CN100476900C - Detecting method and device for communication flow - Google Patents
Detecting method and device for communication flow Download PDFInfo
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- CN100476900C CN100476900C CNB2007100984091A CN200710098409A CN100476900C CN 100476900 C CN100476900 C CN 100476900C CN B2007100984091 A CNB2007100984091 A CN B2007100984091A CN 200710098409 A CN200710098409 A CN 200710098409A CN 100476900 C CN100476900 C CN 100476900C
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Abstract
The invention discloses a traffic flow examination method, which includes: The pretreatment operation, including uses to judge the vehicles whether do suppose for the vehicle variable starting value is zero, and choose reference signal; Periodically gathering earth magnetic field signal; Uses the reference signal to do signal processing with the earth magnetic field signal based on the matched filtering; Withdraws the information of used for examine the vehicles, according to examine result to judge whether has the vehicles to pass; If has a vehicle to pass, then output the vehicles examine result, regathers the earth magnetic field signal, waits for the new gathering data arrival. This invention has also discloses a traffic flow detector equipment, this equipment including pick off module, the signal recuperate module, the radio communication mold and the power source module, but also includes the transportation information examination module. This invention increased the traffic flow examination precision; is advantageous for the building and maintenance, and may carries on the radio communication with other transportation installments and the equipment, constitutes the specific information gathering and control system.
Description
Technical field
The present invention relates to the road parameters monitoring system, the method and apparatus that particularly a kind of magnitude of traffic flow detects.
Background technology
The road vehicle monitoring system is the important ingredient of intelligent transportation system, and it can provide the road condition parameter in real time, as vehicle flowrate, the speed of a motor vehicle etc.Wherein, vehicle flowrate is the vehicle fleet that passes through the monitoring highway section in the unit interval, can realize by traffic flow detecting device.
At present, common traffic flow detecting device has: ground magnetic coil magnitude of traffic flow detecting device, video traffic flow monitoring system etc.Wherein, the earth magnetism coil checker is more traditional magnitude of traffic flow detecting device, as the multifunctional traffic information detector of University Of Tianjin research and development etc.It is made up of earth magnetism coil pickoff, oscillatory circuit and treatment circuit.The ground magnetic coil is installed in subsurface usually, and vehicle is through the out-of-date variation that causes the coil inductance value, thereby influences the frequency of oscillatory circuit, can detect vehicle in view of the above.Its detection principle is simple, and accuracy of detection is not subjected to the influence of weather conditions, therefore is used widely.But when installation and maintenance, all need to cut the road surface, influence the cruising of vehicle, and bring in various degree destruction to the road surface.
The video traffic flow monitoring system is formed by being installed in the camera on roadside or the bridge and the computing machine of terminal, as the traffic flow monitor apparatus of Tokyo Hitachi Co., Ltd development etc.Its detection principle is that camera is taken condition of road surface, and picture is sent to terminal, extracts information of vehicles by operation image processing software on computers.Its surveyed area is wide, can monitor a plurality of tracks simultaneously, obtains a plurality of traffic parameters, but it is subject to the influence that background environment (as weather, illuminance) changes, and camera lens needs frequent wiping.And present most of traffic flow detecting device all is the transmission of carrying out signal by wired, is unfavorable for laying and safeguarding, and is unfavorable for the expansion of monitoring system.
Summary of the invention
The objective of the invention is to overcome that existing traffic flow detecting device is installed, defective difficult in maintenance, thereby a kind of accuracy of detection height, magnitude of traffic flow detection method and pick-up unit convenient for installation and maintenance are provided.
The invention provides a kind of traffic flow examination method, may further comprise the steps:
Step 00), pretreatment operation, comprise being used to judge that with one whether vehicle is that the initial value of the variable of motor vehicle is made as zero, and to the selection of reference signal;
Step 10), periodically gather the terrestrial magnetic field signal;
Step 20), adopt step 00) in selected reference signal the terrestrial magnetic field signal that step 10) collected is done signal Processing based on matched filtering;
Step 30), extract the information that is used to detect vehicle the signal after Filtering Processing, judged whether that according to testing result vehicle passes through;
Step 40), according to step 30) testing result, if there is vehicle to pass through, then, re-execute step 10) with result's output of vehicle detection, wait for the arrival of new image data.
In the technique scheme, in described step 00) in, described selection to reference signal specifically comprises:
From original signal, select some spots, selected point is carried out match, determine the coefficient of curve according to the least square principle with a curve.
Described curve is polynomial curve or Gaussian curve or comprises the nonlinear curve sinusoidal and combination of direct proportion curve.
When selecting reference signal, select at least one reference signal according to the response time scope of original signal.
When selecting to have the reference signal of different response times, satisfy following standard simultaneously:
The peak value of the cross correlation function of the reference signal that original signal that a, response time are the longest and response time are the longest is greater than threshold values;
The peak value of the cross correlation function of the reference signal that original signal that b, response time are the shortest and response time are the shortest is greater than threshold values;
The peak value of the cross correlation function of c, adjacent two reference signals is greater than threshold values.
In the technique scheme, in described step 10), take the terrestrial magnetic field signals sampling cycle between 10～50 milliseconds, to choose.
In the technique scheme, in described step 20) in, described signal Processing is that reference signal and terrestrial magnetic field signal are done computing cross-correlation.
In the technique scheme, described step 30) specific implementation step is as follows:
Step 31), judge that whether described variable is zero, if zero, carry out next step, otherwise execution in step 34);
Step 32), with step 20) resulting signal processing results and threshold values compare, and judges according to comparative result whether current demand signal belongs to the rising edge of signal, if, carry out next step, if not, re-execute step 10), wait for the arrival of new image data;
Step 33), the value of described variable is made as 1, execution in step 40 then);
Step 34), with step 20) resulting signal processing results and threshold values compare, and judges according to comparative result whether current demand signal belongs to the negative edge of signal, if, carry out next step, if not, re-execute step 10), wait for the arrival of new image data;
Step 35), the value of described variable is made as 0, re-execute step 10) then, wait for the arrival of new image data.
Described threshold values is between 0.6～1.
The present invention also provides a kind of traffic flow detecting device that adopts described magnitude of traffic flow detection method, and this device comprises sensing module 301, signal condition module 302; Also comprise transport information detection module 303; Wherein, described transport information detection module 303 comprises the signal processing unit 3032 that is used for signal is done Filtering Processing, be used to extract and the magnitude of traffic flow detects for information about information extraction unit 3033, and be used for controlling, the control module 3031 of other module work of conditioning unit; Described sensing module 301 is used to gather the terrestrial magnetic field signal, and described signal condition module 302 is used for amplifying signal and signal is done analog to digital conversion;
After described sensing module 301 is gathered the terrestrial magnetic field signal, the signal that is collected is transferred in the signal condition module 302, do processing and amplifying by 302 pairs of signals of signal condition module, and realization analog to digital conversion, signal after the analog to digital conversion is input to transport information detection module 303, described transport information detection module 303 extracts the information that is used to detect vehicle from input signal, judged whether that according to testing result vehicle passes through.
In the technique scheme, described device also comprises the wireless communication module 304 that is used to send magnitude of traffic flow testing result.
Described sensing module 301 is magnetoresistive transducer or magnetic induction coil or Hall effect magnetic field sensor or magnetodiode or magnetic sensitive transistor.
Described signal condition module 302 comprises amplifier 3021, A/D converting member 3023 and reset components 3022.
Described transport information detection module 303 is realized on programmable logic chip.
The invention has the advantages that:
1, employing can improve signal to noise ratio (S/N ratio) greatly based on the signal processing method of matched filtering in the magnitude of traffic flow detection method of the present invention, helps improving magnitude of traffic flow accuracy of detection;
2, select for use signal after the curve fitting as the reference signal of matched filtering in the magnitude of traffic flow detection method of the present invention, can improve the treatment effect of matched filtering;
3, select for use a plurality of reference signals to carry out matched filtering in the magnitude of traffic flow detection method of the present invention, improve the precision of signal Processing;
4, the information extracting method in the magnitude of traffic flow detection method of the present invention is very simple, is easy to realize;
5, traffic flow detecting device volume of the present invention is little, and only need be positioned over the roadside just can monitor traffic flow, is convenient to lay and safeguard;
6, traffic flow detecting device of the present invention need not laying-out by the wireless data transmission of carrying out, and the system of being convenient to lays and expansion;
7, can and adopt self-organization multi-hop mode to form network by radio communication between the traffic flow detecting device of the present invention;
8, traffic flow detecting device of the present invention can carry out radio communication with other shaped traffic device and equipment, constitutes specific control system.
Description of drawings
Fig. 1 causes the synoptic diagram that the terrestrial magnetic field changes when regional for vehicle through one;
Fig. 2 is the process flow diagram of magnitude of traffic flow detection method among the present invention;
Fig. 3 is the structural drawing of traffic flow detecting device among the present invention;
Fig. 4 is the matched filter block diagram of an embodiment among the present invention;
Fig. 5 A is the original signal of the waveform of an embodiment among the present invention
The Gaussian curve waveform of Fig. 5 B after for the waveform fitting of an embodiment among the present invention;
Fig. 6 is the process flow diagram of the magnitude of traffic flow detection method of an embodiment among the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail:
Because vehicle comprises ferromagnetic material, when vehicle is regional through one, can produce disturbance to terrestrial magnetic field on every side, the situation of change by means of detecting the terrestrial magnetic field can detect the existence of vehicle.As shown in fig. 1, the athletic meeting of vehicle 101 causes the disturbance of regional 102 terrestrial magnetic field.As can be seen from Figure 1, the terrestrial magnetic field around the vehicle 101 is different with all the other regional geomagnetic field intensities, and the present invention detects the existence of vehicle by analyzing the variation of geomagnetic field intensity, thereby obtains traffic flow information.
As shown in Figure 2, magnitude of traffic flow detection method of the present invention specifically may further comprise the steps:
On road, except automobile can bring the disturbance of terrestrial magnetic field, also have a lot of other factorses can cause the variation of terrestrial magnetic field, as electromagnetic radiation etc.So a lot of noises that mixing in the original signal that step 10 collected, if original signal is not handled, probably can influence vehicle detection.This harmful effect to vehicle detection is particularly outstanding to the automobile that is positioned at second lane.In order to reduce the influence of noise to vehicle detection, the present invention does signal Processing based on matched filtering to the signal of being gathered, and this signal processing method is filtering interference signals largely, improves the signal to noise ratio (S/N ratio) of signal.
In the 358th page of " Signals ﹠ Systems " of Higher Education Publishing House's publication in 2000, Zheng Junli has narrated the principle of matched filter in " matched filter " joint.Matched filter 401 shown in Figure 4 is a kind of " optimal detectors ", and 402 is original signal, and 403 is filtered signal.Wherein, useful signal is s (t), and noise is n (t), and original signal 402 is stacks of useful signal s (t) and noise signal n (t).Obtain s after the useful signal filtering
o(t), obtain n after the noise filtering
o(t).Matched filter can make useful signal s (t) strengthen, and is inhibited to noise n (t) simultaneously.Matched filter 401 can be expressed as k*s (τ-t), when original signal 402 is passed through matched filter 401, therefore be equivalent to carry out computing cross-correlation, the filtered signal 403 computing cross-correlation sum as a result that can regard the auto-correlation computation of s (t) and n (t) and s (t) as with useful signal s (t).The auto-correlation computation of s (t) is CorrRes (s (t), s (t)) as a result, obtains the peak value of autocorrelation function constantly in judgement; And the computing cross-correlation of noise n (t) and signal s (t) CorrRes (s (t), n (t)) as a result, value is very little constantly in judgement, therefore constantly can obtain maximum signal to noise ratio (S/N ratio) in judgement.
Because useful signal s (t) is a kind of desirable signal condition, can not directly obtain from detected original signal, so a key of matched filter operation is how to select useful signal.Have only the suitable useful signal of selection just can obtain related operation result preferably.Therefore the selected useful signal reference signal that is otherwise known as needs to finish the selection of reference signal in step 02.When selecting reference signal, should select the signal little, therefore will select not have the signal of noise as far as possible as the reference signal with the noise degree of correlation.Adopt the mode of curve fitting to try to achieve reference signal in the present invention, reduce interference of noise to greatest extent.Shown in Fig. 5 A 501 is the detected original signals of traffic flow detecting device, represents the variation of an automobile through the out-of-date terrestrial magnetic field that causes, the longitudinal axis is the magnetic field intensity after the normalization, and transverse axis is the time, and the width of spike is the response time.From this original signal, take out (10～15) individual point equably, be designated as (xdata
i, ydata
i), xdata
iBe the time of this point, ydata
iBe this magnetic field intensity after the normalization.Pass through Gaussian curve
Carry out match, the target of match is to obtain
Make
Minimum,
Be the coefficient a of Gaussian curve, b, the vector that c forms, according to
Can be in the hope of coefficient a, b, the exact value of c.When using, the span of a is (1～-100), and the span of b is (0.8～1.2), and c chooses between (0.2～0.6) according to following reference signal selection standard.Among Fig. 5 B 502 adopts gaussian curve approximation waveform afterwards, and the longitudinal axis is the magnetic field intensity after the normalization, and transverse axis is the time.As can be seen, the Gaussian curve after the match can be represented original information of vehicles from 501 and 502, and filtering noise signal, promptly little with the noise degree of correlation, can be used as the reference signal of matched filter.In addition, can also adopt polynomial curve F (x)=p
1* x
m+ p
2* x
M-1+ ... + p
m* x+p
M+1(wherein, the value of m is (5～11), p
1～p
M+1Be the coefficient of this curve), or nonlinear curve carries out curve fitting as combination F (x)=a * sin (bx+c)+d * x of sinusoidal curve and direct proportion curve (wherein, a, b, c, d are the coefficients of this curve).Will realize Filtering Processing in the transport information detection module, the reference signal discretize need be selected n some conduct with reference to signal equably according to the sampling period of original signal in the present invention from gaussian signal, the value of n is four times of sampling rate.
Because it is relevant to comprise response time and vehicle, the speed of a motor vehicle of the voltage signal of geomagnetic field information, and the response time difference that each vehicle causes.Therefore, in order to improve accuracy of detection, adopt a plurality of Gaussian curves as the reference signal among the present invention, these Gaussian curves coefficient c difference is each other represented the different response times, and c is more little, and the response time is short more.Determine among the present invention that the reference signal response time standard of (promptly determining Gaussian curve coefficient c) is as follows:
1, the peak value of the cross correlation function of the longest reference signal of the longest original signal of response time and response time is greater than threshold values Threshold;
2, the peak value of the cross correlation function of the shortest reference signal of the shortest original signal of response time and response time is greater than threshold values Threshold;
3, the peak value of the cross correlation function of two adjacent reference signals is greater than threshold values Threshold.
Above-mentioned three standards must satisfy simultaneously, and threshold values Threshold wherein can choose between (0.6～1) as required.Because the measured vehicle response time is between 0.7 second and 4 seconds in the inventive method, therefore choosing threshold values Threshold in the present embodiment is 0.8, according to the standard of determining the reference signal response time, the Gaussian curve of finally choosing the response time and be 0.85 second and 3.4 seconds is as the reference signal.With ref1 (1:n) expression reference signal 1, it is to be 0.85 second Gaussian curve the response time, and with ref2 (1:n) expression reference signal 2, it is to be 3.4 seconds Gaussian curve the response time.
Described original signal is current up-to-date a plurality of original signals, with the number that n represents signal, represents a current up-to-date n original signal with signal (m-n+1:m).Signal (m-n+1:m) is done computing cross-correlation with ref1 (1:n), ref2 (1:n) respectively.
Extract the information that is used to detect vehicle step 30, the signal after Filtering Processing, judged whether that according to testing result vehicle passes through.
Whether step 31, judgment variable IsAVehicle are zero, if zero, carry out next step, otherwise execution in step 34;
In above-mentioned steps, when step 32 judged whether current demand signal belongs to rising edge, its criterion was as follows: (CorrRes1 (m-1)＜0.8 and CorrRes1 (m)＞0.8) or (CorrRes2 (m-1)＜0.8 and CorrRes2 (m)＞0.8); When step 34 judged whether current demand signal belongs to negative edge, its criterion was as follows: (CorrRes1 (m-1)＞0.8 and CorrRes1 (m)＜0.8) or (CorrRes2 (m-1)＞0.8 and CorrRes2 (m)＜0.8).
Below the traffic flow detecting device that adopts the inventive method is described.As shown in Figure 3, traffic flow detecting device of the present invention comprises sensing module 301, signal condition module 302, transport information detection module 303, wireless communication module 304 and power module 305; Wherein, power module 305 with the device in sensing module 301, signal condition module 302, transport information detection module 303, wireless communication module 304 be electrically connected, transport information detection module 303 also with the device in sensing module 301, signal condition module 302, wireless communication module 304 be electrically connected, sensing module 301 also is electrically connected with signal condition module 302.
Transport information detection module 303 receives the signal that has geomagnetic field information after the conditioning, in signal processing unit 3032, signal is done Filtering Processing then, in information extraction unit 3033, extract the information that is used to detect the magnitude of traffic flow then, and the result after will detecting sends in the wireless communication module 304.Control module 3031 in the transport information detection module 303 is used for being responsible for the Control work of sensing module 301, signal condition module 302, wireless communication module 304 and power module 305, makes each module can co-ordination.Transport information detection module 303 is realized by programmable logic chip, can adopt for example AVR series monolithic in actual applications, the PIC series monolithic, the MSP430 series monolithic, the Philip51 series monolithic, the AT51 series monolithic, the STC51 single-chip microcomputer, Ling Yang 51 series monolithics, the ARM series microprocessor, Xilinx FPGA (Spartan series, Virtex series), AlteraFPGA (Cyclone series, CycloneII series, Startix series, StratixII series), TIDSP (TMS320C2000 series, TMS320C5000 series, TMS320C6000 series), ADI DSP (Blackfin series, ADSP series, TS series), MotorolaDSP (DSP series, MSC series, MC series), Jie Er DSP polytype chips such as (SC1000 series, SC2000 series).
After transport information detection module 303 obtains testing result to vehicle flow, the result is sent to wireless communication module 304, wireless communication module 304 will represent that by wireless receiving/transmitting element 3041 message of " an automobile process is arranged " sends, and serviced device of these message or monitoring host computer receive.
It should be noted last that above embodiment is only unrestricted in order to technical scheme of the present invention to be described.Although the present invention is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is made amendment or is equal to replacement, do not break away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (14)
1, a kind of traffic flow examination method may further comprise the steps:
Step 00), pretreatment operation, comprise being used to judge that with one whether vehicle is that the initial value of the variable of motor vehicle is made as zero, and to the selection of reference signal;
Step 10), periodically gather the terrestrial magnetic field signal;
Step 20), adopt step 00) in selected reference signal the terrestrial magnetic field signal that step 10) collected is done signal Processing based on matched filtering;
Step 30), extract the information that is used to detect vehicle the signal after Filtering Processing, judged whether that according to testing result vehicle passes through;
Step 40), according to step 30) testing result, if there is vehicle to pass through, then, re-execute step 10) with result's output of vehicle detection, wait for the arrival of new image data.
2, traffic flow examination method according to claim 1 is characterized in that, in described step 00) in, described selection to reference signal specifically comprises:
From original signal, select some spots, selected point is carried out match, determine the coefficient of curve according to the least square principle with a curve.
3, traffic flow examination method according to claim 2 is characterized in that, described curve is polynomial curve or Gaussian curve or comprises the nonlinear curve sinusoidal and combination of direct proportion curve.
4, traffic flow examination method according to claim 2 is characterized in that, when selecting reference signal, selects at least one reference signal according to the response time scope of original signal.
5, traffic flow examination method according to claim 4 is characterized in that, when selecting to have the reference signal of different response times, satisfies following standard simultaneously:
The peak value of the cross correlation function of the reference signal that original signal that a, response time are the longest and response time are the longest is greater than threshold values;
The peak value of the cross correlation function of the reference signal that original signal that b, response time are the shortest and response time are the shortest is greater than threshold values;
The peak value of the cross correlation function of c, adjacent two reference signals is greater than threshold values.
6, traffic flow examination method according to claim 1 is characterized in that, in described step 10), takes the terrestrial magnetic field signals sampling cycle to choose between 10～50 milliseconds.
7, traffic flow examination method according to claim 1 is characterized in that, in described step 20) in, described signal Processing is that reference signal and terrestrial magnetic field signal are done computing cross-correlation.
8, traffic flow examination method according to claim 1 is characterized in that, described step 30) the specific implementation step as follows:
Step 31), judge that whether described variable is zero, if zero, carry out next step, otherwise execution in step 34);
Step 32), with step 20) resulting signal processing results and threshold values compare, and judges according to comparative result whether current demand signal belongs to the rising edge of signal, if, carry out next step, if not, re-execute step 10), wait for the arrival of new image data;
Step 33), the value of described variable is made as 1, execution in step 40 then);
Step 34), with step 20) resulting signal processing results and threshold values compare, and judges according to comparative result whether current demand signal belongs to the negative edge of signal, if, carry out next step, if not, re-execute step 10), wait for the arrival of new image data;
Step 35), the value of described variable is made as 0, re-execute step 10) then, wait for the arrival of new image data.
9 according to claim 5 or 8 described traffic flow examination method, it is characterized in that described threshold values is between 0.6～1.
10, a kind of traffic flow detecting device that is applied to the described magnitude of traffic flow detection method of claim 1, this device comprise sensing module (301), signal condition module (302); It is characterized in that, also comprise transport information detection module (303); Wherein, described transport information detection module (303) comprises the signal processing unit (3032) that is used for signal is done Filtering Processing, be used to extract and the magnitude of traffic flow detects for information about information extraction unit (3033), and be used for controlling, the control module (3031) of other module work of conditioning unit; Described sensing module (301) is used to gather the terrestrial magnetic field signal, and described signal condition module (302) is used for amplifying signal and signal is done analog to digital conversion;
After described sensing module (301) is gathered the terrestrial magnetic field signal, the signal that is collected is transferred in the signal condition module (302), by signal condition module (302) signal is done processing and amplifying, and realization analog to digital conversion, signal after the analog to digital conversion is input to transport information detection module (303), described transport information detection module (303) extracts the information that is used to detect vehicle from input signal, judged whether that according to testing result vehicle passes through.
11, the pick-up unit of the magnitude of traffic flow according to claim 10 is characterized in that, described device also comprises the wireless communication module (304) that is used to send magnitude of traffic flow testing result.
According to the pick-up unit of the claim 10 or the 11 described magnitudes of traffic flow, it is characterized in that 12, described sensing module (301) is magnetoresistive transducer or magnetic induction coil or Hall effect magnetic field sensor or magnetodiode or magnetic sensitive transistor.
According to the pick-up unit of the claim 10 or the 11 described magnitudes of traffic flow, it is characterized in that 13, described signal condition module (302) comprises amplifier (3021), A/D converting member (3023) and reset components (3022).
According to the pick-up unit of the claim 10 or the 11 described magnitudes of traffic flow, it is characterized in that 14, described transport information detection module (303) is realized on programmable logic chip.
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| CN102622891A (en) * | 2012-03-28 | 2012-08-01 | 辽宁金洋集团信息技术有限公司 | Traffic flow survey instrument based on geomagnetic sensor |
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| CN104183141A (en) * | 2014-08-28 | 2014-12-03 | 哈尔滨工程大学 | Wireless geomagnetism carport detector based on Internet of Things |
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| CN109360424B (en) * | 2018-08-31 | 2021-12-10 | 南京理工大学 | Vehicle detection device and method based on artificial magnetic field |
| CN111311927A (en) * | 2020-01-17 | 2020-06-19 | 深圳市戴升智能科技有限公司 | Traffic flow detection method and device, computer equipment and storage medium |
| CN113192330B (en) * | 2021-04-26 | 2022-05-31 | 上海德衡数据科技有限公司 | Multi-agent-based vehicle management method, management system, device and medium |
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