CN104464295B - A kind of overhead Entrance ramp intelligence restricted driving method based on video - Google Patents

Abstract

The present invention relates to overhead Entrance ramp intelligence restricted driving method based on video, being stored to background server through data communications equipment real-time Transmission by the real-time traffic parameter information of acquisition including video detecting device, background server retransmits to intelligence restricted driving processing server；Intelligence restricted driving processing server calculates the average traffic current density parameter of each video detecting device, and the real-time traffic extracting each video detecting device runs index；The average traffic calculating each Entrance ramp runs index, it may be judged whether more than or equal to threshold value, if the determination result is YES, then portal frame declines, and restricts driving Entrance ramp, and otherwise, portal frame rises, and recovers road.The present invention improves the accuracy of traffic congestion event-state graph, increases the response speed of ring road emergency flight control, effectively dredges urban traffic flow, alleviates the traffic congestion of overpass, reduces the generation of vehicle accident.

Description

A kind of overhead Entrance ramp intelligence restricted driving method based on video

Technical field

The restricted driving that the present invention relates to overhead road of city Entrance ramp controls technical field, a kind of based on video overhead Entrance ramp intelligence restricted driving method.

Background technology

Along with the quickening of urbanization process, car owning amount is significantly increased, and the contradiction of traffic flow and road supply and demand is day by day Prominent, the construction of overhead road of city considerably increases the selection of traffic path, and advantage unimpeded, quick has attracted increasing car , every peak period is overhead has just become parking lot, high-altitude, significantly delays the trip of the public, causes the wave of social resources Take.Ring road was restricted driving and was closed the effective way being to solve traffic congestion peak period, and traditional ring road restricted driving mode is passed through mostly Manual type is carried out, and not only emergency processing postpones, also waste of manpower cost, by Intelligent traffic information acquiring technology, it is achieved The intelligence restricted driving of Entrance ramp, is the direction of following ramp metering rate management development.

The mode of traffic information collection is varied, has information gathering mode based on fixed test equipment, as video is examined Surveying, its drawback is that breakpoint road surface is carried out information gathering, it is impossible to knows the complete traffic behavior in overall section, there is blind area traffic Event misjudgment phenomenon, the differentiation of mistake may result in road section traffic volume load, is formed and stagnates；Traveler is as blocked up to overhead Information is controlled in real time, may proceed to sail into overhead, causes ring road traffic congestion to spread, and Frequent Accidents affects whole city Traffic circulation efficiency.Additionally, the most stiff change according to certain traffic parameter of the ring road restricted driving algorithm that used at present sets Determine threshold value and carry out control signal, such as traffic flow, speed, density etc., multiple parametric synthesis are not arranged detection, carries out total score Analysis processes, and the accuracy of condition discrimination is relatively low, can cause the system erroneous judgement to state, and video detecting device is all logical at present Cross and be manually monitored, waste of manpower and inefficiency.

Summary of the invention

It is an object of the invention to provide a kind of manpower that can reduce traffic information collection and equipment cost, improve overhead The accuracy of road traffic congestion event-state graph and efficiency, it is achieved overhead Entrance ramp intelligence based on video is restricted driving and controlled Based on video the overhead Entrance ramp intelligence restricted driving method of management.

For achieving the above object, present invention employs techniques below scheme: a kind of overhead Entrance ramp intelligence based on video Can restrict driving method, the method includes the step of following order:

(1) front at each Entrance ramp overhead arranges portal frame restricted driving equipment, installs multiple regarding on overpass Frequency detection equipment, carries out pavement section and encodes, each Entrance ramp then to video detecting device overpass It is associated coupling with section；

(2) the real-time traffic parameter information obtained is taken by video detecting device through data communications equipment real-time Transmission to backstage Business device stores, and real-time traffic parameter information is sent to intelligence restricted driving processing server by background server；

(3) intelligence restricted driving processing server calculates the average traffic current density parameter of each video detecting device, and extracts The real-time traffic of each video detecting device runs index；

(4) the average traffic operation of each Entrance ramp is calculated according to the corresponding relation of Entrance ramp Yu video detecting device Index, it is judged that the average traffic of each Entrance ramp runs whether index is more than or equal to threshold value, if the determination result is YES, then opens The portal frame restricted driving equipment of corresponding Entrance ramp, portal frame declines, restricts driving Entrance ramp, otherwise, close corresponding entrance The portal frame restricted driving equipment of ring road, portal frame rises, and recovers road；

Overpass is carried out pavement section, editor section coding r_s, section is encoded r_sD is encoded with video detecting device_j Associate pairing one to one:

r_s=f (d_j)s∈S,j∈J

Wherein, J is total number of all video detecting devices in overpass one direction；S is in overpass one direction Total number in all sections；On overpass, every 1～3 kms install a video detecting device；

Intelligence restricted driving processing server calculates the computational methods of the average traffic current density parameter of each video detecting device As follows:

The data form of video detecting device real-time report is that (t, n, q, v), t represents and calls time, and n represents place car Road, q represents that traffic flow data, v represent flow speeds data, and (t, n, q, unit v) is respectively second, individual ,/hour/track With thousand ms/h；

Assume sample data set be expressed as S={ (t, 1, q₁,v₁),(t,2,q₂,v₂),...,(t,n,q_n,v_n), sample Process granularity period is T, and unit is hour, section to be measured Spatial Dimension and time dimension in the time of statistical disposition granularity period T The average traffic stream of degree

$\stackrel{\‾}{q}=\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{q}_n/N---\left(1\right)$

In formula (1), n is track, place；N is the total number in track in section；q_nIt it is the traffic flow in the n-th track；For unit The average traffic stream of granularity period；

The average speed of unit of account granularity period again:

$\stackrel{\‾}{v}=\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{v}_n/N---\left(2\right)$

In formula (2), v_nIt is the speed in the n-th track；Average speed for unit granularity period；N is that the track in section is total Number；

Overhead section Spatial Dimension to be measured and the average traffic of time dimension in the time that counting statistics processes granularity period T Current density

$\stackrel{\‾}{k}=\frac{\stackrel{\‾}{q}}{\stackrel{\‾}{v}}---\left(3\right)$

In formula (3),For the average traffic current density of unit cycle granularity, unit is/km/track.

The method of the real-time traffic operation index extracting each video detecting device is as follows:

Build road section traffic volume and run index RTPI and average traffic current densityFunctional relationship model:

$RTPI=\left\{\begin{array}{cc}2\&times;\frac{\stackrel{\&OverBar;}{k}}{x},& 0\&le;\stackrel{\&OverBar;}{k}\&le;x\\ 2+2\&times;\frac{\stackrel{\&OverBar;}{k}-x}{y-x},& x<\stackrel{\&OverBar;}{k}\&le;y\\ 4+2\&times;\frac{\stackrel{\&OverBar;}{k}-y}{z-y},& y<\stackrel{\&OverBar;}{k}\&le;z\\ 6+2\&times;\frac{\stackrel{\&OverBar;}{k}-z}{p-z},& z<\stackrel{\&OverBar;}{k}\&le;p\\ 8+2\&times;\frac{\stackrel{\&OverBar;}{k}-p}{m-p},& p<\stackrel{\&OverBar;}{k}\&le;m\\ 10,& \stackrel{\&OverBar;}{k}>m\end{array}\right.---\left(4\right)$

In formula (4), x, y, z, p, m value is that road traffic congestion experiences parameters optimization, and its initialized reference value is respectively as follows: X=6, y=10, z=14, p=19, m=26.

The computational methods that the average traffic of each Entrance ramp runs index are as follows:

Z is encoded by Entrance ramp_iWith video detecting device d_jCorresponding relation calculate Entrance ramp average traffic run refer to Numberz_i=f (d₁,d₂,...,d_j)i∈I,j∈J

$\stackrel{\&OverBar;}{z_i}=\underset{1}{\overset{j}{\mathrm{\&Sigma;}}}{\mathrm{RTPI}}_{d_j}/j---\left(6\right)$

It is to say, the average traffic of Entrance ramp runs indexFor from the overpass of its entrance along its wagon flow direction The all video detecting device d arranged to super expressway terminal_jReal-time traffic run index meansigma methods.

Use the signal instruction sig restricted driving_iComputing formula judges whether the average traffic of each Entrance ramp runs index More than or equal to threshold value, computing formula is as follows:

${\mathrm{sig}}_i=\left\{\begin{array}{cc}1& \stackrel{-}{z_i}\&GreaterEqual;9\\ 0& \stackrel{-}{z_i}<9\end{array}\right.---\left(7\right)$

In formula (7), sig_iSignal instruction for i-th Entrance ramp；sig_i=1 gantry referring to i-th Entrance ramp Frame declines, and road closed is restricted driving；sig_i=0 refers to that the portal frame of i-th Entrance ramp rises, and recovers road.

As shown from the above technical solution, the present invention installs video detecting device on overpass, at intelligence restricted driving The average traffic of each Entrance ramp is run index and calculates by reason server, if this average traffic runs index and is more than or equal to Threshold value, then make portal frame decline, and road closed is restricted driving, otherwise, portal frame rises, and recovers road.Present invention achieves height Automatically the detection of frame Entrance ramp is closed and is restricted driving, and takes full advantage of traffic flow and car speed traffic parameter carries out integrated treatment, Improve the accuracy of traffic congestion event-state graph；Manual type can be reduced after the application present invention and carry out ring road closedown Human cost, increases the response speed of ring road emergency flight control, effectively dredges urban traffic flow, alleviates the friendship of overpass Lead to and block up, reduce the generation of vehicle accident, promote service efficiency and the service level of overhead expressway.

Accompanying drawing explanation

Fig. 1 is the method flow diagram of the present invention；

Fig. 2 is that the equipment of the present invention is installed and coding schematic diagram；

Fig. 3 is the system architecture diagram of the present invention.

Detailed description of the invention

A kind of overhead Entrance ramp intelligence restricted driving method based on video, including (1) before each Entrance ramp overhead Side arranges portal frame restricted driving equipment, installs multiple video detecting device, overpass is carried out pavement section on overpass And each Entrance ramp is encoded, then video detecting device and section are associated coupling；(2) video detecting device The real-time traffic parameter information of acquisition is stored to background server through data communications equipment real-time Transmission, background server Real-time traffic parameter information is sent to intelligence restricted driving processing server；(3) intelligence restricted driving processing server calculates each video The average traffic current density parameter of detection equipment, and extract the real-time traffic operation index of each video detecting device；(4) basis The corresponding relation of Entrance ramp and video detecting device calculates the average traffic of each Entrance ramp and runs index, it is judged that each enters The average traffic of mouth ring road runs whether index is more than or equal to threshold value, if the determination result is YES, then opens corresponding Entrance ramp Portal frame restricted driving equipment, portal frame declines, restricts driving Entrance ramp, otherwise, closes the portal frame limit of corresponding Entrance ramp Row equipment, portal frame rises, and recovers road, as shown in Figure 1.

As shown in Figure 1, 2, in order to ensure the sample size of section data acquisition, and traffic circulation status information is accurate Property, integrity, seriality, for the section that length is too short or long, need with section as elementary cell, pass through adjacent segments Merge, long section split, formed mileage basis equalization road segments, merge, split after section be that traffic noise prediction is commented The minimum space unit of valency.The most a length of 100 meters of the minimum in section, overhead terminal is the starting point of section numbering, direction of driving in the wrong direction Section numbering increases successively, and Entrance ramp and exit ramp junction are defined intensionally as section node, and it is each that needs merge Individual section, category of roads must be consistent.

As shown in Figure 1, 2, overpass is carried out pavement section, editor section coding r_s, section is encoded r_sExamine with video Measurement equipment coding d_jAssociate pairing one to one:

r_s=f (d_j)s∈S,j∈J

Wherein, J is total number of all video detecting devices in overpass one direction；S is in overpass one direction Total number in all sections；On overpass, every 1～3 kms install a video detecting device.

Intelligence restricted driving processing server calculates the computational methods of the average traffic current density parameter of each video detecting device As follows:

The data form of video detecting device real-time report is that (t, n, q, v), t represents and calls time, and n represents place car Road, q represents that traffic flow data, v represent flow speeds data, and (t, n, q, unit v) is respectively second, individual ,/hour/track With thousand ms/h；

Assume sample data set be expressed as S={ (t, 1, q₁,v₁),(t,2,q₂,v₂),...,(t,n,q_n,v_n), sample Process granularity period is T, and unit is hour, section to be measured Spatial Dimension and time dimension in the time of statistical disposition granularity period T The average traffic stream of degree

$\stackrel{\&OverBar;}{q}=\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}{q}_n/N---\left(1\right)$

In formula (1), n is track, place；N is the total number in track in section；q_nIt it is the traffic flow in the n-th track；For unit The average traffic stream of granularity period；

The average speed of unit of account granularity period again:

$\stackrel{\&OverBar;}{v}=\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}{v}_n/N---\left(2\right)$

In formula (2), v_nIt is the speed in the n-th track；Average speed for unit granularity period；N is that the track in section is total Number；

Overhead section Spatial Dimension to be measured and the average traffic of time dimension in the time that counting statistics processes granularity period T Current density

$\stackrel{\&OverBar;}{k}=\frac{\stackrel{\&OverBar;}{q}}{\stackrel{\&OverBar;}{v}}---\left(3\right)$

In formula (3),For the average traffic current density of unit cycle granularity, unit is/km/track.

The method of the real-time traffic operation index extracting each video detecting device is as follows:

Build road section traffic volume and run index RTPI and average traffic current densityFunctional relationship model:

$RTPI=\left\{\begin{array}{cc}2\&times;\frac{\stackrel{\&OverBar;}{k}}{x},& 0\&le;\stackrel{\&OverBar;}{k}\&le;x\\ 2+2\&times;\frac{\stackrel{\&OverBar;}{k}-x}{y-x},& x<\stackrel{\&OverBar;}{k}\&le;y\\ 4+2\&times;\frac{\stackrel{\&OverBar;}{k}-y}{z-y},& y<\stackrel{\&OverBar;}{k}\&le;z\\ 6+2\&times;\frac{\stackrel{\&OverBar;}{k}-z}{p-z},& z<\stackrel{\&OverBar;}{k}\&le;p\\ 8+2\&times;\frac{\stackrel{\&OverBar;}{k}-p}{m-p},& p<\stackrel{\&OverBar;}{k}\&le;m\\ 10,& \stackrel{\&OverBar;}{k}>m\end{array}\right.---\left(4\right)$

In formula (4), x, y, z, p, m value is that road traffic congestion experiences parameters optimization, and its initialized reference value is respectively as follows: X=6, y=10, z=14, p=19, m=26.

Installing the section of video detecting device, road section traffic volume runs index and refers to equal to the traffic circulation of video detecting device Number, the traffic circulation index in the section being fitted without video detecting device is 0；

${\mathrm{RTPI}}_{r_s}=\left\{\begin{array}{cc}{\mathrm{RTPI}}_{d_j}& r_s=f\left(d_j\right)\\ 0& r_s\&NotEqual;f\left(d_j\right)\end{array}\right.---\left(5\right)$

The computational methods that the average traffic of each Entrance ramp runs index are as follows:

Z is encoded by Entrance ramp_iWith video detecting device d_jCorresponding relation calculate Entrance ramp average traffic run refer to Numberz_i=f (d₁,d₂,...,d_j)i∈I,j∈J

$\stackrel{\&OverBar;}{z_i}=\underset{1}{\overset{j}{\mathrm{\&Sigma;}}}{\mathrm{RTPI}}_{d_j}/j---\left(6\right)$

It is to say, the average traffic of Entrance ramp runs indexFor from the overpass of its entrance along its wagon flow direction The all video detecting device d arranged to super expressway terminal_jReal-time traffic run index meansigma methods.In fig. 2, enter The average traffic of mouth ring road z3 runs the real-time traffic that index is exactly video detecting device d4, d3, d2, d1 and runs index Meansigma methods, the average traffic of Entrance ramp z2 runs the real-time traffic that index is exactly video detecting device d3, d2, d1 three and runs The meansigma methods of index, the average traffic of Entrance ramp z1 runs the real-time traffic operation that index is exactly video detecting device d1 and refers to Number.

Use the signal instruction sig restricted driving_iComputing formula judges whether the average traffic of each Entrance ramp runs index More than or equal to threshold value, computing formula is as follows:

${\mathrm{sig}}_i=\left\{\begin{array}{cc}1& \stackrel{-}{z_i}\&GreaterEqual;9\\ 0& \stackrel{-}{z_i}<9\end{array}\right.---\left(7\right)$

In formula (7), sig_iSignal instruction for i-th Entrance ramp；sig_i=1 gantry referring to i-th Entrance ramp Frame declines, and road closed is restricted driving；sig_i=0 refers to that the portal frame of i-th Entrance ramp rises, and recovers road.

As it is shown on figure 3, this device includes the multiple video detecting devices being arranged on overpass, its outfan and data The input of communication equipment is connected, and the outfan of data communications equipment is connected with the input of background server, background server Outfan be connected with the input of intelligence restricted driving processing server, described portal frame restricted driving equipment is by data sink and gantry Frame forms, and the described intelligence outfan of restricted driving processing server is connected with the input of data sink, data sink defeated Going out end to be connected with portal frame, described data communications equipment uses optical cable.

In sum, the present invention is sufficiently used traffic flow and the car speed supplemental characteristic of video detecting device, real Restricted driving is closed in the detection automatically having showed overhead Entrance ramp, it is possible to reduces manual type and carries out the human cost of ring road closedown, increases Add the response speed of ring road emergency flight control, urban traffic flow is effectively dredged, alleviate the traffic congestion of overpass, reduce Vehicle accident, promotes service efficiency and the service level of overhead expressway.

Claims (4)

1. an overhead Entrance ramp intelligence restricted driving method based on video, the method includes the step of following order:

(1) front at each Entrance ramp overhead arranges portal frame restricted driving equipment, installs the inspection of multiple video on overpass Measurement equipment, carries out pavement section and encodes each Entrance ramp, then to video detecting device and road overpass Section is associated coupling；

(2) video detecting device by obtain real-time traffic parameter information through data communications equipment real-time Transmission to background server Storing, real-time traffic parameter information is sent to intelligence restricted driving processing server by background server；

(3) intelligence restricted driving processing server calculates the average traffic current density parameter of each video detecting device, and extracts each The real-time traffic of video detecting device runs index；

(4) according to the corresponding relation of Entrance ramp with video detecting device calculate each Entrance ramp average traffic run refer to Number, it is judged that the average traffic of each Entrance ramp runs whether index is more than or equal to threshold value, if the determination result is YES, then opens phase Answering the portal frame restricted driving equipment of Entrance ramp, portal frame declines, and restricts driving Entrance ramp, otherwise, closes corresponding entrance circle The portal frame restricted driving equipment in road, portal frame rises, and recovers road；

Overpass is carried out pavement section, editor section coding r_s, section is encoded r_sD is encoded with video detecting device_jCarry out Associate pairing one to one:

r_s=f (d_j) s∈S,j∈J

Wherein, J is total number of all video detecting devices in overpass one direction；S is all in overpass one direction Total number in section；On overpass, every 1～3 kms install a video detecting device；

The computational methods of the average traffic current density parameter that intelligence restricted driving processing server calculates each video detecting device are as follows:

The data form of video detecting device real-time report is that (t, n, q, v), t represents and calls time, and n represents track, place, q table Show that traffic flow data, v represent flow speeds data, (t, n, q, unit v) be respectively the second, individual ,/hour/track and km/ Hour；

Assume sample data set be expressed as S={ (t, 1, q₁,v₁),(t,2,q₂,v₂),...,(t,n,q_n,v_n), the process of sample Granularity period is T, and unit is hour, section to be measured Spatial Dimension and time dimension in the time of statistical disposition granularity period T Average traffic stream

$\stackrel{\&OverBar;}{q}=\underset{n=1}{\overset{N}{\&Sigma;}}{q}_n/N---\left(1\right)$

In formula (1), n is track, place；N is the total number in track in section；q_nIt it is the traffic flow in the n-th track；For unit granularity The average traffic stream in cycle；

The average speed of unit of account granularity period again:

$\stackrel{\&OverBar;}{v}=\underset{n=1}{\overset{N}{\&Sigma;}}{v}_n/N---\left(2\right)$

In formula (2), v_nIt is the speed in the n-th track；Average speed for unit granularity period；N is the total number in track in section；

In the time that counting statistics processes granularity period T, the average traffic stream of overhead section Spatial Dimension to be measured and time dimension is close Degree

$\stackrel{\&OverBar;}{k}=\frac{\stackrel{\&OverBar;}{q}}{\stackrel{\&OverBar;}{v}}---\left(3\right)$

In formula (3),For the average traffic current density of unit cycle granularity, unit is/km/track.

Overhead Entrance ramp intelligence restricted driving method based on video the most according to claim 1, it is characterised in that: extract each The method that the real-time traffic of individual video detecting device runs index is as follows:

Build road section traffic volume and run index RTPI and average traffic current densityFunctional relationship model:

$RTPI=\left\{\begin{array}{c}2\&times;\frac{\stackrel{\&OverBar;}{k}}{x},0\&le;\stackrel{\&OverBar;}{k}\&le;x\\ 2+2\&times;\frac{\stackrel{\&OverBar;}{k}-x}{y-x},x<\stackrel{\&OverBar;}{k}\&le;y\\ 4+2\&times;\frac{\stackrel{\&OverBar;}{k}-y}{z-y},y<\stackrel{\&OverBar;}{k}\&le;z\\ 6+2\&times;\frac{\stackrel{\&OverBar;}{k}-z}{p-z},z<\stackrel{\&OverBar;}{k}\&le;p\\ 8+2\&times;\frac{\stackrel{\&OverBar;}{k}-p}{m-p},p<\stackrel{\&OverBar;}{k}\&le;m\\ 10,\stackrel{\&OverBar;}{k}>m\end{array}\right.---\left(4\right)$

In formula (4), x, y, z, p, m value is that road traffic congestion experiences parameters optimization, and its initialized reference value is respectively as follows: x= 6, y=10, z=14, p=19, m=26.

Overhead Entrance ramp intelligence restricted driving method based on video the most according to claim 2, it is characterised in that: each enters The computational methods that the average traffic of mouth ring road runs index are as follows:

Z is encoded by Entrance ramp_iWith video detecting device d_jCorresponding relation calculate Entrance ramp average traffic run indexz_i=f (d₁,d₂,...,d_j) i∈I,j∈J

$\stackrel{\&OverBar;}{z_i}=\underset{1}{\overset{j}{\&Sigma;}}{\mathrm{RTPI}}_{d_j}/j---\left(6\right)$

It is to say, the average traffic of Entrance ramp runs indexFor paramount along its wagon flow direction from the overpass of its entrance The all video detecting device d arranged on speed road terminal_jReal-time traffic run index meansigma methods.

Overhead Entrance ramp intelligence restricted driving method based on video the most according to claim 1, it is characterised in that: use limit The signal instruction sig of row_iComputing formula judges that whether the average traffic of each Entrance ramp runs index more than or equal to threshold value, meter Calculation formula is as follows:

${\mathrm{sig}}_i=\left\{\begin{array}{cc}1& \stackrel{\&OverBar;}{z_i}\&GreaterEqual;9\\ 0& \stackrel{\&OverBar;}{z_i}<9\end{array}\right.---\left(7\right)$

In formula (7), sig_iSignal instruction for i-th Entrance ramp；sig_iUnder=1 portal frame referring to i-th Entrance ramp Fall, road closed is restricted driving；sig_i=0 refers to that the portal frame of i-th Entrance ramp rises, and recovers road.