CN-117275249-B - Rapid binding method and system for intersection radar equipment and entrance and exit roads

CN117275249BCN 117275249 BCN117275249 BCN 117275249BCN-117275249-B

Abstract

The invention discloses a rapid binding method and a rapid binding system for intersection radar equipment and import and export roads, which aim to solve the problem of low binding efficiency and precision caused by manual binding of the relation between the radar equipment and each import and export road; the method comprises the steps of calculating GPS absolute coordinates of track points, calculating an included angle between a direction angle of a connecting line from radar equipment to the track points and an irradiation direction angle of the radar equipment, judging whether the track points are located in any road surface, screening all track points according to road range constraint and irradiation angle constraint after traversing all track points, and screening bound road surfaces according to the number of the track points of the road surface to generate a road surface set. The invention also comprises a corresponding system, and the binding efficiency and accuracy are improved by automatically binding the matching relation between the radar equipment and the import and export roads.

Inventors

YU XIAOLU
CHEN YINGYING
MO WANGZHONG
HE LEI

Assignees

浙江中控信息产业股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230918

Claims (8)

1. A rapid binding method for intersection radar equipment and an import-export road is characterized by comprising the following steps: S1, acquiring an acquired original track point corresponding to radar equipment in unit time, coordinates of the radar equipment and an irradiation direction angle of the radar equipment; S2, calculating the GPS absolute coordinates of the track points according to the relative coordinates of the original track points relative to the radar equipment; S3, judging whether the track point is positioned in any road surface, if so, binding the track point with the road surface number, otherwise, leaving the track point with the road surface number empty; S4, after traversing all the track points, screening all the track points according to the road range constraint and the irradiation angle constraint; road range constraint, namely deleting track points which are not in a road surface; the irradiation angle constraint is to delete the included angle between the direction angle of the connecting line from the radar device to the track point and the irradiation direction angle of the radar device Less than the angle threshold Is a track point of (a); s5, screening the bound road surfaces according to the number of the track points of the road surfaces to generate a road surface set, wherein the method comprises the steps of counting the number of the track points in each road surface, screening the road surfaces according to the number of the track points, and screening the track points larger than a number threshold value Is a road of the road (b).
2. The method for quickly binding intersection radar equipment and import and export roads according to claim 1, wherein the step S1 specifically comprises the steps of obtaining original track points collected in unit time of the radar equipment i and generating an original track point set { for each unit time And obtain the coordinates of radar equipment ) Irradiation direction angle of radar apparatus 。
3. The method for quickly binding intersection radar equipment and an import/export road according to claim 2, wherein the calculating the GPS absolute coordinates of the track points comprises the steps of: S21, the irradiation direction angle of the radar device Converting into a radian system; S22, calculating each original track point ) The longitude and latitude difference value with radar equipment is specifically as follows: , ; s23, calculating GPS absolute coordinates of the track points ) The method specifically comprises the following steps: , , Wherein j is in the range of [1, n ].
4. The rapid binding method of intersection radar equipment and import and export roads according to claim 3, wherein the step S3 comprises the following steps of ) To judge the track point In which road surface the track point is located when the track point is within the geographical area of the road surface Binding the number id of the road surface, if not in any road surface range, the track point The binding road surface number id is a null value.
5. The method for rapid binding of intersection radar equipment and import/export roads according to claim 4, wherein the track points not in the road surface are track points with the road surface number id being null.
6. The method for rapid binding of intersection radar equipment to an import and export road according to claim 1, wherein the number threshold value The following is satisfied: , The Road surface with the largest track points is denoted as Road max , and the corresponding track points are denoted as num max .
7. The method for rapid binding of intersection radar apparatus and entrance/exit road according to claim 5, wherein the angle threshold value Is 15 deg..
8. A rapid binding system for an intersection radar device and an entrance road, which is applicable to the rapid binding method for the intersection radar device and the entrance road according to any one of claims 1 to 7, and is characterized by comprising the following steps The data acquisition module acquires the acquired original track points corresponding to the radar equipment in unit time, the coordinates of the radar equipment and the irradiation direction angle of the radar equipment; The calculation module is used for calculating an included angle between the GPS absolute coordinate of the track point, the direction angle of the connecting line from the radar equipment to the track point and the irradiation direction angle of the radar equipment; The track point screening module screens all track points according to the road range constraint and the irradiation angle constraint; and the road surface screening module screens the bound road surfaces according to the number of the track points of the road surfaces.

Description

Rapid binding method and system for intersection radar equipment and entrance and exit roads Technical Field The invention relates to the technical field of radar and import-export road binding, in particular to a rapid binding method and system for intersection radar equipment and an import-export road. Background The radar equipment is arranged on an electric warning pole at each intersection of a city to irradiate entrance and exit roads opposite to the intersection, the radar equipment has position information (GPS coordinates) and irradiation angle information and can acquire a batch of track point data in a specific time period, each entrance and exit road acquires the geographic shape coordinates of each road through a high-precision map, and the relation between the radar equipment and each entrance and exit road is manually bound by manpower, so that the binding efficiency and the binding precision are not high. Disclosure of Invention The invention solves the problem of low binding efficiency and precision caused by manual binding of the radar equipment and the relation between the radar equipment and each entrance and exit road, and provides a rapid binding method and system for the radar equipment at the intersection and the entrance and exit road. In order to achieve the purpose, the invention adopts the following technical scheme that the rapid binding method of the intersection radar equipment and the import and export roads comprises the following steps: S1, acquiring an acquired original track point corresponding to radar equipment in unit time, coordinates of the radar equipment and an irradiation direction angle of the radar equipment; S2, calculating the GPS absolute coordinates of the track points according to the relative coordinates of the original track points relative to the radar equipment; S3, judging whether the track point is positioned in any road surface, if so, binding the track point with the road surface number, otherwise, leaving the track point with the road surface number empty; S4, after traversing all the track points, screening all the track points according to the road range constraint and the irradiation angle constraint; And S5, screening the bound road surfaces according to the number of the track points of the road surfaces to generate a road surface set. According to the technical scheme, original track points in unit time are obtained according to corresponding radar equipment, GPS absolute coordinates of the track points and included angles between the direction angles of connecting lines of the radar equipment to the track points and the irradiation direction angles of the radar equipment are obtained through calculation, whether the track points are in a road surface or not is judged, each track point is traversed, track points meeting the conditions are screened out according to the constraint of the road range and the constraint of the irradiation angle, the road surface is screened out finally, foreign points on irrelevant roads are removed, and a generated road surface set is all roads which need to be bound by the corresponding radar equipment. The invention further provides that the step S1 specifically comprises the steps of acquiring the original track points acquired in the unit time of the radar equipment i, generating an original track point set { p i,1,pi,2,...,pi,n }, and acquiring the coordinates (lon i,lati) of the radar equipment and the irradiation direction angle i of the radar equipment. According to the technical scheme, an original track point collection set is generated according to the acquired original track points acquired by the corresponding radar equipment, meanwhile, coordinates of the radar equipment are acquired, GPS absolute coordinates of the track points are acquired later, angle calculation is carried out later on the irradiation direction angle of the radar equipment, and angle constraint is generated. The invention is further arranged that the GPS absolute coordinates of the track points obtained by calculation comprise the following steps: S21, converting an irradiation direction angle i of the radar equipment into a radian system; S22, calculating the longitude and latitude difference value of each original track point (x i,j,yi,j) and radar equipment, wherein the longitude and latitude difference value is specifically as follows: dloni,j＝xi,j·cos(anglei)-yi,j·sin(anglei) dlati,j＝xi,j·sin(anglei)+yi,j·cos(anglei); S23, calculating GPS absolute coordinates (lon i,j,lati,j) of the track points, wherein the GPS absolute coordinates are specifically as follows: loni,j＝loni+dloni,j lati,j＝lati+dlati,j Wherein j is in the range of [1, n ]. According to the technical scheme, firstly, the irradiation direction angle of the radar equipment is converted from an angle system to an radian system, then, the longitude and latitude difference value of the original track point and the radar equipment is calculated, and finally, the GPS