CN100568315C - The multi-sensor access device of acquisition of road traffic information and data fusion method thereof - Google Patents

Abstract

The multi-sensor access device of acquisition of road traffic information of the present invention comprises digital signal processor DSP, complex programmable logic device (CPLD), signal condition and translation circuit, CAN communication controller and network communication controller.The sensor signal of acquisition of road traffic information inserts CPLD by current-voltage conversion circuit, voltage-frequency conversion circuit, level-conversion circuit.CPLD has expanded the DSP signal and has inserted quantity, and has signal processing function.The present invention also provides the method for multisensor data fusion processing.Advantage of the present invention is: realize the communication of fieldbus level by the CAN communication controller, by the Large Volume Data communication of network communication controller realization with the traffic control central computer, can insert the used sensor of existing road traffic information collection, simplified sensor wiring and Network Transmission requirement, reached traffic information detection device and constituted the effect that integrated He Dafan district is detected.

Description

The multi-sensor access device of acquisition of road traffic information and data fusion method thereof

Technical field

The present invention relates to network technology and use, particularly a kind of multi-sensor access device of acquisition of road traffic information and data fusion method thereof.

Background technology

At present China's big and medium-sized cities road traffic system has been disposed a large amount of traffic information sensors, and is as sensors such as coil, video, microwave, infrared, ultrasonic, humitures, tentatively satisfied.

But the moment sensor deployment way is separate, adheres to different system separately, can't directly carry out data interaction, and comprehensive multilevel traffic information can't be provided; Sensor function is limited, can't directly obtain the zone-to-zone travel parameter and weather information is introduced traffic signals control.Because the various application requirements multi-source traffic informations of traffic system, the problem of this sensor deployment way has:

(1) it is huge to take Internet resources, and every kind of sensor all will dispose independent data line, and installation work becomes the groundwork that sensor is disposed;

(2) existing sensor deployment way has produced the magnanimity isomeric data, but existing sensor lacks the online treatment ability, and these data all need to be uploaded to the traffic control center by data transmission network, therefore for data transmission network resource requirement height;

(3) mass data that produces of existing sensor deployment way requires high to the processing power of background system and causes increasing day by day towards the integrated complicacy of overall integrated application;

(4) existing sensor lacks the online treatment ability, and the traffic state information of the various application needs of intelligent transportation system again can not be online, in real time, obtain exactly.

The key that causes this problem is not have that sensor is comprehensive to be inserted and online fusing device, makes each traffic sensor independence arrangement, transfers to traffic control center by communication network separately.China's development of ITS an urgent demand changes the mode that existing traffic state information is gathered.

Summary of the invention

The objective of the invention is to overcome the defective that existing technology exists, provide a kind of and in same device, the polymorphic type sensor of traffic information collection is carried out the dynamic reconfigurable access device and self-adapting data is handled and fusion method, thereby simplify sensor wiring, alleviated Network Transmission pressure, realize that traffic information system constitutes the multi-sensor access device of the acquisition of road traffic information integrated, that the Da Fan district is detected, and the method for multi-source sensing data fusion treatment is provided simultaneously.

For achieving the above object, the multi-sensor access device of acquisition of road traffic information provided by the invention, comprise digital signal processor DSP, the network communication controller that links to each other with described digital signal processor DSP, CAN communication controller and/or some signal conditions and translation circuit, described network communication controller is used for carrying out communication with communication network under described digital signal processor DSP control, described CAN communication controller is used for carrying out communication with the device with CAN interface, and described signal condition and translation circuit are used for the sensor of analog quantity output, the sensor data acquisition of the sensor of switching value output and pulse train output is gone into described digital signal processor DSP;

Described network communication controller is made of ethernet controller, isolating transformer, RJ45 interface, and described network communication controller uses the NTCIP agreement to carry out network communication; Described CAN communication controller is by eCAN control module, optical coupling isolator, the CAN control unit interface constitutes, and described CAN communication controller uses the CAN agreement to carry out carrying out data communication or carrying out data acquisition with the sensor of being with the CAN interface with the device of band CAN interface;

It is the chip of TMS320F2812 that described digital signal processor DSP adopts model;

Also comprise a complex programmable logic device (CPLD) that is connected with described digital signal processor DSP, described complex programmable logic device (CPLD) comprises read-write control module, sensor passage selection module, sensor signal processing module, peripheral unit control module, matrix keyboard control module, LCD display control module, wherein:

Described read-write control module, the read-write sequence of used address bus, data bus and control bus control when being used for exchanges data between described complex programmable logic device (CPLD) and the described digital signal processor DSP is finished data transmission between described CPLD and the DSP according to data line, address wire and read-write and sheet selected control system signal;

Described sensor passage is selected module, is used for carrying out according to the instruction of described digital signal processor DSP the passage switching of sensor dynamic restructuring;

Described sensor signal processing module is used for that described sensor input data are carried out self-adapting data and handles;

Described peripheral unit control module is used to expand the address decoding and the sheet selected control system of peripherals;

Described matrix keyboard control module is used to judge the key assignments of button and described key assignments is inputed to described digital signal processor DSP by data line;

Described LCD display control module is used for the sequential control of LCD LCD, and transmits data content to be shown to LCD display.

The multi-sensor access device of acquisition of road traffic information of the present invention, the sensor signal processing module that wherein said CPLD comprises comprises timer, counter, result register and interrupt control register, wherein:

Described timer is used for producing the self-adaptation timing cycle with external timing signal as time reference;

Described counter is used in described self-adaptation timing cycle the number of pulses that enters of record sensor;

Described result register is used to write down the count results of described counter;

Described interrupt control register is used to store the interrupt type that sends interruption.

The multi-sensor access device of acquisition of road traffic information of the present invention, it is the chip of EPM1270T144C5N that wherein said CPLD adopts model, the sensor passage that described CPLD comprises selects module to comprise channel selecting control register and MUX, wherein:

Described channel selecting control register is used to store the data of the restructural access way of sending from described digital signal processor DSP;

Described MUX is used for determining according to the data of described channel selecting control register the break-make on each road.

The multi-sensor access device of acquisition of road traffic information of the present invention, wherein the signal of electric current output transducer is imported described CPLD through current-voltage conversion circuit, voltage-frequency conversion circuit, the signal of voltage output transducer is imported described CPLD through the voltage-frequency conversion circuit with signal, and the signal of switching value output transducer is imported described CPLD through level-conversion circuit; Described CPLD also is connected with keyboard circuit and liquid crystal display circuit.

The multi-sensor access device of acquisition of road traffic information of the present invention, described network communication controller is made of ethernet controller, isolating transformer, RJ45 interface, and described network communication controller uses the NTCIP agreement to carry out network communication; Described digital signal processor DSP also comprises an eCAN control module, described CAN communication controller is by eCAN control module, optical coupling isolator, the CAN control unit interface constitutes, and described CAN communication controller uses the CAN agreement to carry out carrying out data communication or carrying out data acquisition with the sensor of being with the CAN interface with the device of band CAN interface.

For achieving the above object, the data transmission method that is used for multi-sensor access device provided by the invention, this method inserts described digital signal processor DSP with sensor input signal through CLPD and/or CAN communication controller and/or signal conditioning circuit, and the data network of handling is transferred to the traffic control central computer by network communication controller, this method is carried out following steps:

Step 1, the device initialization comprises DSP initialization, network communication controller initialization, the initialization of CAN controller, peripheral chip initialization;

Step 2, described DSP receives the order that the traffic control central computer sends by described network communication controller, resolves this order, whether carries out sensor data acquisition, if then change next step over to; Otherwise, send query messages or wait to the traffic control central computer;

Step 3, bus is carried out data transmission if the order of traffic control central computer is indication CAN, then starts described CAN communication controller and carries out data transmission; If carry out direct data capture, then start described complex programmable logic device (CPLD) and described signal conditioning circuit image data;

Step 4, DSP receives and keeps in the data after CPLD handles, the temporary data that are directly inputted into DSP of data, DSP that DSP received and kept in the CAN bus, checks whether memory span is full, if then clear up internal memory, and changes step 6 over to; Otherwise continue operation;

Step 5 is carried out the multi-source data fusion treatment, and the storage fusion results;

Step 6 is carried out data transmission by described network communication controller to the traffic control central computer according to the order of traffic control central computer;

Step 7 turns back to step 2, waits for data acquisition process next time.

Data fusion method of the present invention, wherein said sensor are coil pickoff, and the step of described digital signal processor DSP data processing is as follows:

Step 1: read sampling time value, sampling position, the time segment value k, sampling period T _i

Step 2: n the corresponding moment in the k period read in the data on flows Q that coil pickoff detects _iI=1 ..., n calculates the average discharge Q of k period _k

Step 4: computing time occupation rate O _iI=1 ..., n calculates occupation rate O averaging time of k period _k

Step 5: store k period average discharge, average occupancy, collecting location, collection period;

Step 6:k=k+1 changes step 1 over to.

Data fusion method of the present invention, wherein said sensor are the geomagnetic sensor of coil pickoff and band CAN interface, and described digital signal processor DSP is carried out the multi-source data fusion treatment, and step is as follows:

Step 1: initialization highway section parameter is provided with flow rate μ, segment value k, period T, sampling period T when reading _i, green time g _k, tolerance δ;

Step 2: from average discharge and the occupation rate data of coil data read k period

(1) reads in the data on flows that data on flows that coil pickoff detects detects the n of k period the corresponding moment;

Q _iI=1 ..., n; Calculate the average discharge Q of k period _k

(2) computing time occupation rate O _iI=1 ..., n; Calculate occupation rate O averaging time of k period _k

(3) storage k period average discharge, average occupancy, collection period;

Step 3: from the coil number queuing time in highway section according to estimates, its method is:

(1) reads k period coil data on flows Q from coil pickoff _kWith occupation rate data O _k

(2) calculate average vehicle of k period and sail rate λ into _k, roll rate μ away from _k

Neat Markov queuing model is estimated queuing time when (3) adopting segmentation, and the calculating queuing time is T _q(k);

Step 4: obtain average queue length from the geomagnetic type sensor of band CAN interface, its method is

(1) k period n the corresponding moment, reads in the vehicle data D that m geomagnetic sensor being with the CAN interface is captured in i sampling period from the CAN interface i sampling period ₁(i), D ₂(i) ..., D _m(i), i=1 wherein, 2 ..., n; Regulation is numbered m near the geomagnetic sensor at crossing, is numbered 1 apart from crossing geomagnetic sensor farthest;

(2) queue length in i sampling period of calculating is from m data D _m(i) beginning is to D ₁(i) direction search searches first D _j(i)=0 data, then queue length is the length l (i) from j geomagnetic sensor to the crossing;

(3) the average queue length L of calculating k period _k

Step 5: obtain the distribution of flow in the highway section from the geomagnetic type sensor of coil pickoff and band CAN interface:

(1) in the k period, i sampling period read data on flows from coil pickoff, i=1 wherein, and 2 ..., n calculates its flow average and variance,

K period flow average is Q _k,

K period flow standard difference S _Q(k),

In the k period, i sampling period read vehicle data from m geomagnetic sensor, i=1 wherein, and 2 ..., n calculates flow average and variance that each geomagnetic sensor detects;

(2) constitute the flow distribution in whole highway section by coil pickoff and m geomagnetic sensor

K period flow is at the distribution [Q in highway section _k, D ₁ ^k..., D _m ^k]

K period flow standard difference is in the distribution in highway section $[S_Q,{\mathrm{<figure-callout\; id="1"\; label="S\; D"\; filenames="C2008100575490022H2.png,C2008100575490024H1.png"\; state="\{\{state\}\}">S</figure-callout>}}_{D_{}},...,S_{D_m}],$

Step 6 does not finish then k=k+1 if calculate, and changes step 1 over to; Otherwise change step 7 over to;

Step 7 finishes and returns.

Data fusion method of the present invention, wherein said CAN communication controller is carried out following steps:

A, transmission flow

Step 1, described DSP of initialization and eCAN module thereof comprise:

(1) enable CAN module clock,

(2) CANTX and CANRX are set as CAN communication pin,

(3) configuration bit time configuration register CANBTC,

(4) configuration receives mask register CANGAM,

(5) configuration main control register CANMC,

(6) all positions of removing message control register MSGCTRLn;

Step 2 configuration sends mailbox, comprising:

(1) corresponding position among the clear to send request set register CANTRS;

(2) remove corresponding position among the mailbox enable register CANME, shielding mailbox;

(3) the message flag symbol register MSGID of loading mailbox;

(4) write data length is to the data length code DLC district of message control zone register MSGCTRL;

(5) corresponding position is set among the mailbox enable register CANME and enables mailbox.

Step 3 sends message, comprising:

(1) writes message to the corresponding data field that sends mailbox;

(2) the corresponding marker bit initiation message being set in sending request register CANTRS sends;

(3) etc. corresponding mailbox sends the set of response zone bit among the response register CANTA to be sent;

(4) after successfully transmission or termination send, module will send should be mutually of request set register CANTRS and reset;

Step 4 sends and finishes, and returns and calls the place;

B, reception flow process

Described DSP of step 1 initialization and eCAN module thereof comprise:

(1) enable CAN module clock,

(2) CANTX and CANRX are set as CAN communication pin,

(3) configuration bit time configuration register CANBTC,

(4) configuration receives mask register CANGAM,

(5) configuration main control register CANMC;

(6) all positions of removing message control register MSGCTRLn;

Step 2 configuration receives mailbox, comprising:

(1) corresponding positions among the removing mailbox enable register CANME, the shielding mailbox;

(2) write identifier to corresponding message flag register MSGID;

(3) if the reception mask register enable bit AME of message flag register MSGID puts 1, then corresponding the reception shields and must be configured;

(4) mailbox direction register CANMD is set, corresponding mailbox configurations position is received mailbox;

(5), need be configured coverage control register CANOPC if data are protected in the mailbox;

(6) corresponding positions among the mailbox enable register CANME is set, enables mailbox;

Step 3 receives message

Inquire about the corresponding positions RMPx that the reception message of corresponding mailbox correspondence hangs up among the register CANRMP and whether put 1, accept data and finish, do not finish as yet, continue inquiry otherwise receive if then show mailbox;

Step 4 receives and finishes, and returns and calls the place.

Data fusion method of the present invention, wherein said network communication controller is carried out following steps:

Described DSP of step 1 initialization and Ethernet controller;

Step 2 detects whether there are the data of automatic network, if having then step 3, otherwise step 6;

Step 3 judges whether it is udp user datagram protocol, otherwise step 4; If then change the UDP handling procedure over to; Change step 5 after finishing over to;

Step 4 judges whether it is tcp transmission control protocol, otherwise step 6; If then program changes the TCP handling procedure over to, change step 5 over to after finishing;

Data after step 5 will be handled are sent into described DSP and are handled, and change step 2 over to after finishing;

Whether step 6DSP has the data that need transmission, then changes step 7 over to if having, otherwise changes step 2 over to;

If step 7 has and selects udp protocol, then handle according to udp protocol, data are sent to the traffic control central computer; Change step 2 then over to, otherwise change step 8 over to;

Whether step 8 is Transmission Control Protocol, if then handle according to Transmission Control Protocol, data is sent to the traffic control central computer, changes step 2 after the transmission over to, otherwise changes step 2 over to.

The multi-sensor access device of acquisition of road traffic information of the present invention and the advantage of data fusion method thereof are:

1 has and inserts polymorphic type sensor and multi-source data fusion function: access device can insert the sensor that covers the analog quantity output commonly used of present acquisition of road traffic information, switching value output and the output of pulse data amount such as coil, microwave, ultrasonic, infrared, video sensor or the like, avoid present every use one class sensor, all needed independent problem of disposing associated transport and disposal system.The multi-source data fusion function that device has can satisfy the demand of intelligent transportation system to comprehensive multilevel traffic information, avoids transmitting original mass data, has alleviated the pressure that background system is handled.

2 have the function of bottom field bus communication and upper layer data network communication: the system extension that this device is constituted is good, simplify sensor wiring greatly and to the requirement of Network Transmission, this device meets existing communication standard, can directly be linked in the existing system, improvement expenses seldom.

Be elaborated with reference to accompanying drawing below in conjunction with embodiment, in the hope of purpose of the present invention, feature and advantage are obtained more deep understanding.

Description of drawings

Fig. 1 is the block scheme of the multi-sensor access device of acquisition of road traffic information of the present invention;

Fig. 2 is the block scheme of CPLD structure in the multi-sensor access device of acquisition of road traffic information of the present invention;

Fig. 3 is CAN communication controller block scheme in the multi-sensor access device of acquisition of road traffic information of the present invention;

Fig. 4 is network communication controller block scheme in the multi-sensor access device of acquisition of road traffic information of the present invention;

Fig. 5 is the circuit theory diagrams of CAN communication controller in the multi-sensor access device of acquisition of road traffic information of the present invention;

Fig. 6 is the circuit theory of current-voltage conversion circuit in the multi-sensor access device of acquisition of road traffic information of the present invention;

Fig. 7 is voltage modulate circuit schematic diagram in the multi-sensor access device of acquisition of road traffic information of the present invention;

Fig. 8 is level-conversion circuit schematic diagram in the multi-sensor access device of acquisition of road traffic information of the present invention;

Fig. 9 is voltage-frequency conversion circuit theory diagrams in the multi-sensor access device of acquisition of road traffic information of the present invention;

Figure 10 is the circuit theory diagrams of network communication controller in the multi-sensor access device of acquisition of road traffic information of the present invention;

Figure 11 is the circuit theory diagrams of DSP in the multi-sensor access device of acquisition of road traffic information of the present invention;

Figure 12 is the circuit theory diagrams of CPLD in the multi-sensor access device of acquisition of road traffic information of the present invention;

Figure 13 is the multi-sensor access device data transmission flow process figure of acquisition of road traffic information of the present invention;

Figure 14 carries out the process flow diagram of Data Receiving for CAN communication controller in the multi-sensor access device of acquisition of road traffic information of the present invention;

Figure 15 carries out the process flow diagram that data send for CAN communication controller in the multi-sensor access device of acquisition of road traffic information of the present invention;

Figure 16 carries out the process flow diagram that data send for network communication controller in the multi-sensor access device of acquisition of road traffic information of the present invention.

Embodiment

The technical solution adopted for the present invention to solve the technical problems is: with digital signal processor (Digital Signal Processor, DSP) and programmable logic device (CPLD) (Complex Programmable Logic Device) be core, also comprise CAN (Controller Area Network, CAN) communication controller, network communication controller and signal condition and translation circuit.

The multi-sensor access device of acquisition of road traffic information of the present invention can insert the polymorphic type heterogeneous sensor, as be output as current signal analog sensor, be output as voltage signal analog sensor, be output as level signal Boolean value output sensor, be output as the digital sensor of pulse train; This device also has the CAN communication interface simultaneously, can insert the sensing data that transmits by fieldbus and insert the sensor that has the CAN interface.

Multi-sensor access device of the present invention utilizes the processing power of DSP, can embed data anastomosing algorithm, realizes the online fusion of multi-source heterogeneous sensor.

With embodiment multi-sensor access device of the present invention is elaborated below.

The technical solution adopted for the present invention to solve the technical problems is: referring to Fig. 1, will have sensor now and access to CPLD and DSP, and it is carried out fusion treatment, result is transferred to the traffic control central computer by network communication controller.The sensor of traffic information collection is then imported data among the DSP through the CAN communication controller of this device as the sensor of band CAN interface; If, can not enter CPLD or DSP through signal condition and translation circuit with the sensor of CAN interface such as coil, video, microwave, infrared, ultrasonic, humiture etc.

Wherein, the DSP part: referring to Figure 11, DSP receives the instruction of traffic control central computer down, and the sensor information that inserts is carried out fusion treatment, and with handled data transmission best friend's tube hub computing machine.It is TMS320F2812 that DSP adopts the chip model.

The CPLD part: referring to Figure 12, it is EPM1270T144C5N that CPLD adopts the chip model.CPLD partly is provided with 5 functional modules, is respectively read-write control module, sensor passage selection module, sensor signal processing module, peripheral unit control module, matrix keyboard control module, LCD display control module.

● read-write control module, the read-write sequence of address bus, data bus and control bus control when being used for exchanges data between CPLD and the DSP.Sensor passage is selected module, and the passage that carries out the sensor dynamic restructuring according to the instruction of DSP switches.The passage switching of so-called dynamic restructuring is meant that all road traffic information acquisition sensors have accessed under the precondition of this device, and by CPLD, under the DSP instruction, dynamic-on or cut-out sensor access to the method for the passage of CPLD.

● the sensor signal processing module is used for that sensor input data are carried out self-adapting data and handles.So-called self-adapting data is handled, and is dynamically to change the count cycle according to the count results to sensor input signal, has satisfied the requirement of counting precision.

● the peripheral unit control module is used to expand the address decoding and the sheet selected control system of peripherals.

● the matrix keyboard control module is used to judge the key assignments of button and key assignments is inputed to DSP by data line.

● the LCD display control module is used for the sequential control of LCD, and transmits data content to be shown to LCD display.

When access has sensor now, the electric current output transducer is linked into CPLD through current-voltage conversion circuit, voltage-frequency conversion circuit with signal, the voltage output transducer is linked into CPLD through the voltage-frequency conversion circuit with signal, the switching value output transducer is linked into CPLD through level-conversion circuit with signal, and the CPLD output terminal is connected to DSP; CPLD also is connected with keyboard circuit, liquid crystal display circuit, and responsible keyboard reads the control with liquid crystal display.The CPLD part is connected to DSP's: data bus D8～D15, address bus A0～A18, control line XZCS2, XWE, XRD.

CAN communication controller: be used for perhaps carrying out communication with device with CAN interface with being with the data of the sensor of CAN interface to be input to network node.Referring to Fig. 3 and Fig. 5, it is the chip of TMS320F2812 that the CAN communication controller adopts model, is made of the eCAN control module among the DSP, optical coupling isolator, CAN control unit interface.Be connected by some optocouplers between eCAN module and the CAN control unit interface.It is the chip of 6N137 that optical coupling isolator adopts model.It is the chip of PAC82C250 that bus driver adopts model.CAN communication controller and DSP are connected to: the signal that enters DSP is CANRXA, and sending signal from DSP is CANTXA.

Network communication controller: be used for carrying out data and instruction interaction,, comprise ethernet controller, isolating transformer and RJ45 interface referring to Fig. 4 and Figure 10 with the traffic control central computer.It is CS8900A that ethernet controller adopts the chip model.The isolating transformer model is HR601627.With being connected to of DSP: data bus D0～D15, address wire CSA1～3, control line xzcs0and1, XRD, XWE.Network communication controller uses the NTCIP bus protocol to carry out network communication.

Signal condition and translation circuit: referring to Fig. 6, the sensor signal conditioning and the translation circuit of electric current output comprise current-to-voltage converting circuit and voltage-frequency conversion circuit.Referring to Fig. 7, the sensor signal conditioning and the translation circuit of voltage output comprise voltage frequency conversioning circuit.Referring to Fig. 8, the sensor signal conditioning and the translation circuit of switching value output comprise optocoupler and level-conversion circuit.

Multi-sensor access device utilizes the AD converter of DSP self, capturing unit directly to insert sensor signal, utilizes the device that CAN communication controller that the eCAN module of DSP constitutes can receiving belt CAN interface or the data of sensor.Because DSP self access port is limited, tasks such as the blending algorithm that will finish simultaneously, Communication Control take its a lot of resources, therefore expanding CPLD inserts the more sensor line data of going forward side by side and handles, adopt the core texture of DSP+CPLD to realize the sensor signal access scheme of the flexible and controllable of polymorphic type, hyperchannel, many array modes like this, it is many to have solved the used sensor kind of present urban highway traffic effectively, the problem that data volume is big, the overlay area is wide.

The access way of this device mainly contains following three kinds:

(1) utilize the peripheral hardware resource of DSP device to finish access;

(2) utilize the CAN interface that the sensor with CAN communication function is finished access;

(3) utilize CPLD to insert expansion, and finish a part of data processing, alleviate DSP pressure by CPLD.

This device can manually be controlled by keyboard on the one hand in addition, can also realize that to device remote monitoring and instruction issue by data network on the other hand.

The method that polymorphic type heterogeneous sensor information of the present invention is carried out fusion treatment is elaborated as follows below.

Referring to Figure 13, insert described digital signal processor DSP at the sensor input signal of network collection described in the embodiment of this method through CLPD and/or CAN communication controller and/or signal conditioning circuit, and the data network of handling is transferred to the traffic control central computer by network communication controller, the step of this method is:

Step 1, the device initialization comprises DSP initialization, network communication controller initialization, the initialization of CAN controller, peripheral chip initialization;

Step 2, described DSP receives the order that the traffic control central computer sends by described network communication controller, resolves this order, whether carries out sensor data acquisition, if then change next step over to; Otherwise, send query messages or wait to the traffic control central computer;

Step 3, bus is carried out data transmission if the order of traffic control central computer is indication CAN, then starts described CAN communication controller and carries out data transmission; If carry out direct data capture, then start described complex programmable logic device (CPLD) and described signal conditioning circuit image data;

Step 4, DSP receives and keeps in the data after CPLD handles, the temporary data that are directly inputted into DSP of data, DSP that DSP received and kept in the CAN bus, checks whether memory span is full, if then clear up internal memory, and changes step 6 over to; Otherwise continue operation;

Step 5 is carried out the multi-source data fusion treatment, and the storage fusion results;

Step 6 is carried out data transmission by described network communication controller to the traffic control central computer according to the order of traffic control central computer;

Step 7 turns back to step 2, waits for data acquisition process next time.

Wherein, if sensor is a coil pickoff, the step of described digital signal processor DSP data processing is as follows:

Step 1: read sampling time value, sampling position, the time segment value k, sampling period T _i

Step 2: n the corresponding moment in the k period read in the data on flows Q that coil pickoff detects _iI=1 ..., n calculates the average discharge Q of k period _k

Step 4: computing time occupation rate O _iI=1 ..., n calculates occupation rate O averaging time of k period _k

Step 5: store k period average discharge, average occupancy, collecting location, collection period;

Step 6:k=k+1 changes step 1 over to.

If sensor is the geomagnetic sensor of coil pickoff and band CAN interface, described digital signal processor DSP is carried out the multi-source data fusion treatment, and step is as follows:

Step 1: initialization highway section parameter is provided with flow rate μ, segment value k, period T, sampling period T when reading _i, green time g _k, tolerance δ;

Step 2: from average discharge and the occupation rate data of coil data read k period

(1) reads in the data on flows that data on flows that coil pickoff detects detects the n of k period the corresponding moment;

Q _iI=1 ..., n; Calculate the average discharge Q of k period _k

(2) computing time occupation rate O _iI=1 ..., n; Calculate occupation rate O averaging time of k period _k

(3) storage k period average discharge, average occupancy, collection period;

Step 3: from the coil number queuing time in highway section according to estimates, its method is:

(1) reads k period coil data on flows Q from coil pickoff _kWith occupation rate data O _k

(2) calculate average vehicle of k period and sail rate λ into _k, roll rate μ away from _k

Neat Markov queuing model is estimated queuing time when (3) adopting segmentation, and the calculating queuing time is T _q(k);

Step 4: obtain average queue length from the geomagnetic type sensor of band CAN interface, its method is

(1) k period n the corresponding moment, reads in the vehicle data D that m geomagnetic sensor being with the CAN interface is captured in i sampling period from the CAN interface i sampling period ₁(i), D ₂(i) ..., D _m(i), i=1 wherein, 2 ..., n; Regulation is numbered m near the geomagnetic sensor at crossing, is numbered 1 apart from crossing geomagnetic sensor farthest;

(2) queue length in i sampling period of calculating is from m data D _m(i) beginning is to D ₁(i) direction search searches first D _j(i)=0 data, then queue length is the length l (i) from j geomagnetic sensor to the crossing;

(3) the average queue length L of calculating k period _k

Step 5: obtain the distribution of flow in the highway section from the geomagnetic type sensor of coil pickoff and band CAN interface:

(1) in the k period, i sampling period read data on flows from coil pickoff, i=1 wherein, and 2 ..., n calculates its flow average and variance,

K period flow average is Q _k,

K period flow standard difference S _Q(k),

In the k period, i sampling period read vehicle data from m geomagnetic sensor, i=1 wherein, and 2 ..., n calculates flow average and variance that each geomagnetic sensor detects;

(2) constitute the flow distribution in whole highway section by coil pickoff and m geomagnetic sensor

K period flow is at the distribution [Q in highway section _k, D ₁ ^k..., D _m ^k]

K period flow standard difference is in the distribution in highway section $[S_Q,{\mathrm{<figure-callout\; id="1"\; label="S\; D"\; filenames="C2008100575490022H2.png,C2008100575490024H1.png"\; state="\{\{state\}\}">S</figure-callout>}}_{D_{}},...,S_{D_m}],$

Step 6 does not finish then k=k+1 if calculate, and changes step 1 over to; Otherwise change step 7 over to;

Step 7 finishes and returns.

Referring to Figure 14 and Figure 15, the method that the CAN communication controller carries out data transmission is:

A, transmission flow

Step 1, described DSP of initialization and eCAN module thereof comprise:

(1) enable CAN module clock,

(2) CANTX and CANRX are set as CAN communication pin,

(3) configuration bit time configuration register CANBTC,

(4) configuration receives mask register CANGAM,

(5) configuration main control register CANMC,

(6) all positions of removing message control register MSGCTRLn;

Step 2 configuration sends mailbox, comprising:

(1) corresponding position among the clear to send request set register CANTRS;

(2) remove corresponding position among the mailbox enable register CANME, shielding mailbox;

(3) the message flag symbol register MSGID of loading mailbox;

(4) write data length is to the data length code DLC district of message control zone register MSGCTRL;

(5) corresponding position is set among the mailbox enable register CANME and enables mailbox.

Step 3 sends message, comprising:

(1) writes message to the corresponding data field that sends mailbox;

(2) the corresponding marker bit initiation message being set in sending request register CANTRS sends;

(3) etc. corresponding mailbox sends the set of response zone bit among the response register CANTA to be sent;

(4) after successfully transmission or termination send, module will send should be mutually of request set register CANTRS and reset;

Step 4 sends and finishes, and returns and calls the place;

B, reception flow process

Described DSP of step 1 initialization and eCAN module thereof comprise:

(1) enable CAN module clock,

(2) CANTX and CANRX are set as CAN communication pin,

(3) configuration bit time configuration register CANBTC,

(4) configuration receives mask register CANGAM,

(5) configuration main control register CANMC;

(6) all positions of removing message control register MSGCTRLn;

Step 2 configuration receives mailbox, comprising:

(1) corresponding positions among the removing mailbox enable register CANME, the shielding mailbox;

(2) write identifier to corresponding message flag register MSGID;

(3) if the reception mask register enable bit AME of message flag register MSGID puts 1, then corresponding the reception shields and must be configured;

(4) mailbox direction register CANMD is set, corresponding mailbox configurations position is received mailbox;

(5), need be configured coverage control register CANOPC if data are protected in the mailbox;

(6) corresponding positions among the mailbox enable register CANME is set, enables mailbox;

Step 3 receives message

Inquire about the corresponding positions RMPx that the reception message of corresponding mailbox correspondence hangs up among the register CANRMP and whether put 1, accept data and finish, do not finish as yet, continue inquiry otherwise receive if then show mailbox;

Step 4 receives and finishes, and returns and calls the place.

Referring to Figure 16, network communication controller carries out data transmission and carries out following steps:

Described DSP of step 1 initialization and Ethernet controller;

Step 2 detects whether there are the data of automatic network, if having then step 3, otherwise step 6;

Step 3 judges whether it is udp user datagram protocol, otherwise step 4; If then change the UDP handling procedure over to; Change step 5 after finishing over to;

Step 4 judges whether it is tcp transmission control protocol, otherwise step 6; If then program changes the TCP handling procedure over to, change step 5 over to after finishing;

Data after step 5 will be handled are sent into described DSP and are handled, and change step 2 over to after finishing;

Whether step 6DSP has the data that need transmission, then changes step 7 over to if having, otherwise changes step 2 over to;

If step 7 has and selects udp protocol, then handle according to udp protocol, data are sent to the traffic control central computer; Change step 2 then over to, otherwise change step 8 over to;

The method of multi-sensor access device of the present invention and data processing thereof has following technique effect:

1 has the function that inserts the polymorphic type sensor: cover the sensor of the analog quantity output commonly used of present acquisition of road traffic information, switching value output and the output of pulse train amount such as coil, microwave, ultrasonic, infrared, video sensor or the like, avoid present every use one class sensor, all needed independent problem of disposing associated transport and disposal system.

2 have the online function that multi-source data merges of carrying out: can satisfy the demand of intelligent transportation system to comprehensive multilevel traffic information, avoid transmitting original mass data, alleviate the pressure that background system is handled.

3 have the function of bottom field bus communication and upper layer data network communication: the system extension that this device is constituted is good, simplify sensor wiring greatly and to the requirement of Network Transmission, this device meets existing communication standard, can directly be linked in the existing system, improvement expenses seldom.

Also do not have this series products in the market, this product has the effect that promotes and advance to access, use and the deployment way of traffic information collection sensor.

Above-described embodiment is described preferred implementation of the present invention; be not that scope of the present invention is limited; do not breaking away under the prerequisite that the present invention relates to spirit; various distortion and improvement that the common engineering technical personnel in this area make technical scheme of the present invention all should fall in the definite protection domain of claims of the present invention.

Claims (9)

1. the multi-sensor access device of an acquisition of road traffic information, comprise digital signal processor DSP, the network communication controller that links to each other with described digital signal processor DSP, CAN communication controller and/or some signal conditions and translation circuit, described network communication controller is used for carrying out communication with communication network under described digital signal processor DSP control, described CAN communication controller is used for carrying out communication with the device with CAN interface, described signal condition and translation circuit are used for the sensor of analog quantity output, the sensor data acquisition of the sensor of switching value output and pulse train output is gone into described digital signal processor DSP, it is characterized in that:

Described network communication controller is made of ethernet controller, isolating transformer, RJ45 interface, described network communication controller uses the NTCIP agreement to carry out network communication: described CAN communication controller is by eCAN control module, optical coupling isolator, the CAN control unit interface constitutes, and described CAN communication controller uses the CAN agreement to carry out carrying out data communication or carrying out data acquisition with the sensor of being with the CAN interface with the device of band CAN interface;

It is the chip of TMS320F2812 that described digital signal processor DSP adopts model;

Also comprise a complex programmable logic device (CPLD) that is connected with described digital signal processor DSP, described complex programmable logic device (CPLD) comprises read-write control module, sensor passage selection module, sensor signal processing module, peripheral unit control module, matrix keyboard control module, LCD display control module, wherein:

Described read-write control module, the read-write sequence of used address bus, data bus and control bus control when being used for exchanges data between described complex programmable logic device (CPLD) and the described digital signal processor DSP is finished data transmission between described CPLD and the DSP according to data line, address wire and read-write and sheet selected control system signal;

Described sensor passage is selected module, is used for carrying out according to the instruction of described digital signal processor DSP the passage switching of sensor dynamic restructuring;

Described sensor signal processing module is used for that described sensor input data are carried out self-adapting data and handles;

Described peripheral unit control module is used to expand the address decoding and the sheet selected control system of peripherals;

Described matrix keyboard control module is used to judge the key assignments of button and described key assignments is inputed to described digital signal processor DSP by data line;

Described LCD display control module is used for the sequential control of LCD LCD, and transmits data content to be shown to LCD display.

2. multi-sensor access device according to claim 1, it is characterized in that: it is the chip of EPM1270T144C5N that wherein said CPLD adopts model, the sensor signal processing module that described CPLD comprises comprises timer, counter, result register and interrupt control register, wherein:

Described timer is used for producing the self-adaptation timing cycle with external timing signal as time reference;

Described counter is used for the number of pulses that the record sensor is imported in described self-adaptation timing cycle;

Described result register is used to write down the count results of described counter;

Described interrupt control register is used to store the interrupt type that sends interruption.

3. multi-sensor access device according to claim 2 is characterized in that: the sensor passage that wherein said CPLD comprises selects module to comprise channel selecting control register and MUX, wherein:

Described channel selecting control register is used to store the data of the restructural access way of sending from described digital signal processor DSP;

Described MUX is used for determining according to the data of described channel selecting control register the break-make on each road.

4. multi-sensor access device according to claim 3, it is characterized in that: wherein the signal of electric current output transducer is imported described CPLD through current-voltage conversion circuit, voltage-frequency conversion circuit, the signal of voltage output transducer is imported described CPLD through the voltage-frequency conversion circuit with signal, and the signal of switching value output transducer is imported described CPLD through level-conversion circuit; Described CPLD also is connected with keyboard circuit and liquid crystal display circuit.

5. adopt the data transmission method of the arbitrary described multi-sensor access device of claim 1-4, this method inserts described digital signal processor DSP with sensor input signal through CLPD and/or CAN communication controller and/or signal conditioning circuit, and the data network of handling is transferred to the traffic control central computer by network communication controller, it is characterized in that: this method is carried out following steps:

Step 1, the device initialization comprises DSP initialization, network communication controller initialization, the initialization of CAN controller, peripheral chip initialization;

Step 2, described DSP receives the order that the traffic control central computer sends by described network communication controller, resolves this order, whether carries out sensor data acquisition, if then change next step over to; Otherwise, send query messages or wait to the traffic control central computer;

Step 3, bus is carried out data transmission if the order of traffic control central computer is indication CAN, then starts described CAN communication controller and carries out data transmission; If carry out direct data capture, then start described complex programmable logic device (CPLD) and described signal conditioning circuit image data;

Step 4, DSP receives and keeps in the data after CPLD handles, the temporary data that are directly inputted into DSP of data, DSP that DSP received and kept in the CAN bus, checks whether memory span is full, if then clear up internal memory, and changes step 6 over to; Otherwise continue operation;

Step 5 is carried out the multi-source data fusion treatment, and the storage fusion results;

Step 6 is carried out data transmission by described network communication controller to the traffic control central computer according to the order of traffic control central computer;

Step 7 turns back to step 2, waits for data acquisition process next time.

6. method according to claim 5 is characterized in that: wherein said sensor is a coil pickoff, and the step of described digital signal processor DSP data processing is as follows:

Step 1: read sampling time value, sampling position, the time segment value k, sampling period T _i

Step 2: n the corresponding moment in the k period read in the data on flows Q that coil pickoff detects _iI=1 ..., n calculates the average discharge Q of k period _k

Step 4: computing time occupation rate O _iI=1 ..., n calculates occupation rate O averaging time of k period _k

Step 5: store k period average discharge, average occupancy, collecting location, collection period;

Step 6:k=k+1 changes step 1 over to.

7. method according to claim 5 is characterized in that: wherein said sensor is the geomagnetic sensor of coil pickoff and band CAN interface, and described digital signal processor DSP is carried out the multi-source data fusion treatment, and step is as follows:

Step 1: initialization highway section parameter is provided with flow rate μ, segment value k, period T, sampling period T when reading _i, green time g _k, tolerance δ;

Step 2: from average discharge and the occupation rate data of coil data read k period

(1) reads in the data on flows that data on flows that coil pickoff detects detects the n of k period the corresponding moment;

Q _iI=1 ..., n; Calculate the average discharge Q of k period _k

(2) computing time occupation rate O _iI=1 ..., n; Calculate occupation rate O averaging time of k period _k

(3) storage k period average discharge, average occupancy, collection period;

Step 3: from the coil number queuing time in highway section according to estimates, its method is:

(1) reads k period coil data on flows Q from coil pickoff _kWith occupation rate data O _k

(2) calculate average vehicle of k period and sail rate λ into _k, roll rate μ away from _k

Neat Markov queuing model is estimated queuing time when (3) adopting segmentation, and the calculating queuing time is T _q(k);

Step 4: obtain average queue length from the geomagnetic type sensor of band CAN interface, its method is

(1) k period n the corresponding moment, reads in the vehicle data D that m geomagnetic sensor being with the CAN interface is captured in i sampling period from the CAN interface i sampling period ₁(i), D ₂(i) ..., D _m(i) i=1 ..., n; Regulation is numbered m near the geomagnetic sensor at crossing, is numbered 1 apart from crossing geomagnetic sensor farthest;

(2) queue length in i sampling period of calculating is from m data D _m(i) beginning is to D ₁(i) direction search searches first D _j(i)=0 data, then queue length is the length l (i) from j geomagnetic sensor to the crossing;

(3) the average queue length L of calculating k period _k

Step 5: obtain the distribution of flow in the highway section from the geomagnetic type sensor of coil pickoff and band CAN interface:

(1) in the k period, i sampling period read data on flows from coil pickoff, i=1 wherein, and 2 ..., n,

Calculate its flow average and variance,

K period flow average is Q _k,

K period flow standard difference S _Q(k),

In the k period, i sampling period read vehicle data from m geomagnetic sensor, i=1 wherein, and 2 ..., n calculates flow average and variance that each geomagnetic sensor detects;

(2) constitute the flow distribution in whole highway section by coil pickoff and m geomagnetic sensor

K period flow is at the distribution [Q in highway section _k, D ₁ ^k..., D _m ^k]

K period flow standard difference is in the distribution in highway section

Step 6 does not finish then k=k+1 if calculate, and changes step 1 over to; Otherwise change step 7 over to;

Step 7 finishes and returns.

8. method according to claim 5 is characterized in that: wherein said CAN communication controller is carried out following steps:

A, transmission flow

Step 1, described DSP of initialization and eCAN module thereof comprise:

(1) enable CAN module clock,

(2) CANTX and CANRX are set as CAN communication pin,

(3) configuration bit time configuration register CANBTC,

(4) configuration receives mask register CANGAM,

(5) configuration main control register CANMC,

(6) all positions of removing message control register MSGCTRLn;

Step 2 configuration sends mailbox, comprising:

(1) corresponding position among the clear to send request set register CANTRS;

(2) remove corresponding position among the mailbox enable register CANME, shielding mailbox;

(3) the message flag symbol register MSGID of loading mailbox;

(4) write data length is to the data length code DLC district of message control zone register MSGCTRL;

(5) corresponding position is set among the mailbox enable register CANME and enables mailbox.

Step 3 sends message, comprising:

(1) writes message to the corresponding data field that sends mailbox;

(2) the corresponding marker bit initiation message being set in sending request register CANTRS sends;

(3) etc. corresponding mailbox sends the set of response zone bit among the response register CANTA to be sent;

(4) after successfully transmission or termination send, module will send should be mutually of request set register CANTRS and reset; Step 4 sends and finishes, and returns and calls the place;

B, reception flow process

Described DSP of step 1 initialization and eCAN module thereof comprise:

(1) enable CAN module clock,

(2) CANTX and CANRX are set as CAN communication pin,

(3) configuration bit time configuration register CANBTC,

(4) configuration receives mask register CANGAM,

(5) configuration main control register CANMC;

(6) all positions of removing message control register MSGCTRLn;

Step 2 configuration receives mailbox, comprising:

(1) corresponding positions among the removing mailbox enable register CANME, the shielding mailbox;

(2) write identifier to corresponding message flag register MSGID;

(3) if the reception mask register enable bit AME of message flag register MSGID puts 1, then corresponding the reception shields and must be configured;

(4) mailbox direction register CANMD is set, corresponding mailbox configurations position is received mailbox;

(5), need be configured coverage control register CANOPC if data are protected in the mailbox;

(6) corresponding positions among the mailbox enable register CANME is set, enables mailbox;

Step 3 receives message

Inquire about the corresponding positions RMPx that the reception message of corresponding mailbox correspondence hangs up among the register CANRMP and whether put 1, accept data and finish, do not finish as yet, continue inquiry otherwise receive if then show mailbox;

Step 4 receives and finishes, and returns and calls the place.

9. method according to claim 5 is characterized in that: wherein said network communication controller is carried out following steps:

Described DSP of step 1 initialization and Ethernet controller;

Step 2 detects whether there are the data of automatic network, if having then step 3, otherwise step 6;

Step 3 judges whether it is udp user datagram protocol, otherwise step 4; If then change the UDP handling procedure over to; Change step 5 after finishing over to;

Step 4 judges whether it is tcp transmission control protocol, otherwise step 6; If then program changes the TCP handling procedure over to, change step 5 over to after finishing;

Data after step 5 will be handled are sent into described DSP and are handled, and change step 2 over to after finishing;

Whether step 6DSP has the data that need transmission, then changes step 7 over to if having, otherwise changes step 2 over to;

If step 7 has and selects udp protocol, then handle according to udp protocol, data are sent to the traffic control central computer; Change step 2 then over to, otherwise change step 8 over to;

Whether step 8 is Transmission Control Protocol, if then handle according to Transmission Control Protocol, data is sent to the traffic control central computer, changes step 2 after the transmission over to, otherwise changes step 2 over to.

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