CN105574946A - Hand-held ETC reader and employed RFID and AR fusion method thereof - Google Patents

Hand-held ETC reader and employed RFID and AR fusion method thereof Download PDF

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Publication number
CN105574946A
CN105574946A CN201510976900.4A CN201510976900A CN105574946A CN 105574946 A CN105574946 A CN 105574946A CN 201510976900 A CN201510976900 A CN 201510976900A CN 105574946 A CN105574946 A CN 105574946A
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Prior art keywords
information
read write
write line
hand
information display
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Granted
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CN201510976900.4A
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CN105574946B (en
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丁晓晖
张晓庆
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ZTE Intelligent IoT Technology Co Ltd
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ZTE Intelligent IoT Technology Co Ltd
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
    • G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle

Abstract

The invention provides a hand-held ETC reader and an employed RFID and AR fusion method thereof, and used for displaying information of an ETC vehicle equipped with an OBU. The hand-held ETC reader comprises a short-range communication module, an ETC database, a phased-array antenna, an electronic compass, an AR information display assembly, an image recognition assembly, a camera, and a processor, the short-range communication module reads MACID and data information of the OBU and transmits the MACID and the data information to the AR information display assembly, the ETC database is connected with the short-range communication module and the AR information display assembly, the phased-array antenna obtains position information of the OBU and is connected with the AR information display assembly, the electronic compass obtains coordinate information of the reader and is connected with the AR information display assembly, and the image recognition assembly is connected with the AR information display assembly and the camera. According to the hand-held ETC reader, the processor transmits the position information of the ETC reader and the position information and the data information of the OBU to the AR information display assembly, the image recognition assembly performs matching of the position information of the OBU and the vehicle position, and fusion and superposition of various information can be realized.

Description

The fusion method of RFID and the AR of a kind of hand-held ETC read write line and employing thereof
Technical field
The invention belongs to intelligent transportation field, especially relate to the fusion method of RFID and the AR of a kind of hand-held ETC read write line and employing thereof.
Background technology
AR (AugmentedReality) i.e. augmented reality is by computer technology in simple terms, and by virtual Information application to real world, be added in real time same picture or space of real environment and virtual object exists simultaneously.Augmented reality provides in the ordinary course of things, is different from the appreciable information of the mankind.It not only presents the information of real world, and virtual information is shown simultaneously, and two kinds of information are mutually supplemented, superposed.
RFID (RadioFrequencyIdentification) i.e. radio-frequency (RF) identification.It is a kind of contactless automatic identification technology, automatically identifies destination object and obtain related data by radiofrequency signal.
ETC (ElectronicTollCollection) no-stop charging system is current state-of-the-art toll on the road and bridge's mode in the world.By being arranged on the special short range communication of microwave between the vehicle carried electronic label in vehicle windscreen and the microwave antenna on charge station ETC track, utilize Computer Networking and bank to carry out backstage settlement process, thus reach vehicle by toll on the road and bridge station do not need stop and can pay road and bridge expense object.
OBU (i.e. the abbreviation of OnboardUnit), literal translation is exactly the meaning of board units, adopts DSRC (DedicatedShortRangeCommunication) technology exactly, carries out the microwave device of communication with RSU.In ETC system, OBU is put onboard, and roadside erection drive test unit (RSU-RoadSideUnit), carries out communication by microwave each other.Time vehicle high-speed is by RSU, with microwave communication between OBU and RSU, just as our non-contact card, only apart from farther,--tens meters, frequency is higher--5.8GHz, when passing through, identifies true and false, obtains vehicle, calculates rate, deduction toll.
Traditional hand-held ETC read write line, its function is confined to use DRSC mode and OBU alternately and obtain vehicle-related information, uses the standalone features such as camera shooting vehicle photo.Along with the development and progress of sensor technology, smart machine technology, virtual reality technology is had higher requirement to the intellectuality of ETC read write line, the syncretization etc. of information.
Summary of the invention
In view of this, the present invention is intended to the fusion method of RFID and the AR proposing a kind of hand-held ETC read write line and employing thereof, to represent ETC information of vehicles and its implementation by AR mode.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of hand-held ETC read write line, for representing the ETC information of vehicles being furnished with OBU, comprise short range communication module, ETC database, phased array antenna, electronic compass, AR information display component, image recognition assembly, camera and processor, described processor connects short range communication module, ETC database, phased array antenna, electronic compass, AR information display component, image recognition assembly and camera;
Described short range communication module reads MACID and the data message of OBU by wireless identification, and data message is sent to AR information display component;
Described ETC DataBase combining short range communication module and AR information display component, and read ETC information according to the OBUMACID that short range communication module obtains, then the ETC information of reading is sent to AR information display component;
Described phased array antenna obtains positional information and the data message of OBU by RFID, and connects AR information display component;
Described electronic compass obtains the coordinate information of this read write line and connects AR information display component;
Described image recognition assembly connects AR information display component and camera.
Further, the frequency of described short range communication module is 5.8GHz.
Further, described ETC database is offline data storehouse or on-line data base.
Further, described offline data storehouse adopts MACID to carry out sequential storage, and retrieval mode adopts dichotomy.
Further, described on-line data base connects short range communication module and AR information display component by wireless network.
Further, described wireless network is Wifi or 3G or 4G or GPRS.
Further, described on-line data base adopts MACID or license plate number+car plate color to inquire about.
The fusion method of RFID and AR in hand-held ETC read write line, the method step is:
1) set up coordinate system A, if X-axis is road axis, Y-axis is this read write line left visual field border, and Z axis is perpendicular to direction, road surface;
2) obtain the positional information of this read write line relative to road surface by electronic compass, when electronic compass uses usually and road surface there is an angle, therefore need to be converted in coordinate system A;
3) n OBU coordinate information (x in measurement range is obtained by phased array antenna a1, y a1), (x a2, y a2) ... (x ai, y ai) ... (x an, y an);
4) by camera obtaining step 3) in the image information of n vehicle, obtain vehicle coordinate (x by image recognition b1, y b1), (x b2, y b2) ... (x bj, y bj) ... (x bn, y bn);
5) cross distance between OBUi coordinate and each vehicle coordinate is calculated:
da1＝sqrt((x ai-x b1) 2+(y ai-y b1) 2)；
da2＝sqrt((x ai-x b2) 2+(y ai-y b2) 2)；
…
daj＝sqrt((x ai-x bj) 2+(y ai-y bj) 2)；
…
dan＝sqrt((x ai-x bn) 2+(y ai-y bn) 2)；
If min is (da1, da2 ... daj ... dan) minimum value is daj, be then (x with coordinate ai, y bi) OBU coupling vehicle coordinate be (x bj, y bj), then the positional information of vehicle mated with vehicle image, the data message of vehicle is also added in vehicle image simultaneously.
Further, this read write line that described electronic compass obtains, relative to the positional information on road surface, is converted in coordinate system A by translation, rotation and projection.
Further, the vehicle coordinate point that described image recognition assembly obtains is positioned at shelves before vehicle.
Relative to prior art, a kind of hand-held ETC read write line of the present invention has following advantage:
The OBU data information transfer that the positional information of the OBU that the positional information of this ETC read write line that processor control electronic compass of the present invention obtains, phased array antenna obtain and short range communication module obtain is to AR information display component, OBU positional information is mated with the vehicle location obtained from image by image recognition assembly, the data message of ETC, the vehicle images that are added to such as such as information of vehicles, system information, current record, and shown by display screen, achieve the fusion of much information, superposition.
Relative to prior art, in hand-held ETC read write line of the present invention, the fusion method of RFID and AR has following advantage:
The positional information of read write line that electronic compass obtains first is converted in setting coordinate system by the present invention, then the OBU positional information that phased array antenna obtains is mated with the vehicle location coordinate extracted in image, achieves coordinating of much information and image.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is each intermodule schematic diagram of a kind of hand-held ETC read write line described in the embodiment of the present invention;
Fig. 2 is the fusion method schematic diagram of RFID and AR in the hand-held ETC read write line described in the embodiment of the present invention.
Description of reference numerals:
1-OBU; 2-phased array antenna; 3-electronic compass; 4-short range communication module; 51-offline data storehouse; 52-on-line data base; 6-AR information display component; 7-image recognition assembly; 8-camera.
Embodiment
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " etc. only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, one or more these features can be expressed or impliedly be comprised to the feature being limited with " first ", " second " etc.In describing the invention, except as otherwise noted, the implication of " multiple " is two or more.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood by concrete condition.
Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
A kind of hand-held ETC read write line, for representing the ETC information of vehicles being furnished with OBU1, comprise short range communication module 4, ETC database, phased array antenna 2, electronic compass 3, AR information display component 6, image recognition assembly 7, camera 8 and processor, described processor connects short range communication module 4, ETC database, phased array antenna 2, electronic compass 3, AR information display component 6, image recognition assembly 7 and camera 8;
Described short range communication module 4 reads MACID and the data message of OBU1 by wireless identification, and data message is sent to AR information display component 6, and data message comprises the vehicle essential information such as vehicle identification number, car plate color;
Described ETC DataBase combining short range communication module 4 and AR information display component 6, and read ETC information according to the OBU1MACID that short range communication module 4 obtains, then the ETC information of reading is sent to AR information display component 6, described ETC information is the essential information of car owner and the current information such as to record, after database retrieval, AR information display component 6 can obtain data message and the ETC information of vehicle by short range communication module 4 according to MACID;
Described phased array antenna 2 obtains positional information and the data message of OBU1 by RFID, and connects AR information display component 6;
Described electronic compass 3 obtains the coordinate information of this read write line and connects AR information display component 6;
Described image recognition assembly 7 connects AR information display component 6 and camera 8.
Wherein, the frequency of described short range communication module 4 is 5.8GHz.
Described ETC database is offline data storehouse 51 or on-line data base 52.
Described offline data storehouse 51 adopts MACID to carry out sequential storage, and retrieval mode adopts dichotomy.
Preferably, described on-line data base 52 connects short range communication module 4 and AR information display component 6 by wireless network.
Described wireless network is Wifi or 3G or 4G or GPRS.
Described on-line data base 52 adopts MACID or license plate number+car plate color to inquire about.
The fusion method of RFID and AR in hand-held ETC read write line, the method step is:
1) set up coordinate system A, if X-axis is road axis, Y-axis is this read write line left visual field border, and Z axis is perpendicular to direction, road surface;
2) obtain the positional information of this read write line relative to road surface by electronic compass 3, when electronic compass 3 uses usually and road surface there is an angle, therefore need to be converted in coordinate system A;
3) n OBU1 coordinate information (x in measurement range is obtained by phased array antenna 2 a1, y a1), (x a2, y a2) ... (x ai, y ai) ... (x an, y an);
4) by camera 8 obtaining step 3) in the image information of n vehicle, obtain vehicle coordinate (x by image recognition b1, y b1), (x b2, y b2) ... (x bj, y bj) ... (x bn, y bn);
5) cross distance between OBUi coordinate and each vehicle coordinate is calculated:
da1＝sqrt((x ai-x b1) 2+(y ai-y b1) 2)；
da2＝sqrt((x ai-x b2) 2+(y ai-y b2) 2)；
…
daj＝sqrt((x ai-x bj) 2+(y ai-y bj) 2)；
…
dan＝sqrt((x ai-x bn) 2+(y ai-y bn) 2)；
If min is (da1, da2 ... daj ... dan) minimum value is daj, be then (x with coordinate ai, y bi) OBU1 coupling vehicle coordinate be (x bj, y bj), then the positional information of vehicle mated with vehicle image, the data message of vehicle is also added in vehicle image simultaneously.
Preferably, this read write line that described electronic compass 3 obtains, relative to the positional information on road surface, is converted in coordinate system A by translation, rotation and projection.
Preferably, the vehicle coordinate point that described image recognition assembly 7 obtains is positioned at shelves before vehicle, is preferably the edge of OBU1, as (x in Fig. 2 2, y 2), make vehicle coordinate and OBU1 coordinate infinite approach.
Embodiment 1:
As shown in Figure 1-2, described short range communication module 4 reads MACID and the data message of OBU1 by wireless identification; Processor controls off line ETC database and reads ETC information by OBU1MACID, and comprise system information, owner information, current record etc., querying method is dichotomy, then the ETC information of reading is sent to AR information display component 6; AR information display component 6 also receives the coordinate information of this read write line that short range communication module 4 reads OBU1 data message by wireless identification, phased array antenna 2 is obtained by RFID acquisition OBU1 positional information and electronic compass 3, and these information are integrated, generate AR and show information; Simultaneously, AR shows information assembly and the positional information of the positional information of OBU1, data message, ETC information and this ETC read write line is sent to image recognition assembly 7, image recognition assembly 7, for vehicle ' s contour, car plate in identification camera 8 scene, and the pairing between physical object with virtual information associates, concrete pairing association process is:
The coordinate information of this ETC read write line is passed through translation, rotation and projection transform in the coordinate system set by image recognition assembly 7; Receive the information of camera 8, and the positional information of shelves before extracting vehicle; As shown in Figure 2: for the vertical shooting angle in roadside: X-axis fixes on road junction center line, Y-axis fixes on this read write line left visual field border, and Z axis is direction, vertical road surface.Road surface there is vehicle 1, the vehicle that vehicle 2 etc. comes into view.By image recognition, the coordinate (x of shelves before acquisition vehicle 1 b1, y b1), the coordinate (x of shelves before vehicle 2 b2, y b2), RFID phased array antenna 2 detects the coordinate (x of OBUa a1, y a1), the coordinate (x of OBUb a2, y a2).
Cross distance calculating is carried out to OBU1 coordinate and vehicle coordinate, for OBUa, calculates the distance of all visible vehicles in its coordinate and the visual field:
da1＝sqrt((x a1-x b1) 2+(y a1-y b1) 2)
da2＝sqrt((x a1-x b2) 2+(y a1-y b2) 2)
Get all distances minimum value min (da1, da2 ... dan) mate, if da1 is minimum, then thinks that OBUa and vehicle 1 mate, thus realize the pairing of RFID information and vehicle, and by AR information superposition on image, shown by display screen.
In addition, on-line data base 52 can be inquired about by the mode of MACID or license plate number+car plate color, and inquiry velocity is faster, and information is more comprehensive.
After RFID and AR realizes fusion, each vehicle image has superposed the essential information of vehicle and car owner, only can follow the trail of arrearage vehicle as required.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. a hand-held ETC read write line, for representing the ETC information of vehicles being furnished with OBU, it is characterized in that: comprise short range communication module, ETC database, phased array antenna, electronic compass, AR information display component, image recognition assembly, camera and processor, described processor connects short range communication module, ETC database, phased array antenna, electronic compass, AR information display component, image recognition assembly, camera;
Described short range communication module reads MACID and the data message of OBU by wireless identification, and data message is sent to AR information display component;
Described ETC DataBase combining short range communication module and AR information display component;
Described phased array antenna obtains the positional information of OBU by RFID, and connects AR information display component;
Described electronic compass obtains the coordinate information of this read write line and connects AR information display component;
Described image recognition assembly connects AR information display component and camera.
2. a kind of hand-held ETC read write line according to claim 1, is characterized in that: the frequency of described short range communication module is 5.8GHz.
3. a kind of hand-held ETC read write line according to claim 1 and 2, is characterized in that: described ETC database is offline data storehouse or on-line data base.
4. a kind of hand-held ETC read write line according to claim 3, is characterized in that: described offline data storehouse adopts MACID to carry out sequential storage, and retrieval mode adopts dichotomy.
5. a kind of hand-held ETC read write line according to claim 3, is characterized in that: described on-line data base connects short range communication module and AR information display component by wireless network.
6. a kind of hand-held ETC read write line according to claim 5, is characterized in that: described wireless network is Wifi or 3G or 4G or GPRS.
7. a kind of hand-held ETC read write line according to claim 5, is characterized in that: described on-line data base adopts MACID or license plate number+car plate color to inquire about.
8. the fusion method of RFID and AR in hand-held ETC read write line according to claim 1, is characterized in that: the method step is:
1) set up coordinate system A, if X-axis is road axis, Y-axis is this read write line left visual field border, and Z axis is perpendicular to direction, road surface;
2) obtain the positional information of this read write line relative to road surface by electronic compass, and be converted in coordinate system A;
3) n OBU coordinate information (x in measurement range is obtained by phased array antenna a1, y a1), (x a2, y a2) ... (x ai, y ai) ... (x an, y an);
4) by camera obtaining step 3) in the image information of n vehicle, obtain vehicle coordinate (x by image recognition b1, y b1), (x b2, y b2) ... (x bj, y bj) ... (x bn, y bn);
5) cross distance between OBUi coordinate and each vehicle coordinate is calculated:
da1＝sqrt((x ai-x b1) 2+(y ai-y b1) 2)；
da2＝sqrt((x ai-x b2) 2+(y ai-y b2) 2)；
…
daj＝sqrt((x ai-x bj) 2+(y ai-y bj) 2)；
…
dan＝sqrt((x ai-x bn) 2+(y ai-y bn) 2)；
If min is (da1, da2 ... daj ... dan) minimum value is daj, be then (x with coordinate ai, y bi) OBU coupling vehicle coordinate be (x bj, y bj), then the two is mated.
9. the fusion method of RFID and AR in hand-held ETC read write line according to claim 8, is characterized in that: this read write line that described electronic compass obtains, relative to the positional information on road surface, by translation, rotates and is converted in coordinate system A with projecting.
10. the fusion method of RFID and AR in hand-held ETC read write line according to claim 9, is characterized in that: the vehicle coordinate point that described image recognition assembly obtains is positioned at shelves before vehicle.
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CN108717789A (en) * 2018-06-28 2018-10-30 深圳市金溢科技股份有限公司 A kind of the acquisition mask method and device of vehicle sample
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CN114333340B (en) * 2021-11-26 2023-01-03 广州快速交通建设有限公司 System and method for realizing vehicle AR labeling information based on ETC data

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