CN107240263A - A kind of road gate vehicle snapshot method - Google Patents
A kind of road gate vehicle snapshot method Download PDFInfo
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- CN107240263A CN107240263A CN201610187621.4A CN201610187621A CN107240263A CN 107240263 A CN107240263 A CN 107240263A CN 201610187621 A CN201610187621 A CN 201610187621A CN 107240263 A CN107240263 A CN 107240263A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/14—Fourier, Walsh or analogous domain transformations, e.g. Laplace, Hilbert, Karhunen-Loeve, transforms
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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Abstract
The road gate vehicle snapshot method that the present invention is provided, detection radar is arranged on the surface in detection track, and method includes：By adjusting the bandwidth and launching beam width of detection radar, the launching beam of detection radar is set to cover the detection zone in detection track；Digital signal samples are carried out to echo-signal；By sampled signal is done distance to and orientation Fourier transformation, obtain the 2-d spectrum of echo-signal；Then statistical analysis is carried out to the 2-d spectrum of echo-signal, judges to whether there is target vehicle in detection zone, target vehicle is to vehicle or whereabouts vehicle；If in the presence of sending grab signal to camera according to the position of target vehicle and travel direction；Camera is received after grab signal, and target vehicle is captured.The road gate vehicle snapshot method that the present invention is provided, can apply to vehicle and whereabouts vehicle, to vehicle snapshot headstock, the whereabouts vehicle snapshot tailstock, and come adjustable to the candid photograph position difference of vehicle and whereabouts vehicle.
Description
Technical field
The present invention relates to transport information detection technique field, more particularly to a kind of road gate vehicle snapshot method.
Background technology
It is well known that microwave detection system has dimension relative to other traffic information detection devices (for example, ground induction coil)
The advantages of protecting simplicity, influenceed small by weather environment, therefore it is widely used in Intelligent traffic information acquiring field.Microwave current
Detecting system is applied to vehicle detection and test the speed mostly, using it is more be exactly an outpost of the tax office's mouth vehicle snapshot using radar progress.
But, the bayonet socket radar of prior art generally only has speed measuring function, it is necessary to adjust radar angle of inclination up and down to set
Candid photograph position is put, and can only be captured well to vehicle.For whereabouts vehicle, because vehicle body is introduced into detection zone, thus
The tailstock of whereabouts vehicle, the especially slower vehicle of cart or speed can not be captured well.But many regions are set
Road gate captures point mainly aiming at cart, and when being captured using this radar progress road vehicle is violating the regulations, if vehicle is inverse
To traveling, can also there is an above mentioned problem, or, it is necessary to capture carry out whereabouts vehicle when applying in some irregular roads.It is existing
The bayonet socket radar for having technology is not well positioned to meet these requirements.
The content of the invention
For the drawbacks described above of prior art, the present invention provides a kind of road gate vehicle snapshot method.
The road gate vehicle snapshot method that the present invention is provided, including:
The bandwidth and launching beam width of regulation detection radar, make the launching beam covering detection track of the detection radar
Detection zone, the detection radar is arranged on the surface in the detection track, the detection radar and the detection track
Correspond, the launching beam of the detection radar is confined in the region of the detection track；
Digital signal samples are carried out to echo-signal, the echo-signal is returned for the detection ripple signal of detection radar emission
Ripple signal；
Sampled signal is done distance to and orientation Fourier transformation, obtain the 2-d spectrum of echo-signal；
Statistical analysis is carried out to the 2-d spectrum of echo-signal, judges to whether there is target vehicle in detection zone, it is described
Target vehicle is to vehicle or whereabouts vehicle；
If in the presence of sending grab signal to camera according to the position of target vehicle and travel direction；
Camera is received after the grab signal, and target vehicle is captured.
Method as described above, wherein, the position and travel direction according to target vehicle is sent to camera captures letter
Number, including：
If the target vehicle is to vehicle, grab signal is sent to camera when to drive into detection zone to vehicle；
If the target vehicle is whereabouts vehicle, grab signal is sent to camera when whereabouts vehicle rolls detection zone away from.
Method as described above, wherein, sampled signal is done distance to and the Fourier transformation of orientation after, sampling
Signal function is：
P(fr,fd)=Asinc [g1(fr)]sinc[g2(fd)]
Wherein, A is signal echo intensity, frFor range Doppler frequency, fdFor Azimuth Doppler Frequency, g1(x) it is signal
Distance spectrum, g2(x) it is the azimuth spectrum of signal.
Method as described above, wherein, the 2-d spectrum to echo-signal carries out statistical analysis, judges detection zone
It is interior to whether there is target vehicle, specifically include：
Judge that the condition that there is target vehicle in detection zone is,
Judge that the condition in detection zone in the absence of target vehicle is,
Wherein, 0≤x≤Rn, 0≤y≤PRF, RnFor detection ultimate range unit, PRF is that traffic radar pulse repeats frequency
Rate, M1、M2、N1、N2Meet 0≤M1≤M2≤Rn, 0≤N1≤N2≤PRF。
Method as described above, wherein, the position and travel direction according to target vehicle is sent to camera captures letter
Number, including：
Search for come to vehicle and whereabouts vehicle in the range Doppler frequency and Azimuth Doppler Frequency of setting, work as search
Then grab signal is sent to camera；
Search for be to the object function of vehicle
P0(f0,fd)=A sinc [g1(f0)]sinc[g2(fd)],fd＜ PRF/2；
Search whereabouts vehicle object function be
P1(f1,fd)=A sinc [g1(f1)]sinc[g2(fd)],fd＞ PRF/2；
f0To come range Doppler frequency corresponding to vehicle snapshot position, f1For whereabouts vehicle snapshot position it is corresponding away from
From Doppler frequency, PRF is the pulse recurrence frequency of detection radar.
Method as described above, wherein, in P0(f0,fd) vehicle that comes out of region detection is to vehicle, in P1(f1,fd)
The vehicle that region detection comes out is whereabouts vehicle.
Method as described above, in addition to：
The radial velocity of target vehicle is calculated according to the Azimuth Doppler Frequency of target vehicle；
According to the setting height(from bottom) of detection radar and the detecting distance of setting, the actual travel speed of target vehicle, institute are calculated
The detecting distance set is stated as the distance between detection radar and target vehicle of setting, calculation formula is：
Wherein, VrFor the radial velocity of target vehicle, θ is the angle of radar beam and vehicle heading, and R is setting
Detecting distance, H is the height on detection distance by radar ground.
Method as described above, wherein, the antenna of the detection radar is to be placed above and below plate aerial, dual-mode antenna, root
The width of antenna is determined according to the launching beam width of detection radar；According to the accuracy requirement for capturing position, it is determined that detection radar hair
The bandwidth for the detection ripple signal penetrated；The pulse recurrence frequency of detection radar is set according to the max. speed of target vehicle.
Method as described above, in addition to：
Provide the vehicle information of target vehicle；When target vehicle does not roll detection zone away from, detection radar can continue
The presence of target vehicle is detected, the time of detection zone is entered and exited by detecting target vehicle, and target vehicle
Real time running speed, obtains the vehicle commander of target vehicle, so that it is determined that the vehicle of target vehicle.
Method as described above, in addition to：
Provide the car statistics information of road gate；
The car statistics information includes：The average overall travel speed of vehicle, the time headway of vehicle, vehicle flow and track
Occupation rate information.
The road gate vehicle snapshot method that the present invention is provided, detection radar is arranged on the surface in detection track, detection
Radar is corresponded with detection track, and the launching beam of detection radar is confined in detection track region, by adjusting detection thunder
The bandwidth and launching beam width reached, makes the launching beam of detection radar cover the detection zone in detection track；To echo-signal
Digital signal samples are carried out, echo-signal is the echo-signal of the detection ripple signal of detection radar emission；By to sampled signal
Distance is done to the Fourier transformation with orientation, the 2-d spectrum of echo-signal is obtained；Then to the 2-d spectrum of echo-signal
Statistical analysis is carried out, judges to whether there is target vehicle in detection zone, target vehicle is to vehicle or whereabouts vehicle；If
In the presence of then sending grab signal to camera according to the position of target vehicle and travel direction；Camera is received after grab signal, right
Target vehicle is captured.The road gate vehicle snapshot method that the present invention is provided, can apply to vehicle and whereabouts car
, to vehicle snapshot headstock, the whereabouts vehicle snapshot tailstock, and the candid photograph position come to vehicle and whereabouts vehicle respectively can
Adjust.
Brief description of the drawings
The flow chart for the road gate vehicle snapshot method that Fig. 1 provides for the present invention；
Fig. 2 is the scheme of installation for detecting radar of the invention；
The flow chart for the road gate vehicle snapshot embodiment of the method that Fig. 3 provides for the present invention；
Fig. 4 is detection radar beam irradiation area and vehicle snapshot position view；
Fig. 5 is that the bayonet socket radar of application prior art captures the design sketch of whereabouts vehicle；
Fig. 6 is that the road gate vehicle snapshot of the application present invention carrys out the design sketch to cart；
Fig. 7 is the design sketch of the road gate vehicle snapshot whereabouts cart of the application present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, the technical scheme in the present invention is clearly and completely described, it is clear that described embodiment is only the present invention one
Section Example, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
Go out the every other embodiment obtained under the premise of creative work, belong to the scope of protection of the invention.
The method of the present invention is based on wide-band LFM continuous wave principle, and the bayonet socket applied to road vehicle is captured, and is carried
Trigger signal is captured for video equipment, needs to connect camera during candid photograph, can capture and carry out whereabouts vehicle, to vehicle snapshot car
Head, the whereabouts vehicle snapshot tailstock, it is possible to according to actual conditions regulation come to the candid photograph position of vehicle and whereabouts vehicle.
The flow chart for the road gate vehicle snapshot method that Fig. 1 provides for the present invention.As shown in figure 1, road gate vehicle
Grasp shoot method can specifically include herein below.
S101, the bandwidth of regulation detection radar and launching beam width, make the launching beam of detection radar cover detection car
The detection zone in road, detection radar is arranged on the surface in detection track, and detection radar is corresponded with detection track, detects thunder
The launching beam reached is confined in detection track region.
Fig. 2 is the scheme of installation for detecting radar of the invention.As shown in Fig. 2 by the way of the vertical rod of roadside, radar peace
On L-type cross bar, flash lamp and camera are additionally provided with cross bar, a radar is responsible for audio-visual part in a track, figure
For radar beam irradiation area.
Specifically, the antenna of detection radar is to be placed above and below plate aerial, dual-mode antenna, according to the transmitted wave of detection radar
Beam width determines the width of antenna, and generally detection track is narrower, and antenna beamwidth is smaller；According to the precision need for capturing position
Ask, it is determined that the bandwidth of the detection ripple signal of detection radar emission, bandwidth is bigger, precision is higher；According to the highest car of target vehicle
The pulse recurrence frequency of speed setting detection radar, speed is faster, and pulse recurrence frequency is higher.
S102, carry out digital signal samples to echo-signal, echo-signal for detection radar emission detection ripple signal
Echo-signal.
Described digital signal samples, using suitable A/D chip, the radar return that antenna is received turns from analog signal
Change data signal into.
S103, sampled signal is done distance to and orientation Fourier transformation, obtain the 2-d spectrum of echo-signal.
S104, the 2-d spectrum to echo-signal carry out statistical analysis, judge to whether there is target vehicle in detection zone,
Target vehicle is to vehicle or whereabouts vehicle.
When there is target vehicle to pass through detection zone, obvious strong point occurs in 2-d spectrum, passes through adaptive threshold
Detection algorithm, searches for target vehicle capturing in regional extent, location point of the target vehicle in 2-d spectrum is found out, so that really
Set the goal the Doppler frequency of car, and then calculates the actual travel speed of target vehicle.
If S105, in the presence of sending grab signal to camera according to the position of target vehicle and travel direction.
S106, camera are received after grab signal, and target vehicle is captured.
The flow chart for the road gate vehicle snapshot embodiment of the method that Fig. 3 provides for the present invention.As shown in figure 3, installing
Into rear to electric on radar, radar running parameter is set, and saves as default parameters, it is main set radar to whereabouts vehicle
Position is captured, can be different distance values, when regulation to camera can capture the car plate for carrying out whereabouts vehicle, be provided with
Afterwards, radar just can be with normal work.Radar work when general flow be：Echo-signal is sampled first, will be simulated
Signal is converted into data signal；Then signal is done distance to and orientation Fourier transformation, obtain the two dimension of echo-signal
Frequency spectrum；Then statistical analysis is carried out to frequency spectrum, is scanned in distance to a declared goal position to carrying out whereabouts target, determine whether target carriage
Exist, if without target vehicle, abandoning this data, into radar signal next time collection, if there is target vehicle, enter
One step does adaptive threshold detecting to the data of region of search, and marks position of the target in 2-d spectrum, obtains target
Doppler frequency, so as to be converted into target velocity, and according to the travel direction of vehicle, provides the grab signal of camera in time, comes
Captured to vehicle once detection zone is entered, whereabouts vehicle is captured once detection zone is left, further according to mesh
It is marked on the residence time of detection zone and the travel speed of target, it can be determined that the vehicle for going out target (is divided according to length
Class)；The travel speed of grab signal and vehicle is transmitted to camera by serial ports during candid photograph, while radar is to current road traffic
Information is counted, and is sent to terminal system and is shown, record.
The road gate vehicle snapshot method of the present embodiment, detection radar is arranged on the surface in detection track, detects thunder
Corresponded up to detection track, the launching beam of detection radar is confined in detection track region, by adjusting detection radar
Bandwidth and launching beam width, make detection radar launching beam cover detection track detection zone；Echo-signal is entered
Row digital signal samples, echo-signal is the echo-signal of the detection ripple signal of detection radar emission；By being done to sampled signal
Distance obtains the 2-d spectrum of echo-signal to the Fourier transformation with orientation；Then the 2-d spectrum of echo-signal is entered
Row statistical analysis, judges to whether there is target vehicle in detection zone, target vehicle is to vehicle or whereabouts vehicle；If depositing
Grab signal is then being sent to camera according to the position of target vehicle and travel direction；Camera is received after grab signal, to mesh
Mark vehicle is captured.The road gate vehicle snapshot method that the present invention is provided, can apply to vehicle and whereabouts vehicle,
Come to vehicle snapshot headstock, the whereabouts vehicle snapshot tailstock, and come adjustable to the candid photograph position difference of vehicle and whereabouts vehicle.
Fig. 4 is detection radar beam irradiation area and vehicle snapshot position view.As shown in figure 4, described according to target
The position of vehicle and travel direction send grab signal to camera, can specifically include：If the target vehicle is to vehicle,
When to drive into detection zone to vehicle grab signal is sent to camera；If the target vehicle is whereabouts vehicle, when whereabouts car
When rolling detection zone away from grab signal is sent to camera.Vehicle snapshot location point is by setting its parameter true after radar works
Fixed, electric default value can also be changed, vehicle snapshot position must be in the range of radar beam irradiation area.Radar work ginseng
Number is set, including sets the candid photograph position to vehicle and whereabouts vehicle respectively, that is, is set radar to the distance for capturing position, come
Different value is could be arranged to the candid photograph position of vehicle and whereabouts vehicle, by the regulation to capturing distance, makes camera every
It is secondary to capture arrival to vehicle and the car plate and related headstock, tail information of whereabouts vehicle.
In upper described method, sampled signal is done distance to and the Fourier transformation of orientation after, sampling letter
Number function is：
P(fr,fd)=A sinc [g1(fr)]sinc[g2(fd)]
Wherein, A is signal echo intensity, frFor range Doppler frequency, fdFor Azimuth Doppler Frequency, g1(x) it is signal
Distance spectrum, g2(x) it is the azimuth spectrum of signal.
From Principles of Radar, the range Doppler frequency of target reflects the distance of target, the orientation Doppler of target
Frequency reflects speed and the direction of target, thus we can capture distance according to being set in radar parameter come whereabouts, search
The peak value strong point of respective distance currently captures location point whether there is target to detect in the 2-d spectrum of rope radar return, and determines mesh
Target radial velocity.In upper described method, the 2-d spectrum to echo-signal carries out statistical analysis, judges detection zone
It whether there is target vehicle in domain, specifically include：
Judge that the condition that there is target vehicle in detection zone is,
Judge that the condition in detection zone in the absence of target vehicle is,
Wherein, 0≤x≤Rn, 0≤y≤PRF, RnFor detection ultimate range unit, PRF is that traffic radar pulse repeats frequency
Rate, M1、M2、N1、N2Meet 0≤M1≤M2≤Rn, 0≤N1≤N2≤PRF.It is described according to target vehicle in upper described method
Position and travel direction to camera send grab signal, can specifically include：
Search for come to vehicle and whereabouts vehicle in the range Doppler frequency and Azimuth Doppler Frequency of setting, work as search
Then grab signal is sent to camera；
Search for be to the object function of vehicle
P0(f0,fd)=A sinc [g1(f0)]sinc[g2(fd)],fd＜ PRF/2；
Search whereabouts vehicle object function be
P1(f1,fd)=A sinc [g1(f1)]sinc[g2(fd)],fd＞ PRF/2；
f0To come range Doppler frequency corresponding to vehicle snapshot position, f1For whereabouts vehicle snapshot position it is corresponding away from
From Doppler frequency, PRF is the pulse recurrence frequency of detection radar.
In method described above, in P0(f0,fd) vehicle that comes out of region detection is to vehicle, in P1(f1,fd) area
The vehicle that domain is detected is whereabouts vehicle.
The method of the embodiment of the present invention, can also include：
The radial velocity of target vehicle is calculated according to the Azimuth Doppler Frequency of target vehicle；
According to the setting height(from bottom) of detection radar and the detecting distance of setting, the actual travel speed of target vehicle, institute are calculated
The detecting distance set is stated as the distance between detection radar and target vehicle of setting, calculation formula is：
Wherein, VrFor the radial velocity of target vehicle, θ is the angle of radar beam and vehicle heading, and R is setting
Detecting distance, H is the height on detection distance by radar ground.
The method of the embodiment of the present invention, can also include：
Provide the vehicle information of target vehicle；When target vehicle does not roll detection zone away from, detection radar can continue
The presence of target vehicle is detected, the time of detection zone is entered and exited by detecting target vehicle, and target vehicle
Real time running speed, obtains the vehicle commander of target vehicle, so that it is determined that the vehicle of target vehicle.
The method of the embodiment of the present invention, can also include：
Provide the car statistics information of road gate；
The car statistics information includes：The average overall travel speed of vehicle, the time headway of vehicle, vehicle flow and track
Occupation rate information.
Fig. 5 is that the bayonet socket radar of application prior art captures the design sketch of whereabouts vehicle, and Fig. 6 is the road of the application present invention
Bayonet vehicle captures the design sketch come to cart, and Fig. 7 is the effect of the road gate vehicle snapshot whereabouts cart of the application present invention
Figure.As shown in Fig. 5, Fig. 6, Fig. 7, whereabouts vehicle can only capture vehicle body in a complicated turning section, Fig. 5, it is impossible to see car clearly
Car plate；The car plate of vehicle head and vehicle tail is clear that in Fig. 6 and Fig. 7, by set come whereabouts capture away from
From not movable radar and camera, enable candid photograph sees vehicle head part clearly to vehicle, and whereabouts vehicle can see tailstock portion clearly
Point, comparison diagram 5, method of the invention achieves preferable effect.
In summary, the road gate vehicle snapshot method that the present invention is provided has advantages below：
First, to use different processing methods to vehicle and whereabouts vehicle, and the candid photograph to vehicle, whereabouts vehicle is carried out
Position difference is adjustable, it can be provided different distance values, it is ensured that a camera can capture the coming to vehicle of same road
With the car plate of whereabouts vehicle, no matter how vehicle exercises, as long as headstock or the tailstock are in detection range, candid photograph vehicle just can be made
Car plate, which is located at, to be captured in picture, it is adaptable to which the bayonet socket of complicated road is captured, road vehicle hypervelocity, low speed, candid photograph etc. of driving in the wrong direction；
2nd, the present invention obtains the Doppler frequency of target vehicle using digital signal processing method, and then obtains target carriage
Travel speed, orientation FFT integration times are long, and rate accuracy is high, and error is small；
3rd, because this method rate accuracy is high, it also can be good at detecting for target vehicle at a slow speed, bat will not be leaked；
4th, the present invention can be to the vehicle flowrate on road and each track, lane occupancy ratio, average speed, big dolly etc.
Information carries out scientific statistics；
5th, manually installed debugging is convenient, after radar is fixed, it is not necessary to movable radar, only need to adjust radar running parameter just
The candid photograph position to vehicle and whereabouts vehicle can be moved, with very strong road worthiness；
6th, strong anti-interference performance, due to use adaptive threshold detecting algorithm, and only to capture location point on come to
Vehicle or whereabouts vehicle detected, can effectively clutter reduction, and exclude the interference beyond location point, effectively solve many
Clap, sky claps phenomenon；
Though the 7th, method therefor vehicle cart dolly of the present invention, come to vehicle, whereabouts vehicle, it is accurate to capture vehicle location,
Velocity measuring precision is high.
Finally it should be noted that：The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc. should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. a kind of road gate vehicle snapshot method, it is characterised in that including:
The bandwidth and launching beam width of regulation detection radar, make the inspection in the launching beam covering detection track of the detection radar
Region is surveyed, the detection radar is arranged on the surface in the detection track, and the detection radar and the detection track are one by one
Correspondence, the launching beam of the detection radar is confined in the region of the detection track；
Digital signal samples are carried out to echo-signal, the echo-signal is believed for the echo of the detection ripple signal of detection radar emission
Number；
Sampled signal is done distance to and orientation Fourier transformation, obtain the 2-d spectrum of echo-signal；
Statistical analysis is carried out to the 2-d spectrum of echo-signal, judges to whether there is target vehicle, the target in detection zone
Vehicle is to vehicle or whereabouts vehicle；
If in the presence of sending grab signal to camera according to the position of target vehicle and travel direction；
Camera is received after the grab signal, and target vehicle is captured.
2. according to the method described in claim 1, it is characterised in that the position and travel direction according to target vehicle is to phase
Machine sends grab signal, including：
If the target vehicle is to vehicle, grab signal is sent to camera when to drive into detection zone to vehicle；
If the target vehicle is whereabouts vehicle, grab signal is sent to camera when whereabouts vehicle rolls detection zone away from.
3. according to the method described in claim 1, it is characterised in that sampled signal is done distance to and orientation Fourier
After conversion, sampled signal function is：
P(fr, fd)=A sin c [g1(fr)]sin c[g2(fd)],
Wherein, A is signal echo intensity, frFor range Doppler frequency, fdFor Azimuth Doppler Frequency, g1(x) for signal away from
Go against accepted conventions, g2(x) it is the azimuth spectrum of signal.
4. method according to claim 3, it is characterised in that the 2-d spectrum to echo-signal carries out statistical
Analysis, judges to whether there is target vehicle in detection zone, specifically includes：
Judge that the condition that there is target vehicle in detection zone is,
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<mo>,</mo>
<munderover>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
<mrow>
<mi>i</mi>
<mo>=</mo>
<msub>
<mi>M</mi>
<mn>1</mn>
</msub>
<mo>,</mo>
<mi>j</mi>
<mo>=</mo>
<msub>
<mi>N</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<msub>
<mi>M</mi>
<mn>2</mn>
</msub>
<mo>,</mo>
<msub>
<mi>N</mi>
<mn>2</mn>
</msub>
</mrow>
</munderover>
<mo>(</mo>
<mrow>
<mi>P</mi>
<mrow>
<mo>(</mo>
<mrow>
<msub>
<mi>f</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<msub>
<mi>f</mi>
<mi>j</mi>
</msub>
</mrow>
<mo>)</mo>
</mrow>
</mrow>
<mo>)</mo>
<mo>)</mo>
</mrow>
<mo>&le;</mo>
<msub>
<mi>P</mi>
<mn>0</mn>
</msub>
<mo>;</mo>
</mrow>
Wherein, 0≤x≤Rn, 0≤y≤PRF, RnFor detection ultimate range unit, PRF is traffic radar pulse recurrence frequency, M1、
M2、N1、N2Meet 0≤M1≤M2≤Rn, 0≤N1≤N2≤PRF。
5. method according to claim 3, it is characterised in that the position and travel direction according to target vehicle is to phase
Machine sends grab signal, including：
Search for come to vehicle and whereabouts vehicle in the range Doppler frequency and Azimuth Doppler Frequency of setting, when searching
Grab signal is sent to camera；
Search for be to the object function of vehicle
P0(f0, fd)=A sin c [g1(f0)]sin c[g2(fd)], fd＜ PRF/2；
Search whereabouts vehicle object function be
P1(f1, fd)=A sin c [g1(f1)]sin c[g2(fd)], fd＞ PRF/2；
f0To come range Doppler frequency corresponding to vehicle snapshot position, f1It is many for the corresponding distance in whereabouts vehicle snapshot position
General Le frequency, PRF is the pulse recurrence frequency of detection radar.
6. method according to claim 5, it is characterised in that in P0(f0,fd) vehicle that comes out of region detection is to car
, in P1(f1,fd) vehicle that comes out of region detection is whereabouts vehicle.
7. according to the method described in claim 1, it is characterised in that also include：
The radial velocity of target vehicle is calculated according to the Azimuth Doppler Frequency of target vehicle；
According to the setting height(from bottom) of detection radar and the detecting distance of setting, the actual travel speed of target vehicle is calculated, it is described to set
Fixed detecting distance is the distance between detection radar and target vehicle of setting, and calculation formula is：
<mrow>
<mi>V</mi>
<mo>=</mo>
<mfrac>
<msub>
<mi>V</mi>
<mi>r</mi>
</msub>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mfrac>
<mo>,</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
<mo>=</mo>
<mfrac>
<msqrt>
<mrow>
<msup>
<mi>R</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<msup>
<mi>H</mi>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mi>R</mi>
</mfrac>
<mo>,</mo>
</mrow>
Wherein, VrFor the radial velocity of target vehicle, θ is the angle of radar beam and vehicle heading, and R is the detection of setting
Distance, H is the height on detection distance by radar ground.
8. according to the method described in claim 1, it is characterised in that the antenna of the detection radar is plate aerial, receives and dispatches day
Placed above and below line, the width of antenna is determined according to the launching beam width of detection radar；According to capture position accuracy requirement, really
Regular inspection surveys the bandwidth of the detection ripple signal of radar emission；Repeated according to the pulse that the max. speed of target vehicle sets detection radar
Frequency.
9. method according to claim 7, it is characterised in that also include：
Provide the vehicle information of target vehicle；When target vehicle does not roll detection zone away from, detection radar can continue to detect
To the presence of target vehicle, the time of detection zone is entered and exited by detecting target vehicle, and target vehicle is real-time
Travel speed, obtains the vehicle commander of target vehicle, so that it is determined that the vehicle of target vehicle.
10. the method according to claim any one of 1-9, it is characterised in that also include：
Provide the car statistics information of road gate；
The car statistics information includes：The average overall travel speed of vehicle, the time headway of vehicle, vehicle flow and track are occupied
Rate information.
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