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.