another position in the toll queue to the head of the toll queue. Otherwise, a vehicle in the failed transaction state will be added to the head of the toll queue.

[0096] a timeout correction unit, which records the time a vehicle joins the passage queue when it is added to the passage queue, and automatically determines that the vehicle is a false alarm and has been added logically by mistake when the vehicle stays in the lane for more than a preset time threshold and does not reverse out or exit normally, and deletes the timeout vehicle from the passage queue;

[0097] An abnormal traffic behavior correction unit, when all vehicles in the traffic queue are in a transaction success state, the traffic queue will not perform a reverse operation even if the grating logic determines that a vehicle is reversing;

[0098] The reversing deletion unit, when the grating detects that a vehicle is reversing out of the lane entrance, first checks whether the status of all vehicles in the passage queue is a successful transaction state. If all vehicles in the passage queue are in a successful transaction state, the reversing event will not be responded to at this time; if there is a vehicle in the passage queue that has failed the transaction, it is determined that the reversing behavior of the vehicle is caused by the failed transaction vehicle. At this time, the reversing event will be responded to and the vehicle at the end of the passage queue will be deleted from the queue.

[0099] Furthermore, the present invention integrates ETC and a vehicle queue control device of a self-service robot. When the front and rear ETC transaction modules (vehicle identification and primary ETC transaction module 102, secondary ETC transaction module 104) search for an OBU, if the OBU is the OBU of a vehicle with a successful transaction in the control queue, the transaction with the OBU is abandoned; when a vehicle with a failed transaction enters the passage queue, the back-end ETC transaction module (secondary ETC transaction module 104) is turned on to conduct the transaction; when the head vehicle in the passage queue is a vehicle with a failed transaction, and the vehicle reaches the self-service trigger coil directly in front of the self-service toll collection robot, the self-service toll collection robot is turned on to conduct a self-service transaction on the vehicle with the failed transaction, and the back-end ETC transaction module is controlled to close the transaction at the same time; when the head vehicle in the control queue is a vehicle with a successful transaction, the control barrier is raised, otherwise the control barrier is lowered; and the back-end fee display is controlled to display the transaction information of the head vehicle in the queue.

[0100] The present invention also provides a lane system integrating ETC and self-service robots, such as Figure 5 As shown, the system includes the above-mentioned Figure 3The vehicle queue control device shown in the figure includes a front-end ETC antenna, a light barrier, a front-end license plate recognition device, a self-service toll collection robot, a rear-end ETC antenna, a self-service trigger coil, a release verification coil, a vehicle model license plate recognition device, a rear-end license plate recognition device, a front-end fee display device, and a rear-end fee display device, all of which are installed on a toll island or lane. For the vehicle queue control device, please refer to the description of the above embodiment and will not be repeated here.

[0101] like Figure 6 As shown, the front-end ETC antenna (reuse) is deployed at the head of the toll island to identify the OBU information of vehicles entering the transaction range and trigger the initial ETC transaction; the grating (corresponding to Figure 6 The laser vehicle detector in the toll island is deployed in front of the front ETC antenna. Its sensing area is physically connected to the lane entrance to detect whether the vehicle enters the lane entrance; the front license plate recognition device (corresponding to Figure 6 The toll display and license plate recognition integrated machine (the same place as the original toll display) is deployed at the head of the toll island, in front of the grating, to identify the license plate information of vehicles entering the lane entrance; the self-service toll collection robot (corresponding to Figure 6 The self-service payment machine in the toll island is deployed at the end of the toll island to provide users with self-service transaction services; the back-end ETC antenna (corresponding to Figure 6 The antenna column in the toll collection area is deployed at the end of the toll island, with its transaction range behind the self-service toll collection robot. It is used to conduct a secondary ETC transaction for vehicles that failed the initial ETC transaction. The self-service trigger coil is deployed in the middle of the lane, directly in front of the self-service toll collection robot at the end of the toll island. It is used to sense whether the vehicle has reached the self-service transaction area. The release verification coil is deployed below the lane railing, in the middle of the lane, to detect whether the vehicle has passed the railing and trigger the release control. The toll collection server is respectively connected to the front-end ETC antenna, grating, front-end license plate recognition device, self-service toll collection robot, back-end ETC antenna, self-service trigger coil, release verification coil, vehicle model license plate recognition device, back-end license plate recognition device, front-end fee display device and back-end fee display device, and is configured to execute the operation of the vehicle queue control device.

[0102] Furthermore, the vehicle model and license plate recognition device is set in front of the front-end ETC antenna to identify the vehicle model and license plate of the passing vehicle, and associate the vehicle model with the license plate, and send the associated vehicle model and license plate data to the toll server for storage; the back-end license plate recognition device is set at the end of the toll island (corresponding to Figure 6The fee display, license plate recognition, and barrier all-in-one machine) is located between the back-end ETC antenna and the release verification coil. It is used to identify the license plate of the vehicle undergoing self-service transaction when the self-service toll collection robot transaction module triggers the self-service transaction process, and send the identified license plate information to the toll collection server for storage; when the self-service toll collection robot transaction module performs the self-service transaction process, the toll collection server matches the associated vehicle model from the stored associated vehicle model license plate data according to the license plate information recognized by the back-end license plate recognition device, and sends the matching result to the self-service toll collection robot transaction module for fee calculation.

[0103] Furthermore, the front-end fee display device is set at the front-end license plate recognition device (corresponding to Figure 6 The fee display and license plate recognition integrated machine in the back-end fee display device is set at the lane guardrail (corresponding to Figure 6 The fee display, license plate recognition, and barrier integrated machine in the passage are located between the release verification coil and the rear-end ETC antenna; when the queue correction module performs addition, deletion, and modification operations on the passage queue, the external processing logic flow is triggered: when the passage queue is an empty queue, a barrier drop instruction is generated and the lane barrier is controlled to drop, a first display instruction is generated and sent to the rear-end fee display device, and after the rear-end fee display device receives the instruction, a welcome interface is displayed, etc., and the lane is controlled to restore the initialization state; when the passage queue is not an empty queue, the transaction result of the vehicle at the head of the passage queue is obtained. If the transaction result is successful, a barrier lift instruction is generated and the lane barrier is controlled to remain lifted, a second display instruction is generated and sent to the rear-end fee display device, and the rear-end fee display device displays the vehicle transaction success information after receiving the instruction. ; If the transaction result fails, a drop-bar instruction is generated and the lane railing is controlled to fall, a third display instruction is generated and sent to the back-end fee display device, and the back-end fee display device displays the vehicle transaction failure information after receiving the instruction; when the non-passed queue is an empty queue, a first display instruction is generated and sent to the front-end fee display device, and the front-end fee display device displays the welcome interface after receiving the instruction; when the non-passed queue is not an empty queue, the transaction result of the vehicle at the end of the non-passed queue is obtained. If the transaction result is successful, a second display instruction is generated and sent to the front-end fee display device. After receiving the instruction, the front-end fee display device displays the vehicle transaction success information; if the transaction result fails, a third display instruction is generated and sent to the front-end fee display device, and the front-end fee display device displays the vehicle transaction failure information after receiving the instruction.

[0104] It should be noted that the specific embodiments described above can enable those skilled in the art to more fully understand the present invention, but do not limit the present invention in any way. Therefore, although this specification has described the present invention in detail with reference to the drawings and embodiments, those skilled in the art should understand that the present invention can still be modified or replaced with equivalents. In short, all technical solutions and improvements that do not depart from the spirit and scope of the present invention should be included in the scope of protection of the patent for the present invention.

Claims

1. A vehicle queue control method integrating ETC and self-service robots, characterized in that: The following steps are involved: Control queue setting step: The control queue includes a passing queue and a non-passing queue. The passing queue is used to store transaction information of vehicles that have arrived at the lane entrance but have not yet left the lane exit or reversed from the lane entrance. The non-passing queue is used to store information of vehicles that have been searched by the front-end ETC antenna but have not yet arrived at the lane entrance. Vehicle identification and initial ETC transaction steps: When a vehicle equipped with an ETC device enters the transaction range of the front-end ETC antenna deployed at the head of the toll island, the front-end ETC antenna automatically identifies the vehicle information of the vehicle's OBU and determines whether there is a successful transaction record of the vehicle in the control queue; if so, no ETC transaction is performed; if not, the vehicle information is added to the non-pass queue, and the initial ETC transaction of the vehicle is triggered based on the vehicle information. Based on the initial ETC transaction result of the vehicle, the status of the corresponding vehicle in the control queue is updated according to the initial transaction result; Queue transfer step: When the light barrier deployed at the toll island head and with its sensing area physically connected to the lane entrance recognizes a vehicle entering the lane entrance, the front-end license plate recognition device deployed at the toll island head recognizes the vehicle's license plate and checks whether the non-passing queue is empty. If the non-passing queue is empty, a vehicle record containing the license plate and non-transaction status is created based on the vehicle's license plate and added to the passing queue; If the non-passing queue is not an empty queue, the vehicle information at the head of the non-passing queue is taken out and transferred to the end of the passing queue; Secondary ETC transaction steps: When a vehicle that has failed the initial ETC transaction joins the passage queue and the self-service toll collection robot set at the end of the toll island is not operated, the vehicle information of the OBU of the vehicle that failed the initial ETC transaction is identified by the rear-end ETC antenna set at the end of the toll island; based on the vehicle information, the secondary ETC transaction is triggered, and the status of the corresponding vehicle in the control queue is updated based on the result of the secondary ETC transaction; Self-service toll collection robot transaction steps: When the self-service toll collection robot is used and a vehicle is sensed by the self-service trigger coil deployed in front of the self-service toll collection robot at the end of the toll island, the self-service transaction process is triggered; when the result of the self-service transaction is successful, the transaction result of the vehicle at the head of the passage queue is obtained; if the transaction result of the head of the queue is a transaction failure, the vehicle information at the head of the passage queue is modified to the vehicle information of the self-service transaction success; if the transaction result of the head of the queue is a transaction success, the vehicle information of the self-service transaction success is inserted into the head of the passage queue; Queue correction step: Based on the license plate recognition results or the preset time threshold, abnormal vehicles in the control queue are corrected or deleted; Release control step: when the passage queue changes, the transaction result of the vehicle at the head of the passage queue is obtained. If the transaction result is successful, the lane barrier is raised to release the vehicle; If the transaction result is a transaction failure or the passage queue is empty, the lane barrier will fall down to prevent the vehicle from passing; when the release verification coil deployed under the lane barrier senses that a vehicle has passed, the vehicle information at the head of the passage queue will be deleted, and then the transaction result of the vehicle at the head of the passage queue will be obtained; if the transaction result is a transaction success, the lane barrier will remain raised; if the transaction result is a transaction failure, the lane barrier will fall down.

2. The vehicle queue control method according to claim 1, characterized in that: In the control queue setting step, the non-passing queue supports storing multiple vehicles with successful transactions and at most one vehicle with failed transactions; During the vehicle identification and initial ETC transaction steps, when the vehicle information is added to the non-passing queue, if the last vehicle in the non-passing queue is in a transaction failure state, the last vehicle in the queue is directly replaced; If the vehicle at the end of the queue that has not passed is in the transaction success state, it will be added to the end of the queue that has not passed.

3. The vehicle queue control method according to claim 1, characterized in that: In the queue correction step, the abnormal vehicles in the control queue are corrected or deleted, specifically including: License plate recognition correction: The vehicle's license plate is identified by a back-end license plate recognition device deployed at the end of the toll island. The identified license plate is then fuzzy matched with the license plate of a vehicle at the head of the toll queue that has successfully completed the transaction. If the match fails, if the license plate is the license plate of a subsequent vehicle in the toll queue, the vehicle is moved from another position in the toll queue to the head of the queue. Otherwise, a vehicle in a failed transaction state is added to the head of the toll queue. Timeout correction: When a vehicle joins the passage queue, the time it joins the passage queue is recorded. If the vehicle stays in the lane for longer than the preset time threshold and does not reverse out or exit normally, it is automatically determined to be a false alarm and an abnormal vehicle that was logically added incorrectly, and the timed-out vehicle is deleted from the passage queue. Abnormal traffic behavior correction: When all vehicles in the traffic queue are in the transaction success state, the traffic queue will not perform the reverse operation even if the raster logic determines that there is a vehicle reversing behavior; Reversing deletion: When the light barrier detects that a vehicle is reversing out of the lane entrance, it first checks whether the status of all vehicles in the queue is a successful transaction. If all vehicles in the queue are in a successful transaction status, the reversing event will not be responded to at this time; if there is a vehicle in the queue that has failed the transaction, it is determined that the reversing behavior of the vehicle was caused by the failed transaction vehicle. At this time, the reversing event will be responded to and the vehicle at the end of the queue will be deleted from the queue.

4. The vehicle queue control method according to any one of claims 1 to 3, characterized in that: In the vehicle identification and initial ETC transaction steps, the status of the corresponding vehicle in the control queue is updated according to the initial transaction result, and the status of the corresponding vehicle is marked as the initial ETC transaction success or the initial ETC transaction failure; In the secondary ETC transaction step, the status of the corresponding vehicle in the control queue is updated based on the secondary ETC transaction result, and the status of the corresponding vehicle is marked as a secondary ETC transaction success or a secondary ETC transaction failure; If the secondary ETC transaction is successful, the corresponding vehicle status in the passage queue is first changed to the transaction success status, and then it is determined whether there are still vehicles with failed transactions in the passage queue. If there are still vehicles with failed transactions in the passage queue, the back-end ETC antenna will continue to be turned on to trade with the vehicles with failed transactions, otherwise the back-end ETC antenna will be turned off; In the self-service toll collection robot transaction step, when the card retrieval button of the entrance self-service toll collection robot is pressed or a card is inserted into the card receiving port of the exit self-service toll collection robot, the robot self-service transaction process is triggered to determine whether the vehicle at the head of the access queue is a vehicle with failed transaction. If the vehicle at the head of the access queue is a vehicle with failed transaction, the back-end ETC antenna is turned off, and the subsequent card reading and writing, card issuance or payment process of the self-service payment robot is continued; after the self-service transaction is successful, if the vehicle at the head of the access queue is a vehicle with failed transaction, the vehicle at the head of the access queue is modified to a vehicle with successful transaction; if the vehicle at the head of the queue is a vehicle with successful transaction, the vehicle with successful transaction is directly inserted into the head of the access queue; after the self-service transaction is completed, the self-service transaction process is exited and it is determined whether there are still vehicles with failed transactions in the access queue. If there are still vehicles with failed transactions, the back-end ETC antenna is turned on again for transaction.

5. A vehicle queue control device integrating ETC and self-service robots, characterized in that: It includes a control queue setting module, a vehicle identification and initial ETC transaction module, a queue transfer module, a secondary ETC transaction module, a self-service toll collection robot transaction module, a queue correction module and a release control module, which are connected in sequence. The control queue setting module: sets the control queue to include a passing queue and a non-passing queue. The passing queue is used to store transaction information of vehicles that have arrived at the lane entrance but have not yet left the lane exit or reversed from the lane entrance. The non-passing queue is used to store information of vehicles that have been searched by the front-end ETC antenna but have not yet arrived at the lane entrance; The vehicle identification and initial ETC transaction module: When a vehicle equipped with an ETC device enters the transaction range of the front-end ETC antenna deployed at the head of the toll island, the front-end ETC antenna automatically identifies the vehicle information of the vehicle OBU and determines whether there is a successful transaction record of the vehicle in the control queue; if so, no ETC transaction is performed; if not, the vehicle information is added to the non-pass queue, and the initial ETC transaction of the vehicle is triggered based on the vehicle information. Based on the initial ETC transaction result of the vehicle, the status of the corresponding vehicle in the control queue is updated according to the initial transaction result; The queue transfer module: When a light barrier deployed at the toll island head and with its sensing area physically connected to the lane entrance recognizes a vehicle entering the lane entrance, the front-end license plate recognition device deployed at the toll island head recognizes the vehicle's license plate and checks whether the non-passing queue is empty. If the non-passing queue is empty, a vehicle record containing the license plate and non-transaction status is created based on the vehicle's license plate and added to the passing queue; If the non-passing queue is not an empty queue, the vehicle information at the head of the non-passing queue is taken out and transferred to the end of the passing queue; The secondary ETC transaction module: when a vehicle that has failed the initial ETC transaction joins the passage queue and the self-service toll collection robot set at the end of the toll island is not operated, the rear-end ETC antenna set at the end of the toll island identifies the vehicle information of the OBU of the vehicle that failed the initial ETC transaction; based on the vehicle information, triggers the secondary ETC transaction, and updates the status of the corresponding vehicle in the control queue based on the secondary ETC transaction result; The self-service toll collection robot transaction module: when the self-service toll collection robot is in use and a vehicle is sensed by the self-service trigger coil deployed in front of the self-service toll collection robot at the end of the toll collection island, the self-service transaction process is triggered; when the result of the self-service transaction is successful, the transaction result of the vehicle at the head of the passage queue is obtained; if the transaction result of the head of the queue is a transaction failure, the vehicle information at the head of the passage queue is modified to the vehicle information of the self-service transaction success; if the transaction result of the head of the queue is a transaction success, the vehicle information of the self-service transaction success is inserted into the head of the passage queue; The queue correction module corrects or deletes abnormal vehicles in the control queue based on the license plate recognition result or the preset time threshold; The release control module: when the passage queue changes, obtains the transaction result of the vehicle at the head of the passage queue, and if the transaction result is successful, the lane barrier is raised to release the vehicle; If the transaction result is a transaction failure or the passage queue is empty, the lane barrier will fall down to prevent the vehicle from passing; when the release verification coil deployed under the lane barrier senses that a vehicle has passed, the vehicle information at the head of the passage queue will be deleted, and then the transaction result of the vehicle at the head of the passage queue will be obtained; if the transaction result is a transaction success, the lane barrier will remain raised; if the transaction result is a transaction failure, the lane barrier will fall down.

6. The vehicle queue control device according to claim 5, characterized in that: In the control queue setting module, the non-passing queue supports storing multiple vehicles with successful transactions and at most one vehicle with failed transactions; In the vehicle identification and initial ETC transaction module, when the vehicle information is added to the non-passing queue, if the last vehicle in the non-passing queue is in a transaction failure state, the last vehicle in the queue is directly replaced; If the vehicle at the end of the queue that has not passed is in the transaction success state, it will be added to the end of the queue that has not passed.

7. The vehicle queue control device according to claim 5 or 6, characterized in that: The queue correction module includes a license plate recognition correction unit, a timeout correction unit, an abnormal traffic behavior correction unit and a back-up deletion unit. The license plate recognition and correction unit: identifies the vehicle's license plate through a rear-end license plate recognition device deployed at the end of the toll island, and performs fuzzy matching on the identified vehicle's license plate with the license plate of a vehicle at the head of the toll queue that has successfully completed the transaction. If the match fails, if the license plate is the license plate of a subsequent vehicle in the toll queue, the vehicle is moved from another position in the toll queue to the head of the toll queue; otherwise, a vehicle in a failed transaction state is added to the head of the toll queue; The timeout correction unit records the time a vehicle joins the passage queue when it joins the passage queue. If the vehicle stays in the lane for longer than a preset time threshold and does not reverse out or exit normally, the unit automatically determines that the vehicle is a false alarm and has been logically added incorrectly, and deletes the timeout vehicle from the passage queue. The abnormal traffic behavior correction unit: when all vehicles in the traffic queue are in the transaction success state, even if the raster logic determines that there is a vehicle reversing behavior, the traffic queue does not perform the reversing operation; The reversing deletion unit: when the light barrier detects that a vehicle is reversing out of the lane entrance, it first checks whether the status of all vehicles in the passage queue is a successful transaction status. If all vehicles in the passage queue are in a successful transaction status, the reversing event is not responded to at this time; if there is a vehicle with a failed transaction in the passage queue, it is determined that the reversing behavior of the vehicle is caused by the failed transaction vehicle, and the reversing event is responded to at this time, and the vehicle at the end of the passage queue is deleted from the queue.

8. A lane system integrating ETC and self-service robots, characterized in that: The invention comprises a vehicle queue control device as claimed in any one of claims 5 to 7, which is deployed in a toll collection server, and a front-end ETC antenna, a grating, a front-end license plate recognition device, a self-service toll collection robot, a rear-end ETC antenna, a self-service trigger coil and a release verification coil arranged on a toll collection island or a lane; wherein: the front-end ETC antenna is deployed at the head of the toll collection island, and is used to identify the OBU information of vehicles entering the transaction range and trigger the initial ETC transaction; the grating is deployed at the head of the toll collection island, and its sensing area is physically connected with the lane entrance, and is used to detect whether the vehicle enters the lane entrance; the front-end license plate recognition device is deployed at the head of the toll collection island, and is used to identify the license plate information of vehicles entering the lane entrance; the self-service toll collection machine The robot is deployed at the end of the toll island to provide self-service transaction services for users; the rear-end ETC antenna is deployed at the end of the toll island to conduct a secondary ETC transaction for vehicles that failed the initial ETC transaction; the self-service trigger coil is deployed in front of the self-service toll collection robot at the end of the toll island to sense whether the vehicle has reached the self-service transaction area; the release verification coil is deployed under the lane railing to detect whether the vehicle has passed the railing and trigger release control; the toll server is respectively communicated with the front-end ETC antenna, grating, front-end license plate recognition device, self-service toll collection robot, rear-end ETC antenna, self-service trigger coil and release verification coil, and is configured to execute the operation of the vehicle queue control device.

9. The lane system according to claim 8, characterized in that It also includes a vehicle model and license plate identifier and a rear-end license plate identifier, both of which are communicatively connected to the toll server; the vehicle model and license plate identifier is arranged in front of the front-end ETC antenna, for identifying the vehicle model and license plate of the passing vehicle, and associating the vehicle model with the license plate, and sending the associated vehicle model and license plate data to the toll server for storage; the rear-end license plate identifier is arranged at the end of the toll island, between the rear-end ETC antenna and the release verification coil, and is used to identify the license plate of the vehicle undergoing self-service transaction when the self-service toll robot transaction module triggers the self-service transaction process, and send the identified license plate information to the toll server for storage; when the self-service toll robot transaction module performs the self-service transaction process, the toll server matches the associated vehicle model from the stored associated vehicle model and license plate data according to the license plate information identified by the rear-end license plate identifier, and sends the matching result to the self-service toll robot transaction module for fee calculation.

10. The lane system according to claim 8 or 9, characterized in that: It also includes a front-end fee display device and a back-end fee display device, wherein the front-end fee display device is arranged at the front-end license plate recognition device, and the back-end fee display device is arranged at the lane railing, located between the release verification coil and the back-end ETC antenna, and the front-end fee display device and the back-end fee display device are both communicatively connected to the toll collection server; When the queue correction module performs addition, deletion, and modification operations on the passage queue, the external processing logic flow is triggered: when the passage queue is an empty queue, a barrier drop instruction is generated and the lane railing is controlled to drop, a first display instruction is generated and sent to the back-end fee display device, and the back-end fee display device displays a welcome message after receiving the instruction; when the passage queue is not an empty queue, the transaction result of the first vehicle in the passage queue is obtained. If the transaction result is successful, a barrier lift instruction is generated and the lane railing is controlled to remain lifted, a second display instruction is generated and sent to the back-end fee display device, and the back-end fee display device displays a vehicle transaction success message after receiving the instruction. information; if the transaction result fails, a drop-bar instruction is generated and the lane railing is controlled to fall, a third display instruction is generated and sent to the back-end fee display device, and the back-end fee display device displays the vehicle transaction failure information after receiving the instruction; when the non-passing queue is an empty queue, a first display instruction is generated and sent to the front-end fee display device, and the front-end fee display device displays the welcome interface after receiving the instruction; when the non-passing queue is not an empty queue, the transaction result of the vehicle at the end of the non-passing queue is obtained. If the transaction result is successful, a second display instruction is generated and sent to the front-end fee display device, and the front-end fee display device displays the vehicle transaction success information after receiving the instruction; If the transaction result fails, a third display instruction is generated and sent to the front-end fee display device. After receiving the instruction, the front-end fee display device displays the vehicle transaction failure information.

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