阅读说明：本技术 一种高速公路etc性能快速检测车系统 (Highway ETC performance short-term test car system ) 是由 周晓旭 刘晓 韩昱 李永胜 孙贝 刘博� 薛春明 段英杰 霍尚斌 于 2020-05-30 设计创作，主要内容包括：本发明公开了一种高速公路ETC性能快速检测车系统,通过ETC性能检测模块和轮速编码器采集等间距标准阵列天线的ETC射频物理信息和检测车的轮速和车速信息,构建ETC射频采集信息与采集点位置之间的映射关系进行数据处理得到车道路面的场强分布情况后得到ETC天线安装的纵向偏角、俯角和安装高度。本发明能够实现高速公路在正常交通环境下,不停车、不封路对收费站和门架系统的ETC性能进行快速自动检测、分析和评估,为ETC的稳定运营和科学管养提供技术依据和解决方法。(The invention discloses a highway ETC performance rapid detection vehicle system, which acquires ETC radio frequency physical information of an equidistant standard array antenna and wheel speed and vehicle speed information of a detection vehicle through an ETC performance detection module and a wheel speed encoder, constructs a mapping relation between ETC radio frequency acquisition information and an acquisition point position, and performs data processing to obtain a field intensity distribution condition of a lane road surface to obtain a longitudinal declination, a depression angle and an installation height of ETC antenna installation. The invention can realize rapid and automatic detection, analysis and evaluation of ETC performance of toll stations and portal systems on highways without stopping or closing roads under normal traffic environment, and provides technical basis and solution for stable operation and scientific management and maintenance of ETC.)

1. The utility model provides a highway ETC performance short-term test car system, its characterized in that, ETC performance detection module and the fast encoder of wheel gather the ETC radio frequency physical information of equidistant standard array antenna and detect the fast and speed of a motor vehicle information, establish the mapping relation between ETC radio frequency information and the collection point position, ETC radio frequency information includes physical properties index and agreement index to the road surface central line of collection point establishes three-dimensional ETC radio frequency data matrix D as the coordinate system after with the automatic collection of detection car:

D＝{X-x_r，Y，S}

X＝{x₀，x₁，…，x_m}^T

Y＝{y₀，y₁，…，y_n}^T

S＝{S₀₀，S₀₁，…，S_mn}^T

in the formula, x is a set of horizontal coordinate positions of the lane markers and is determined by equidistant standard antenna distances, and the number of the standard antennas is m; x is the number of_rIn order to detect the distance difference between the center of the vehicle and the center of the lane, a panoramic camera collects the pixel distance of the position of the marked line to determine; y is a longitudinal coordinate set of a lane longitudinal ETC acquisition point, and is determined by the running distance of the detection vehicle under the unit acquisition frequency; s is an acquired ETC field intensity information set;

extracting ETC field intensity maximum values at intervals of L in the longitudinal direction of the lane to realize contour extraction so as to form a new matrix D_L:

D_L＝{X-x_r，Y_L，S_L}

X＝{x₀，x₁，…，x_m}^T

Y_L＝{y_L0，y_L1，…，y_Ln}^T

S_L＝{S_L00，S_L01，…，S_Lmn}^T

Based on S_LConstruction of a representation of each X, with the X vector as the axis_iMatrix D of corresponding Y-S planes_LD：

D_LD＝{(x₀,y_1,2,…,n,S_00,01,…,0n),

(x₁,y_0,1,…,n,S_10,11,…,1n),…,

(x_m,y_0,1,…,n,S_m0,m1,…,mn)}

To D_LDAnd carrying out filtering operation on the X vector of the matrix by using an adaptive filter, and processing data by using an LMS algorithm to eliminate random noise in a signal propagation process:

S_w(n-1)＝w_(n-1) ^Ty_(n-1)

e_(n-1)＝S_(n-1)–S_w(n-1)

w_(n)＝w_(n-1)+e_(n-1)y_(n-1)*

in the formula, y_(n-1)The result of the previous group of data after being filtered; e.g. of the type_(n-1)The difference value of the filtering result of the previous group of data and the actual data is obtained; w is a_(n)Is a new filter parameter, wherein S_(n-1)The result after the filtering window processing of the previous group of field intensity values is obtained; s_(n-1)The former group of field intensity original data; y is_(n-1)Is y_(n-1)A conjugate matrix of (a); matrix D_LDObtaining a new matrix D after passing through an LMS filter_LDFMatrix form and D_LDThe same;

based on matrix D_LDFPerforming function fitting on the data, and calculating a fitting coefficient and a parameter R reflecting the fitting effect by adopting the fitting of a three-level Fourier series form, wherein R is a square value of a fitting result and a related coefficient of the original data:

S_Li＝a₀+a₁cos(ωy_i)+b₁sin(ωy_i)+a₂cos(2ωy_i)+b₂sin(2ωy_i)+a₃cos(3ωy_i)+b3sin(3ωy_i)

in the formula, S_LiFor new field strength data after fitting, a₀Is a Fourier series constant term coefficient, a_iIs the coefficient of cosine term, b_iIs the coefficient of sine term, omega is the angular frequency of trigonometric function;

or calculating the first derivative of the field strength at the current distance point by adopting a first-order function fitting method:

S_Li＝a_iy_Li+b_i

after a function representing data distribution characteristics is obtained through a fitting method, the function is interpolated according to a fixed interval to obtain a new fitting matrix D_Fit：

D_Fit＝{X_Fit-x_r，Y_Fit，S_Fit}

X_Fit＝{x₀，x_Fit1，…，x_Fitm}^T

Y_Fit＝{y_L0，y_Fit1，…，y_Fitn}^T

S_Fit＝{S_Fit00，S_Fit01，…，S_Fitmn}^T

Based on fitting matrix D_FitFor different S_FitAnd (3) fitting the field intensity value to obtain an ETC field intensity data distribution function F (x, y, S) under different field intensities through a least square method numerical value, namely obtaining the field intensity distribution condition of the lane road surface.

2. The rapid highway ETC performance test vehicle system according to claim 1, wherein the coordinate (x) of the maximum field strength is obtained based on a distribution function_max，y_max，S_max) Calculating a longitudinal drift angle and a depression angle of ETC antenna installation, wherein:

θ_{deflection angle}＝arctan((x_max)/(y_max))

θ_{Depression angle}＝arctan(h_{Mounting of}/(y_max))

In the formula, h_{Mounting of}Is the mounting height of the ETC antenna.

Technical Field

The invention relates to the technical field of signal detection, in particular to a rapid detection vehicle system for ETC performance of a highway.

Background

With the implementation of the national cancellation of provincial toll station traffic strategy, the highway in China basically realizes the full coverage of ETC lanes, and the charging mode basically completes the transition from the original closed charging to the segmented free flow charging. In the face of ETC lanes of toll stations and portal systems with huge amounts of national road networks, the quality of ETC performance directly influences the stable operation of the toll collection system, and therefore, the key of ensuring the operation correctness and effectiveness of the ETC system is needed to be comprehensively and comprehensively tested for the contents of ETC design parameters, indexes, performance and the like.

At present, for the detection of the ETC performance of the highway, detection personnel mainly detect the ETC by using a handheld spectrometer through modes such as manual operation, single-point operation, spot inspection and the like according to the standard of 'Special short-range communication for electronic toll collection' (GB/T20851-2007), the method has low detection efficiency, long process time consumption and needs to carry out road sealing treatment, and has huge potential safety hazards; on the other hand, the conventional detection means is low in automation degree, mainly adopts a single-point mode and a manual mode, and data processing is also presented in a data table form of paper pairs, so that systematic data management is lacked.

Disclosure of Invention

The invention aims to provide a rapid detection vehicle system for the ETC performance of a highway, which can automatically detect, analyze and evaluate the ETC performance of a toll station and a portal system without stopping or closing the highway under a normal traffic environment, and provide a technical basis and a solution for stable operation and scientific management and maintenance of the ETC.

The technical scheme is as follows:

the utility model provides a highway ETC performance short-term test car system, ETC performance detection module and the fast encoder of wheel gather the ETC radio frequency physical information of equidistant standard array antenna and detect the fast and speed of a motor vehicle information, establish the mapping relation between ETC radio frequency information and the collection point position, ETC radio frequency information includes physical properties index and agreement index to the road surface central line of collection point establishes three-dimensional ETC radio frequency data matrix D as the coordinate system after the automatic collection of detection car:

D＝{X-x_r，Y，S}

X＝{x₀，x₁，…，x_m}^T

Y＝{y₀，y₁，…，y_n}^T

S＝{S₀₀，S₀₁，…，S_mn}^T

in the formula, x is a set of horizontal coordinate positions of the lane markers and is determined by equidistant standard antenna distances, and the number of the standard antennas is m; x is the number of_rIn order to detect the distance difference between the center of the vehicle and the center of the lane, a panoramic camera collects the pixel distance of the position of the marked line to determine; y is a longitudinal coordinate set of a lane longitudinal ETC acquisition point, and is determined by the running distance of the detection vehicle under the unit acquisition frequency; s is an acquired ETC field intensity information set;

extracting ETC field intensity maximum values at intervals of L in the longitudinal direction of the lane to realize contour extraction and form a new matrixD_L:

D_L＝{X-x_r，Y_L，S_L}

X＝{x₀，x₁，…，x_m}^T

Y_L＝{y_L0，y_L1，…，y_Ln}^T

S_L＝{S_L00，S_L01，…，S_Lmn}^T

Based on S_LConstruction of a representation of each X, with the X vector as the axis_iMatrix D of corresponding Y-S planes_LD：

D_LD＝{(x₀,y_1,2,…,n,S_00,01,…,0n),

(x₁,y_0,1,…,n,S_10,11,…,1n),…,

(x_m,y_0,1,…,n,S_m0,m1,…,mn)}

To D_LDAnd carrying out filtering operation on the X vector of the matrix by using an adaptive filter, and processing data by using an LMS algorithm to eliminate random noise in a signal propagation process:

S_w(n-1)＝w_(n-1) ^Ty_(n-1)

e_(n-1)＝S_(n-1)–S_w(n-1)

w_(n)＝w_(n-1)+e_(n-1)y_(n-1)*

in the formula, y_(n-1)The result of the previous group of data after being filtered; e.g. of the type_(n-1)The difference value of the filtering result of the previous group of data and the actual data is obtained; w is a_(n)Is a new filter parameter, wherein S_(n-1)The result after the filtering window processing of the previous group of field intensity values is obtained; s_(n-1)The former group of field intensity original data; y is_(n-1)Is y_(n-1)A conjugate matrix of (a); matrix D_LDObtaining a new matrix D after passing through an LMS filter_LDFMatrix form and D_LDThe same;

based on matrix D_LDFFitting a function to the data byAnd (3) calculating a fitting coefficient and a parameter R reflecting the fitting effect by fitting in a three-level Fourier series form, wherein R is a square value of a fitting result and a related coefficient of original data:

S_Li＝a₀+a₁cos(ωy_i)+b₁sin(ωy_i)+a₂cos(2ωy_i)+b₂sin(2ωy_i)+a₃cos(3ωy_i)+b3sin(3ωy_i)

in the formula, S_LiFor new field strength data after fitting, a₀Is a Fourier series constant term coefficient, a_iIs the coefficient of cosine term, b_iIs the coefficient of sine term, omega is the angular frequency of trigonometric function;

or a first-order function fitting method is adopted to calculate the first derivative of the field intensity at the current distance point by point:

S_Li＝a_iy_Li+b_i

after a function representing data distribution characteristics is obtained through a fitting method, the function is interpolated according to a fixed interval to obtain a new fitting matrix D_Fit：

D_Fit＝{X_Fit-x_r，Y_Fit，S_Fit}

X_Fit＝{x₀，x_Fit1，…，x_Fitm}^T

Y_Fit＝{y_L0，y_Fit1，…，y_Fitn}^T

S_Fit＝{S_Fit00，S_Fit01，…，S_Fitmn}^T

Based on fitting matrix D_FitFor different S_FitAnd (3) fitting the ETC field intensity data distribution function F (x, y, S) under different field intensities through a least square method numerical value to obtain the field intensity distribution condition of the lane road surface.

Further, the coordinate (x) of the maximum value of the field strength is determined on the basis of the distribution function_max，y_max，S_max) Calculating a longitudinal drift angle and a depression angle of ETC antenna installation, wherein:

θ_{deflection angle}＝arctan((x_max)/(y_max))

θ_{Depression angle}＝arctan(h_{Mounting of}/(y_max))

In the formula, h_{Mounting of}Is the mounting height of the ETC antenna.

The technical progress achieved by the invention is as follows:

1) the ETC performance can be detected under the working conditions of no stop and no road sealing, and the potential safety hazard in the detection process is effectively reduced;

2) the whole detection process is not limited by the detection speed, the single detection time can be reduced to the second level, and the detection efficiency is efficient and rapid;

3) ETC performance detection data can cover whole road surface, and the data bulk is big and complete, can effectively reflect ETC performance true situation.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals.

Fig. 1 is a schematic view of the overall structure of a rapid highway ETC performance detection vehicle system.

Fig. 2 is a schematic diagram showing connection of various systems inside the rapid detection vehicle system for the ETC performance of the expressway.

Fig. 3 is a schematic diagram of a detection process of a rapid detection vehicle system for highway ETC performance.

Fig. 4 is a schematic structural diagram of the antenna elevating device.

Fig. 5 is an ETC signal detection information processing flowchart.

Description of reference numerals:

detecting a vehicle body-1; 4G/5G module-2; a panoramic camera-3; ETC performance detection module-4; a hydraulic pump unit-5; UPS power-6; a vehicle-mounted generator set-7; a wheel speed encoder-8; a communication module-9; a computing server-10; a Beidou/GPS module-11; ETC communication monitoring module-12; standard radio frequency line-13; a standard antenna arrangement-14; an antenna lifting mechanical structure-1301, a lifting device shell-1302, a hydraulic cylinder-1303, a standard antenna shell-1304, an antenna base-1305, an antenna moving device-1306, a lifting guide pipe-1307 and a lifting guide ring-1308; driven gear mechanism-13061; an antenna-16062; a drive chain-13063; a stepper motor-13064; drive gear-13065.

Detailed Description

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are provided for implementing the technical solution of the present invention, and detailed embodiments and specific operation procedures are provided, but the scope of the present invention is not limited to the following embodiments.

A rapid detection vehicle system for highway ETC performance is composed of an ETC performance detection subsystem, a video monitoring subsystem, a vehicle-mounted power subsystem, an antenna hydraulic lifting subsystem, a communication subsystem, a detection vehicle state monitoring subsystem, a calculation server, upper computer software and a detection vehicle body. The communication connection relationship between them is: the calculation server and the upper computer software are respectively in physical connection with communication interfaces of the ETC performance detection subsystem, the video monitoring subsystem, the vehicle-mounted power subsystem, the antenna hydraulic lifting subsystem and the detection vehicle state monitoring subsystem through network interfaces of the communication subsystems, a communication link is constructed, and control and state monitoring of the subsystems are achieved; the power supply connection relationship between them is: the vehicle-mounted power supply subsystem provides required direct current or alternating current power supply for the subsystem through a power adapter, a power line and various interface circuits.

The ETC performance detection subsystem of highway ETC performance short-term test car system comprises ETC performance detection module, standard antenna device, standard radio frequency line and ETC communication monitoring module, mainly realizes that ETC physical properties index detects and the agreement monitors. The ETC physical performance indexes mainly comprise ETC working frequency, signal intensity, occupied bandwidth, modulation depth, carrier frequency and other physical performance parameters, and are realized by an acquisition system consisting of an ETC performance detection module, a standard antenna device and a standard radio frequency line; the monitoring of ETC agreement mainly realizes the monitoring and the storage of ETC transaction aerial data to can the analytic agreement, be realized by ETC communication monitoring module.

The ETC performance detection module is an instrument module capable of acquiring 5.8GHz radio frequency spectrum data of ETC physical performance, and can realize the concurrent high-speed acquisition of multi-path millisecond radio frequency data; the standard antenna device consists of a plurality of equidistantly arranged standard array antennas with stable gain for radio frequency signals in a bandwidth range of 5.8GHz, a shell and an auxiliary connecting structure, and the length of the standard antenna device is equal to or close to that of a single lane, so that the standard antenna device can cover the whole lane road surface in the width during detection operation. The standard antenna is arranged on an antenna lifting mechanical structure extending out of the front part of the detection vehicle body through a shell and an auxiliary connecting structure, a hydraulic (pneumatic) cylinder is arranged on the antenna lifting mechanical structure, and the lifting of the standard antenna device at a certain height can be realized by the hydraulic (pneumatic) cylinder; the standard radio frequency line is a radio frequency connecting line with known loss of 5.8 GHz. ETC performance detection module installs in detecting the internal rack of automobile, gathers the end and passes through standard radio frequency line and the installation and detect the anterior standard antenna device of automobile body and be connected, and the communication end passes through communication module and is connected with calculation server.

The ETC communication monitoring module is a module capable of monitoring ETC aerial data, carries out protocol analysis on detected ETC signals, outputs the ETC signals to an upper computer through an interface, further diagnoses ETC communication conditions through a built-in algorithm of upper computer software of a calculation server, preferably, the ETC communication monitoring module has a sound and light alarm function, is installed at the position of a front windshield of a detection vehicle body, and is connected with the calculation server through a communication module in communication.

The video monitoring subsystem of the rapid detection vehicle system for the ETC performance of the highway is realized by a panoramic camera arranged on the front upper part of a detection vehicle body, and in the working process of the detection vehicle, the panoramic camera starts a collection mode to collect the image records of a toll station and a portal system in real time, so that the system is convenient to trace in the future; the collected marking position is used for correcting the vehicle running position in the ETC collection process; meanwhile, the method can also be used for recording the damage and evolution conditions of the ETC mark marking line.

A vehicle-mounted power subsystem of a highway ETC performance rapid detection vehicle system comprises a UPS (uninterrupted power supply) and a vehicle-mounted generator set, wherein the UPS is composed of a battery pack with high power density and a controller, the vehicle-mounted generator set is a vehicle-mounted power generation device with charging or generating capacity and the like such as a gasoline or diesel generator, and a stable direct current or alternating current power supply is provided for the whole vehicle-mounted instrument and equipment under the combined action of the UPS and the vehicle-mounted generator set.

The antenna lifting subsystem of the highway ETC performance rapid detection vehicle system is composed of a hydraulic (air) pump device and an auxiliary oil (air) path which are arranged inside a detection vehicle body, a vehicle chassis extension part antenna lifting mechanical structure and a hydraulic (air) pressure cylinder, the lifting of the standard antenna device in height can be realized through the control of upper computer software, the high point of the antenna lifting is the installation height of an analog vehicle OBU (on board unit), generally 1.2-1.4 meters, and the low point of the antenna lifting is the height which does not influence the sight line of a driver. When the ETC performance detection is started, the antenna is in a high point state, and when the detection is stopped and not used, the antenna is lowered to a low point state.

The communication subsystem of the highway ETC performance rapid detection vehicle system consists of a communication module consisting of a switch and a serial server and a 4G/5G module, wherein the communication module is mainly used for communication and control of the computation server and an upper computer to each instrument and equipment module; the 4G/5G module mainly realizes remote data interaction, and preferably realizes interaction with a remote data cloud server.

The upper computer collects the speed, position, time and the like of the wheel speed encoder and the Beidou/GPS module in real time, and forms a mathematical mapping relation between data collected by ETC radio frequency signals and the driving distance in a space-time dimension through an intelligent algorithm; simultaneously, big dipper GPS module is at least for possessing big dipper location and GPS locate function or cooperative localization function for realize detecting the geographical positioning of vehicle and toll station and portal system ETC, the information management of the ETC detection data of being convenient for.

A computing server and upper computer software of the highway ETC performance rapid detection vehicle system are a control center of the whole detection system, wherein the computing server has large-capacity storage, high-performance calculation, high bandwidth and gigabit and above network interfaces, and can meet the requirements of high-performance operation processing and rapid network throughput; meanwhile, the upper computer software and the database of the ETC performance rapid detection system are installed on the computing server, so that all hardware equipment can be controlled and monitored, and the acquired data is subjected to data processing, database storage and visual display; and the information can be interconnected and intercommunicated with the cloud platform through the 4G/5G module.

The detection vehicle body of the rapid detection vehicle system for the ETC performance of the highway is formed by vehicle modification, a vehicle installation carrier is provided for the hardware equipment, and various instruments and equipment can be installed, fixed and borne in a vehicle chassis and a vehicle.