CN106056905B - Traffic control strategy hardware-in-loop simulation system and method based on multisensor - Google Patents
Traffic control strategy hardware-in-loop simulation system and method based on multisensor Download PDFInfo
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- CN106056905B CN106056905B CN201610473966.6A CN201610473966A CN106056905B CN 106056905 B CN106056905 B CN 106056905B CN 201610473966 A CN201610473966 A CN 201610473966A CN 106056905 B CN106056905 B CN 106056905B
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract
The invention discloses the traffic control strategy hardware-in-loop simulation system and methods based on multisensor, including data acquisition unit and hardware-in-loop simulation unit；Data acquisition unit includes RFID data acquisition module for obtaining information of vehicles and reaches information and by the loop coil data acquisition module of time for obtaining vehicle；Hardware-in-loop simulation unit includes Simulation Control module；Simulation Control module is connected with RFID data acquisition module, loop coil data acquisition module respectively, for reaching information to information of vehicles, vehicle and handling by the time, obtains simulation parameter；And simulation parameter is transferred in the simulation software of hardware-in-loop simulation unit；Simulation software emulates traffic signal control strategy according to simulation parameter, exports evaluation result.The present invention realizes the real-time acquisition of simulation parameter, reduces influence of the human intervention to simulation result, improves the accuracy of traffic simulation.
Description
Technical field
The present invention relates to technical field of traffic simulation, more particularly to the traffic control strategy hardware in loop based on multisensor
Analogue system and method.
Background technique
With the growth of population, the increase of vehicle, people, vehicle, the contradiction on road are more prominent, and urban intersection is as city road
The key node of road traffic, intersection traffic control strategy become the hot spot of numerous scholars research.In order to more efficiently right
Traffic control strategy is tested, and existing scholar proposes the hardware-in-loop simulation system applied to traffic controlling machine.This system
Using signal conversion equipment as bridge, solves the mode that traffic controlling machine and simulation software respectively work independently, realize profession
Traffic simulation software simulates traffic controlling machine timing scheme in real time；However, the emulation based on conventional hardware assemblage on-orbit system is joined
Number, such as class of vehicle, vehicle flowrate, speed are all that simulation software is input in a manner of manually calculating, and simulation result is artificial
It is affected, therefore accuracy is low.
Summary of the invention
Aiming at the shortcomings existing in the above problems, the present invention provides the traffic control strategy hardware based on multisensor
Assemblage on-orbit system and method.
To achieve the above object, the present invention provides a kind of traffic control strategy hardware-in-loop simulation system based on multisensor
System, including data acquisition unit and hardware-in-loop simulation unit；
The data acquisition unit includes RFID data acquisition module and loop coil data acquisition module, the RFID number
According to acquisition module for obtaining information of vehicles, the information of vehicles includes vehicle corresponding to car number and the car number
Classification；The loop coil data acquisition module reaches information and by the time for obtaining vehicle；
The hardware-in-loop simulation unit includes Simulation Control module；The Simulation Control module respectively with the RFID number
It is connected according to acquisition module, loop coil data acquisition module, for reaching information to information of vehicles, vehicle and being carried out by the time
Processing, obtains simulation parameter, and the simulation parameter is transferred in the simulation software of hardware-in-loop simulation unit；Simulation software
Traffic signal control strategy is emulated according to simulation parameter, exports evaluation result；The simulation parameter include class of vehicle,
Vehicle flowrate and speed.
As a further improvement of the present invention, the RFID data acquisition module includes vehicle tag, reader, master control borad
With first serial server；
Record has information of vehicles in the vehicle tag；
The reader is connected with the vehicle tag, master control borad respectively, for reading the information of vehicles in vehicle tag,
And information of vehicles is transferred to the master control borad；
The master control borad is connected by first serial server with the Simulation Control module, the vehicle letter for will acquire
Breath is transferred to Simulation Control module.
As a further improvement of the present invention, the loop coil data acquisition module includes loop coil, loop coil
Wagon detector and second serial server；
The loop coil when the vehicle passes by can occurrence frequency variation；
The Loop Vehicle Detector is connected with the loop coil, by detect loop coil frequency variation come
It obtains vehicle to reach information and pass through the time, described by the time includes that vehicle enters the time of loop coil and vehicle leaves ring
The time of shape coil；
The Loop Vehicle Detector is connected by second serial server with the Simulation Control module, and being used for will
The vehicle of acquisition reaches information and gives Simulation Control module by time tranfer.
As a further improvement of the present invention, the hardware-in-loop simulation unit further includes traffic signal controlling machine, signal
Conversion equipment and emulation module with simulation software；
The traffic signal controlling machine is for setting traffic signal control strategy；
The Simulation Control module is connected with the traffic signal controlling machine, emulation module respectively, is used for traffic signals
Control strategy and obtained simulation parameter are transmitted to emulation module；
Simulation software in the emulation module emulates traffic signal control strategy according to simulation parameter, and exports
Evaluation result；
The emulation module is connected by signal conversion equipment with the traffic signal controlling machine, and emulation module passes through signal
Vehicle arrival information is transmitted to traffic signal controlling machine by conversion equipment.
As a further improvement of the present invention, the class of vehicle includes cart, middle vehicle, trolley and bus.
The traffic control strategy hardware-in-loop simulation method based on multisensor that the present invention also provides a kind of, including：
Step 1, Simulation Control module receive the information of vehicles that RFID data acquisition module obtains, and the information of vehicles includes
Class of vehicle corresponding to car number and the car number；
When step 2, Simulation Control module receive the vehicle arrival information that loop coil data acquisition module obtains and pass through
Between；
Step 3, Simulation Control module reach information to information of vehicles, vehicle and handle by the time, are emulated
Parameter, the simulation parameter include class of vehicle, vehicle flowrate and speed；
Step 4, hardware-in-loop simulation unit simulation software traffic signal control strategy is imitated according to simulation parameter
Very, evaluation result is exported.
As a further improvement of the present invention, the step 1 includes：
Step 1-1, reader reads the information of vehicles in vehicle tag, and sends master control borad for information of vehicles；
Step 1-2, received all information of vehicles are sent first serial server by master control borad；
Step 1-3, first serial server sends all information of vehicles to the emulation control in hardware-in-loop simulation unit
In molding block.
As a further improvement of the present invention, the step 2 includes：
Step 2-1, Loop Vehicle Detector detection loop coil frequency variation come obtain vehicle reach information and
By the time, it is described by the time be vehicle leave loop coil time and vehicle enter loop coil time difference；
Step 2-2, the vehicle that Loop Vehicle Detector will acquire reaches information and is sent to the second string by the time
Mouth server；
Step 2-3, vehicle is reached information and is sent to hardware-in-loop simulation unit by the time by second serial server
In Simulation Control module in.
As a further improvement of the present invention, in the simulation parameter vehicle flowrate be different vehicle classification vehicle flowrate,
Calculation formula is：
In formula：Q is vehicle flowrate, veh/h；N is the number for detecting the vehicle under certain class of vehicle in period of time T and passing through
Mesh.
As a further improvement of the present invention, speed is the flat of all vehicles under different vehicle classification in the simulation parameter
Equal speed, calculation method are：
First acquire the instantaneous velocity of each vehicle under a certain class of vehicle：
In formula：viFor automobile's instant velocity, m/s；L be loop coil and vehicle length and, m；t1Loop coil is left for vehicle
Time, s；t0Enter the time of loop coil, s for vehicle；
Then the average speed for seeking all vehicles under the class of vehicle is speed in simulation parameter：
In formula：V is speed, m/s；Q is vehicle flowrate, veh/h.
Compared with prior art, beneficial effects of the present invention are：
Traffic control strategy hardware-in-loop simulation system and method disclosed by the invention based on multisensor, utilizes RFID
Data acquisition module and loop coil data acquisition module have the characteristics that obtain data in real time, realizes the real-time of simulation parameter
It obtains, reduces influence of the human intervention to simulation result, improve the accuracy of traffic simulation, the stabilization of analogue system is well.
Detailed description of the invention
Fig. 1 is the traffic control strategy hardware-in-loop simulation system based on multisensor disclosed in an embodiment of the present invention
Frame diagram；
Fig. 2 is the frame diagram of RFID data acquisition module in Fig. 1；
Fig. 3 is the frame diagram of annular loop data acquisition module in Fig. 1；
Fig. 4 is the frame diagram of hardware-in-loop simulation unit in Fig. 1.
In figure：
1, data acquisition unit；2, hardware-in-loop simulation unit；3, RFID data acquisition module；3-1, vehicle tag；3-
2, reader；3-3, master control borad；3-4, first serial server；4, loop coil data acquisition module；4-1, loop coil；4-
2, Loop Vehicle Detector；4-3, second serial server；5, Simulation Control module；6, traffic signal controlling machine；7, it imitates
True module；8, signal conversion equipment.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The present invention is described in further detail with reference to the accompanying drawing：
In order to overcome the human intervention of simulation parameter, the problems such as simulation result accuracy is low, the present invention is by RFID, toroid
Circle detection technique is applied in hardware-in-loop simulation system, acquires class of vehicle, vehicle flowrate, vehicle speed data in real time, and pass through string
Mouth server transmits data to host computer, and host computer is hardware-in-loop simulation unit, finally carries out Statistics Division in host computer
Reason, is transmitted to simulation software as simulation parameter in the form of com interface.
Embodiment 1：As shown in Figs 1-4, the present invention provides a kind of traffic control strategy hardware in loop based on multisensor
Analogue system is collectively constituted by data acquisition unit 1 and hardware-in-loop simulation unit 2, wherein data acquisition unit 1 includes
RFID data acquisition module 3 based on RFID location technology and the loop coil data acquisition module based on Data mining technology
Block 4, RFID data acquisition module 3 include that car number and the car number are right for obtaining information of vehicles, information of vehicles
The class of vehicle answered；Loop coil data acquisition module 4 reaches information and by the time for obtaining vehicle；Hardware-in-loop simulation
Unit 2 includes Simulation Control module 5, and Simulation Control module 5 is acquired with RFID data acquisition module 3, loop coil data respectively
Module 4 is connected, and for reaching information to information of vehicles, vehicle and handling by the time, obtains simulation parameter；And it will emulation
Parameter is transferred in the simulation software of hardware-in-loop simulation unit 2, and simulation software is according to simulation parameter to traffic signalization plan
It is slightly emulated, exports evaluation result；Simulation parameter includes class of vehicle, vehicle flowrate and speed.
As shown in Fig. 2, RFID data acquisition module 3 of the invention is integrated with vehicle tag 3-1, reader 3-2, master control borad
3-3, first serial server 3-4；Wherein：
Vehicle tag 3-1 is a kind of equipment that can record information of vehicles, has recorded car number in vehicle tag 3-1, is led to
Other identity informations of class of vehicle and vehicle can be uniquely determined by crossing car number, judge the vehicle category by car number
Any class of vehicle in cart, middle vehicle, trolley and bus；The vehicle tag is attached on the chassis of vehicle, and each
Vehicle corresponds to a vehicle tag；
Reader 3-2 is connected with vehicle tag 3-1, and the effect of reader 3-2 is to obtain vehicle tag 3-1 content, i.e. vehicle
Information；Reader 3-2 use TTL232 serial communication protocol, reader 3-2 be placed below vehicle operation platform (if one
Operation platform has two loops, then the inlet and outlet of loop are equipped with reader inside and outside), whenever posting vehicle tag 3-
When 1 vehicle passes through reader 3-2, reader 3-2 can read the car number inside vehicle tag, be obtained according to car number
The class of vehicle of the vehicle；
Master control borad 3-3 is connected with reader 3-2, and master control borad 3-3 can be connected with multiple reader 3-2 simultaneously, master control borad
3-3 can at most receive the information of ten reader 3-2 transmission, under normal conditions four reader 3-2 of master control borad 3-3 connection,
Its communication interface is RS232.The effect of master control borad 3-3 is the information of vehicles for receiving reader 3-2 transmission, and information of vehicles includes vehicle
Number and the vehicle label corresponding to class of vehicle；Master control borad 3-3 can also count the information of vehicles of transmission simultaneously
According to processing, automatic identification location information comes out the data of the same vehicle tag transmission after different master control borad processing
Data it is different, can thus distinguish the location information of vehicle, the position of real-time monitoring vehicle.
When only needing to transmit class of vehicle, first serial server 3-4 respectively with master control borad 3-3, Simulation Control module 5
It is connected；First serial server 3-4 provides the function that serial ports turns network interface, can be vehicle after master control borad 3-3 receives information of vehicles
Information is transferred to first serial server 3-4 with serial port form (RS232 agreement), and first serial server 3-4 is RS232 serial ports
TCP network interface is converted to, the Simulation Control module of hardware-in-loop simulation unit 2 (host computer) is finally transferred in the form of network interface
5。
When simultaneously need to transmit the position of class of vehicle and real-time monitoring vehicle when, first serial server 3-4 respectively with
Controller, Simulation Control module 5 are connected, and controller is connected with master control borad 3-3.Wherein, controller can receive most ten simultaneously
Information of vehicles is transferred to controller first by the data of master control borad 3-3, all master control borad 3-3, wherein considering transmission range
Farther out, so using RS485 agreement, guarantee that master control borad 3-3 stablizes transmission to controller.First serial server 3-4 is provided
Serial ports turns the function of network interface, can be information of vehicles with serial port form (RS232 agreement) transmission after controller receives information of vehicles
First serial server 3-4 is given, RS232 serial ports is converted to TCP network interface by first serial server 3-4, finally with network interface
Form is transferred to the Simulation Control module 5 of hardware-in-loop simulation unit 2 (host computer).
Further, RFID data acquisition module 3 of the invention obtains class of vehicle information using RFID location technology.Wherein
Vehicle tag is adopted as the adhesive sticker circular tag of radius 1.5cm, working frequency 13.56MHZ, agreement 14443A, transmission
Data are 16 systems；Reader is size 4cm*6cm (width × length), and interface is that 3.3V powers, 232 serial communication of TTL,
The information of the acceptable non-contact class vehicle tag of ISO14443A standard；Communication port is RS232,9 needle communication ports on master control borad；Control
There are ten grooves for connecting the data received on 10 master control borads, operating voltage 5V in device setting processed；First serial service
The serial ports type of device is RS-232, and Ethernet interface is that 10/100M is adaptive, polarity identification (MDI/MDI-X).
As shown in figure 3, loop coil data acquisition module 4 of the invention is integrated with loop coil 4-1, loop coil vehicle
Detector 4-2, second serial server 4-3；Wherein：
Loop coil 4-1 is inductance element made of being fired as a few circle metal wires, is embedded in conduct under vehicle operation platform
The sensor of Loop Vehicle Detector 4-2, using inductive coupling principles, when vehicle passes through, loop coil 4-1 can occur
Frequency variation；Frequency, which is detected, by LC oscillating circuit achievees the purpose that vehicle detection；
Loop Vehicle Detector 4-2 is connected with loop coil 4-1, and the frequency by detecting loop coil 4-1 changes
To obtain, vehicle reaches information and by the time, it is the number that calculating vehicle passes through loop coil that vehicle, which reaches information, after being used for
The calculating of continuous vehicle flowrate；It include the time t that vehicle enters loop coil by the time0And vehicle leaves the time t of loop coil1,
It is t by the time1With t0Difference.Wherein, Loop Vehicle Detector 4-2 is a kind of detection based on electromagnetic induction principle
Device, it can be detected metal and pass through generated frequency variation when loop coil by the measurement to internal oscillating circuit frequency,
And then it is detected for road vehicle.When vehicle enters loop coil 4-1, Loop Vehicle Detector 4-2 exports high level, vehicle
When leaving loop coil 4-1, Loop Vehicle Detector 4-2 exports low level, and communications protocol uses RS232.
Second serial server 4-3 is connected with Loop Vehicle Detector 4-2, and second serial server 4-3 provides string
Mouth turns the function of network interface, and Loop Vehicle Detector 4-2 can (vehicle reaches information, vehicle enters loop coil data
Time t0And vehicle leaves the time t of loop coil1) second serial server 4-3 is transferred to serial port form (RS232 agreement),
RS232 serial ports is converted to TCP network interface by second serial server 4-3, and it is imitative that hardware in loop is finally transferred in the form of network interface
The Simulation Control module 5 of true unit 2 (host computer).
Further, loop coil data acquisition module 4 of the invention is obtained using Data mining technology and calculates wagon flow
Data needed for amount, speed.Wherein Loop Vehicle Detector is that binary channels tests the speed wagon detector, and sensitivity is
0.02%-1.04%, frequency range are：30KHz-160KHz, response time are 16ms ± 1ms.
As shown in figure 4, hardware-in-loop simulation unit 2 of the invention include Simulation Control module 5, traffic signal controlling machine 6,
Emulation module 7 and signal conversion equipment 8；Wherein：
Traffic signal controlling machine 6 has respectively not for setting traffic signal control strategy, different traffic signal controlling machines 6
Same communication protocol for being communicated with the emulation module 7 with simulation software, therefore can use communication protocol and realize friendship
Messenger controls the control strategy between machine 6 and simulation software and transmits.
Simulation Control module 5 is connected with traffic signal controlling machine 6, emulation module 7 respectively；Simulation Control module 5 refers to fortune
Data communication and data processing system of the row on hardware-in-loop simulation unit 2 (host computer).It is responsible for traffic signal controlling machine 6 to set
The upload of fixed traffic signal control strategy is downloaded and processing is acquired from RFID data acquisition module 3 and loop coil data
The data that module 4 acquires, computer sim- ulation parameter, simulation parameter includes class of vehicle, vehicle flowrate, speed.
Simulation software in emulation module emulates traffic signal control strategy according to simulation parameter, and exports evaluation
As a result；Simulation software in emulation module 7 is mainly used for providing simulated roadway and wagon flow, provides the function of evaluation effect, itself
Any traffic control logic function is not provided, and the signal lamp state for being used for signal control is programmed by com interface, from friendship
Messenger control generator terminal obtains in real time, to realize the real-time simulation of hardware in loop.
Emulation module 7 is connected by signal conversion equipment with 8 traffic signal controlling machines 6, and emulation module is converted by signal
Vehicle arrival information is transmitted to traffic signal controlling machine by equipment.Wherein, signal conversion equipment 8 is for realizing virtual signal and electricity
Conversion between ordinary mail number is the key equipment for connecting traffic signal controlling machine 6 and simulation software.Virtual detection in simulation software
The detection signal that device generates is transferred in traffic signal controlling machine 6 by signal conversion equipment 8, realizes traffic signal control strategy
Adjustment.
Further, hardware-in-loop simulation unit 2 of the invention operates in simulation software on windows7 platform and uses
VISSIM5, VISSIM simulation software are a kind of simulation modeling tools based on time interval and driving behavior, can establish road
Environment and traffic environment, and a variety of evaluation results of output phase after emulation, VISSIM software can carry out COM programming, can
Interface is provided for the control strategy input of traffic signal controlling machine.
Embodiment 2：The present invention provides a kind of traffic control strategy hardware-in-loop simulation method based on multisensor, packet
It includes：
Step 1, setting cycle of operation T (min)；Simulating vehicle operation is carried out, simulation trolley is placed in training platform
Vehicle driving is carried out on road.
Step 2, Simulation Control module receive the information of vehicles that RFID position data collecting module obtains, and information of vehicles includes
Class of vehicle corresponding to car number, car number and/or location information, to identify class of vehicle；It specifically includes：
Step 2-1, reader reads the information of vehicles in vehicle tag, and sends master control borad for information of vehicles；
Step 2-2, received all information of vehicles are sent first serial server by master control borad；
Step 2-3, first serial server sends all information of vehicles to the emulation control in hardware-in-loop simulation unit
In molding block.
Step 3, Simulation Control module receive Data mining data acquisition module obtain vehicle arrival information and
Vehicle passes through the time of sensor operation；It specifically includes：
Step 3-1, Loop Vehicle Detector detection loop coil frequency variation come obtain vehicle reach information and
By the time, by the time be vehicle leave loop coil time and vehicle enter loop coil time difference；
Step 3-2, the vehicle that Loop Vehicle Detector will acquire reaches information and is sent to the second string by the time
Mouth server；
Step 3-3, vehicle is reached information and is sent to hardware-in-loop simulation unit by the time by second serial server
In Simulation Control module in.
Step 4 calculates automobile's instant velocity by the time according to vehicle：Automobile's instant velocity refers to that vehicle passes through the speed of loop coil
Degree, automobile's instant velocity calculation formula are as follows：
Wherein viFor automobile's instant velocity, unit m/s；L be loop coil and vehicle length and, unit m；t1For vehicle
Leave the time of loop coil, unit s；t0Enter the time of loop coil, unit s for vehicle.
The cycle of operation T of step 5, the runing time t for comparing vehicle and setting, as t < T, then return step 2 continues to follow
Ring；As t >=T, then step 6 is skipped to.
Step 6, the vehicle flowrate for calculating different vehicle classification：Vehicle flowrate in simulation parameter refers to vehicle flowrate hourly,
The experiment porch of this system, which is assumed to detect in period of time T (min) in statistical vehicle flowrate, N amount vehicle warp under certain class of vehicle
It crosses, vehicle flowrate q can be calculate by the following formula：
Step 7, the speed for calculating different vehicle classification：The speed of simulation parameter refers to all vehicles under a certain class of vehicle
Average speed, average speed v calculation formula is as follows：
The simulation parameter of calculating is transmitted to simulation software by step 8 in a manner of interface programming, and simulation software is according to emulation
Parameter emulates traffic signal control strategy；The transmitting of class of vehicle, vehicle flowrate, speed parameter is provided by VISSIM
Com interface complete, wherein in VISSIM com interface TrafficComposition object set_AttValue () side
Class of vehicle is arranged in method；Vehicle flowrate is arranged in the set_AttValue () method of VehicleInput object；
Speed is arranged in the set_AttValue () method of DesiredSpeedDecision object.
Step 9, output evaluation result.
Traffic control strategy hardware-in-loop simulation system and method disclosed by the invention based on multisensor, using being based on
The RFID data acquisition module of RFID location technology and based on Data mining technology loop coil data acquisition module tool
There is the characteristics of obtaining data in real time, realize the real-time acquisition of simulation parameter, reduce influence of the human intervention to simulation result,
The accuracy of traffic simulation is improved, the stabilization of analogue system is well.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of traffic control strategy hardware-in-loop simulation system based on multisensor, which is characterized in that acquired including data
Unit and hardware-in-loop simulation unit；
The data acquisition unit includes RFID data acquisition module and loop coil data acquisition module, and the RFID data is adopted
For collection module for obtaining information of vehicles, the information of vehicles includes vehicle class corresponding to car number and the car number
Not；The loop coil data acquisition module reaches information and by the time for obtaining vehicle；
The hardware-in-loop simulation unit includes Simulation Control module；The Simulation Control module is adopted with the RFID data respectively
It is connected to collect module, loop coil data acquisition module, for reaching information to information of vehicles, vehicle and by the time
Reason, obtains simulation parameter, and the simulation parameter is transferred in the simulation software of hardware-in-loop simulation unit；Simulation software root
Traffic signal control strategy is emulated according to simulation parameter, exports evaluation result；The simulation parameter includes class of vehicle, vehicle
Flow and speed；The average speed that vehicle flowrate is the vehicle flowrate of different vehicle classification, speed is all vehicles under different vehicle classification
Degree.
2. the traffic control strategy hardware-in-loop simulation system based on multisensor as described in claim 1, which is characterized in that
The RFID data acquisition module includes vehicle tag, reader, master control borad and first serial server；
Record has information of vehicles in the vehicle tag；
The reader is connected with the vehicle tag, master control borad respectively, for reading the information of vehicles in vehicle tag, and will
Information of vehicles is transferred to the master control borad；
The master control borad is connected by first serial server with the Simulation Control module, and the information of vehicles for will acquire passes
It is defeated by Simulation Control module.
3. the traffic control strategy hardware-in-loop simulation system based on multisensor as described in claim 1, which is characterized in that
The loop coil data acquisition module includes loop coil, Loop Vehicle Detector and second serial server；
The loop coil when the vehicle passes by can occurrence frequency variation；
The Loop Vehicle Detector is connected with the loop coil, is obtained by detecting the frequency variation of loop coil
Vehicle reaches information and passes through the time, and described by the time includes that vehicle enters the time of loop coil and vehicle leaves toroid
The time of circle；
The Loop Vehicle Detector is connected by second serial server with the Simulation Control module, for will acquire
Vehicle reach information and give Simulation Control module by time tranfer.
4. the traffic control strategy hardware-in-loop simulation system based on multisensor as described in claim 1, which is characterized in that
The hardware-in-loop simulation unit further includes traffic signal controlling machine, signal conversion equipment and the emulation mould with simulation software
Block；
The traffic signal controlling machine is for setting traffic signal control strategy；
The Simulation Control module is connected with the traffic signal controlling machine, emulation module respectively, is used for traffic signalization
Strategy and obtained simulation parameter are transmitted to emulation module；
Simulation software in the emulation module emulates traffic signal control strategy according to simulation parameter, and exports evaluation
As a result；
The emulation module is connected by signal conversion equipment with the traffic signal controlling machine, and emulation module is converted by signal
Vehicle arrival information is transmitted to traffic signal controlling machine by equipment.
5. the traffic control strategy hardware-in-loop simulation system based on multisensor as described in claim 1, which is characterized in that
The class of vehicle includes cart, middle vehicle, trolley and bus.
6. a kind of traffic control strategy hardware-in-loop simulation system according to any one of claims 1 to 5 based on multisensor
The emulation mode of system, which is characterized in that including：
Step 1, Simulation Control module receive the information of vehicles that RFID data acquisition module obtains, and the information of vehicles includes vehicle
Class of vehicle corresponding to number and the car number；
Step 2, Simulation Control module receive the vehicle that loop coil data acquisition module obtains and reach information and pass through the time；
Step 3, Simulation Control module reach information to information of vehicles, vehicle and handle by the time, obtain simulation parameter,
The simulation parameter includes class of vehicle, vehicle flowrate and speed；
Step 4, hardware-in-loop simulation unit simulation software traffic signal control strategy is emulated according to simulation parameter, it is defeated
Evaluation result out.
7. the emulation mode of the traffic control strategy hardware-in-loop simulation system based on multisensor as claimed in claim 6,
It is characterized in that, the step 1 includes：
Step 1-1, reader reads the information of vehicles in vehicle tag, and sends master control borad for information of vehicles；
Step 1-2, received all information of vehicles are sent first serial server by master control borad；
Step 1-3, first serial server sends all information of vehicles to the Simulation Control mould in hardware-in-loop simulation unit
In block.
8. the emulation mode of the traffic control strategy hardware-in-loop simulation system based on multisensor as claimed in claim 6,
It is characterized in that, the step 2 includes：
Step 2-1, the frequency variation of Loop Vehicle Detector detection loop coil reaches information and process to obtain vehicle
Time, it is described by the time be vehicle leave loop coil time and vehicle enter loop coil time difference；
Step 2-2, the vehicle that Loop Vehicle Detector will acquire reaches information and is sent to second serial clothes by the time
Business device；
Step 2-3, vehicle is reached information and is sent in hardware-in-loop simulation unit by the time by second serial server
In Simulation Control module.
9. the emulation mode of the traffic control strategy hardware-in-loop simulation system based on multisensor as claimed in claim 6,
It is characterized in that, vehicle flowrate is the vehicle flowrate of different vehicle classification in the simulation parameter, its calculation formula is：
In formula：Q is vehicle flowrate, veh/h；N is the number for detecting the vehicle under certain class of vehicle in period of time T and passing through.
10. the emulation mode of the traffic control strategy hardware-in-loop simulation system based on multisensor as claimed in claim 9,
It is characterized in that, speed is the average speed of all vehicles under different vehicle classification in the simulation parameter, calculation method is：
First acquire the instantaneous velocity of each vehicle under a certain class of vehicle：
In formula：viFor automobile's instant velocity, m/s；L be loop coil and vehicle length and, m；t1For vehicle leave loop coil when
Between, s；t0Enter the time of loop coil, s for vehicle；
Then the average speed for seeking all vehicles under the class of vehicle is speed in simulation parameter：
In formula：V is speed, m/s；Q is vehicle flowrate, veh/h.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610473966.6A CN106056905B (en) | 2016-06-24 | 2016-06-24 | Traffic control strategy hardware-in-loop simulation system and method based on multisensor |
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