CN107274700B - Multi-source information acquisition method and device under cooperative vehicle and road environment - Google Patents
Multi-source information acquisition method and device under cooperative vehicle and road environment Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
Abstract
The invention provides a multi-source information acquisition method and device under a vehicle-road cooperative environment, which are used for respectively acquiring vehicle running conditions and roadside traffic equipment running information and transmitting instructions and data through a vehicle-road communication device, so that the vehicle running conditions and the traffic states are comprehensively acquired. The automobile running condition mainly comprises vehicle state diagnosis and driving behavior analysis based on the original data of the vehicle-mounted bus interface, and the analysis method combines the historical data of the vehicle, other vehicle data near a positioning point and roadside information, so that the judgment precision is improved; the traffic condition comprises multi-source information of the road side signal machine and the intelligent device, and based on the data depth fusion of the vehicle-mounted terminal and the road side terminal, the road side terminal automatically collects and summarizes data of the vehicle-mounted terminal in operation according to a designed method.
Description
Technical field
The invention belongs to information fusion/Traffic Evaluation fields, and in particular to one kind can acquire vehicle operation by OBD interface
The mobile unit of floor data, and by bus or train route communication module by data be uploaded to roadside device carry out Traffic Evaluation method with
Device.
Background technique
Becoming increasingly conspicuous for traffic jam issue seriously constrains the development in city, due to the city road of morning and evening peak period
Net is often in hypersaturated state, and Vehicle emission inconvenience becomes a great problem of puzzlement resident living.However there is result of study
Show that the traffic capacity of city road network at present still has biggish Improvement, in addition to unreasonable roading and signal lamp are matched
When outside, it is also to cause road utilization efficiency not high that traffic control department and driver, which are short in understanding for the instant situation of Regional Road Network,
One main cause.If real-time traffic condition and emergency event can be accurately detected to induce traffic flow, the fortune of road network
Line efficiency can be promoted, but much the traffic dispersion application study based on Vehicle Detection data is all pre- without obtaining at present
The effect of phase.Its main cause has two o'clock: first is that limited by technical conditions and cost, it is this using external detector as data source
The data class that can provide of scheme it is more single, its examined precision influences big, it is difficult to restore complicated original traffic state；Two
It is that the scene that is much considered by means of the research achievement that obtains under traffic simulation software is too simple, not with actual traffic situation
Symbol, it is seen then that find a kind of more reliable, the higher traffic data detection of reduction degree and traffic behavior evaluation method be very it is necessary to
's.
At the same time, with the deep development of car networking technology, vehicle and smart machine on road network will pass through wireless network
Sharing information, synthetic operation, more and more traffic datas will be mined out to improve traffic circulation efficiency network each other.It is true
On, vehicle is inherently equipped with a large amount of sensor, and Various types of data is applied to detection vehicle-state, guarantee driving safety or intelligence
Auxiliary drive, and in these detection datas greatly can by onboard diagnostic system (On-Board Diagnostic,
OBD) interface provided obtains, and after calculating, these data can be converted into some statistics in Traffic Evaluation, such as stops
Number, hourage etc., data precision and real-time have been greatly improved compared with existing detection means, if it is possible to section
Vehicle data in upper certain time is summarised in carries out evaluation analysis together, will greatly improve the precision of traffic evaluation method.
Traffic detector is one of the chief component of freeway traffic regulation and control system, is telecommunication flow information
Acquisition equipment.It by data acquisition and the modes such as equipment monitor, detected in real time on road the volume of traffic, car speed,
The various traffic parameters such as vehicle density and vehicle occupancy rate, these parameters are all timing calculating parameters needed for control system.
The data that detector detects are transmitted to local controller by communication system or are directly uploaded to monitoring center computer,
As monitoring center analysis, judgement, issues information and propose the main foundation of control program.Bus or train route collaboration is using advanced nothing
The technologies such as line communication and next generation internet, comprehensive implementation vehicle vehicle, bus or train route dynamic realtime information exchange, and believe in dynamic traffic
Breath acquisition with merge on the basis of carry out vehicle active safety control and road coordinated management, effective association of abundant realization people's bus or train route
Together, guarantee traffic safety, improve traffic efficiency, thus the safe and efficient and environmentally friendly road traffic system formed.Traffic Evaluation
Technology, which refers to, evaluates microcosmic travel condition of vehicle or macroscopic road network state according to related monitoring data, mainly includes data
It obtaining, data preparation, data compare, real-time status judgement and etc..Traffic behavior evaluation is to realize collected base
Plinth data are compared with a set traffic state judging standard after treatment, so that qualitative traffic condition is determined,
Differentiate reference frame when result can be used as traffic administration person's decision.
Existing Vehicle Detection technology, the data volume of fixed detector is on section and discontinuous, and same vehicle is two
Data on a crossing detector can not automatic matching, there are data processing difficulties when leading to that entire road network is analyzed and evaluated
The case where, and the detector service life is short, is easily damaged, and although traditional mobile detector such as Floating Car is capable of providing each
The complete path information of vehicle, but the data volume that can be provided is too small, and is easy to lose in GPS and the lower region of mobile network's precision
Lose data.Existing bus or train route coordination technique, since relevant criterion is not unified also, technology also needs further maturation, currently based on
The application study many places of the technology also lack corresponding service support in laboratory and checkout area stage accordingly, wherein
Maximum problem is equipment coverage rate and real-time communication, supports if covered without higher bus or train route cooperative device, just
It is difficult to make unified planning arrangement, and the singal reporting code of the prior art is for real-time collaborative control also certain difficulty.It is existing
Some vehicle behavior evaluations and road network state evaluation are often stabilization comfort and the section that vehicle is judged by external sensor
Congestion status, and the mode of this indirect acquisition data itself has certain error, and for influencing evaluation result
Vehicle and the processing of road network emergency event shortage, further cause the reduction of evaluation precision.
Summary of the invention
For the above the deficiencies in the prior art, the present invention provides a kind of, and the vehicle-mounted and trackside based on bus or train route Cooperative Mode is whole
End device acquires running conditions of vehicle and roadside device information respectively, and is melted by bus or train route communication device to two category informations
It closes, obtains final vehicle and evaluating pavement condition result.The present invention specifically adopts the following technical scheme that:
Step 1: trackside terminal opens active ad hoc network function, and actively the car-mounted terminal into communication range sends letter of shaking hands
Breath；
Step 2: car-mounted terminal turn-on data upload function, the start recording vehicle number after establishing bus or train route communication for the first time
According to be sent to corresponding trackside terminal at next crossing；
Step 3: when car-mounted terminal enters in the communication range at next crossing, setting up stable lead to trackside terminal
Letter connection；
Step 4: car-mounted terminal continues to send location information to trackside terminal, and trackside terminal judges vehicle-mounted according to location information
Whether vehicle locating for terminal closes on crossing, and trackside terminal sends crossing correlation auxiliary to car-mounted terminal according to actual needs and drives letter
Breath and instruction；
Step 5: when vehicle enters within the scope of crossing, trackside terminal sends data to car-mounted terminal and uploads preparation instruction,
Car-mounted terminal sends the essential information of the vehicle, and trackside terminal adds the information of the vehicle in the database, and according to this and vehicle
The trackside terminal location that the mounted terminal last time establishes communication judges the path ownership that vehicle is travelled；
Step 6: when vehicle leaves crossing range, trackside terminal sends data uploading instructions, vehicle-mounted end to car-mounted terminal
End sends the vehicle data of the vehicle counted on the section；
Step 7: trackside terminal is verified to data are uploaded, and rejects unreasonable data and abnormal data；
Step 8: trackside terminal counts all vehicles on every phase access path in the unit time according to data said path
Data complete summarizing for vehicle data；
Step 9: vehicle data and road static data being blended and carry out Real-time Road evaluation.
Car-mounted terminal includes master controller, is installed in the vehicle portion, establishes connection by OBD interface and onboard diagnostic system
Obtain vehicle data；GPS module is connected with master controller serial ports；Display module is mounted on vehicle centre console, with master controller
LVDS interface is connected；Voice module provides voice input output and voice interactive function, is mounted on after display module close to driving
Member side, is connected with master controller IIS interface；Bus or train route communication module provides the ad-hoc communication with trackside terminal, is mounted on vehicle
Inside, is connected with master controller serial ports；Attitude transducer provides real-time vehicle posture information, is mounted on geometry on the downside of car body
Center is connected with master controller serial ports；
Trackside terminal: including master controller, being mounted on inside signal cabinet, establishes connection with semaphore, vehicle checker and obtains
Take roadside data；Bus or train route communication module provides the ad-hoc communication with car-mounted terminal, is mounted on inside signal cabinet, with master
Controller serial ports is connected.
The evaluation of Real-time Road described in step 9 includes the following steps:
(1) a finite aggregate Q:Q={ q is defined1,q2,…,qn, the element q in Qi(i=1,2 ..., n) it is vehicle number
According to；
(2) a finite aggregate P:P={ p is defined1,p2,…,pm, the element p in Pi(i=1,2 ..., m) it is that evaluation refers to
Mark；
(3) u is enabledjFor j-th of evaluation index pjThe membership function of ∈ P, wherein uj=u (pj),uj∈ [0,1], obtains limited
Fuzzy subset U, U={ u1,u2,…,um, establish fuzzy relation R:Q × U:
Wherein, rijFor i-th of degree of membership by vehicle data about j-th of evaluation index, rij=R (qi,uj)∈[0,
1]；
(4) defining evaluation result collection is a finite aggregate V={ v1,v2,v3,v4}={ is poor, in, it is good, excellent }, in set
Each element corresponds to a possibility distrabtion section of subordinating degree function:
uj∈ [0.25 (i-1), 0.25i], v=vi(i=1,2,3,4)
(5) subordinating degree function of half Cauchy's type of drop is chosen:
(6) value strategy is adjusted according to dynamic, calculates pj-ujEach subordinating degree function of coordinate system is corresponding critical
Value pij:
Wherein,For the Typical threshold values of direction single under particular link grade link length,For standard road length, ξ
For the ratio data caused by signal controls, α in evaluation indexnjIt is n lane to the influence system of j-th of evaluation index
Number, ωmjIt is m fork road to the influence coefficient of j-th of evaluation index；
(7) it is directed to obtained degree of membership section uj, it is further converted to the degree of membership r of corresponding indexij, using trapezoidal person in servitude
Category degree model takes the interval limit 0.25i of evaluation result collection V for the intermediate degree of membership r of two evaluate collectionsij=0.5, fluctuation area
For 0.25i ± 0.1, complete subordinating degree function is thus constituted；
(8) defining S=(Q, U, R) is first order Traffic Evaluation space, and gives a fuzzy vector W:
W=(w1,w2,…,wm)T
The wherein element w of WjFor the importance that each evaluation index is evaluated about the first order, first order Traffic Evaluation Model:
Wherein,Indicate fuzzy operator pair；
(9) weight of evaluation index is divided using analytic hierarchy process (AHP)；
(10) consistency check is carried out to the weights that analytic hierarchy process (AHP) obtains；
(11) a new fuzzy subset is established to each vehicle data:
U'={ D1,D1,…,Dp},U'∈[0,1]
Wherein, p indicates the number of the fuzzy operator pair used；
(12) a new fuzzy relation is established by Q and U':
Wherein, dijIt indicates to use j-th of operator clock synchronization, the first order evaluation for i-th of vehicle data that step (8) calculates
Value；
(13) establish second level Traffic Evaluation space S '=(Q, U', R'), make second level evaluation in S', give a mould
Paste vector W':
W'=(w1',w'2,…,w'p)
The wherein element w' of W'jIndicate j-th of fuzzy operator to the weight evaluated relative to the second level, and
(14) weight of second level evaluation is calculated according to analytic hierarchy process (AHP), and carries out consistency check；
(15) second level Traffic Evaluation Model B is obtained:
B=W'R'T={ b1,b2,…,bm}
Wherein, biIt indicates to be evaluated object for the evaluation number of evaluation result collection V i-th, and
(16) element in B is normalized to obtainThen Highway Evaluation score C is calculated:
C value is bigger, and evaluating pavement condition score value is higher.
The invention has the following beneficial effects:
(1) the vehicle-state diagnosis based on OBD interface initial data and driving behavior analysis algorithm, in conjunction with historical data and
Other vehicle datas near anchor point, raising judge precision.
(2) car-mounted terminal uploads process needed for vehicle data simplifies data volume and handles to trackside terminal in real time.
(3) evaluation model that can be used for traffic route state evaluation is established using fuzzy set theory, by dynamic vehicle number
Final Real-Time Evaluation result is generated according to bringing into after Model Fusion with static section data.
(4) bus or train route communication device of the invention include car-mounted terminal and trackside terminal two parts, be separately mounted to vehicle and
Intersection trackside, the transmitting data that cooperate and instruction.
Detailed description of the invention
Fig. 1 is the vehicle-state diagnostic analysis method functional schematic based on OBD data.
Fig. 2 is the move vehicle collecting method scene description figure based on bus or train route collaboration.
Fig. 3 is the move vehicle collecting method data interaction flow chart based on bus or train route collaboration.
Fig. 4 is real-time traffic road condition evaluation method structure chart.
Fig. 5 is degree of membership relational graph.
Fig. 6 is the bus or train route collaborative device structure chart applied to real-time traffic evaluation.
Fig. 7 is the car-mounted terminal installation diagram applied to real-time traffic evaluation.
Fig. 8 is the trackside terminal installation diagram applied to real-time traffic evaluation.
Fig. 9 is inventive method and apparatus system application drawing.
Specific embodiment
(1) the vehicle-state diagnostic analysis method based on multi-class data
This method is effectively utilized a variety of vehicle interiors, external sensor data, and near applicating history and anchor point
Other vehicle datas are modified compensation to analysis result, and precision is higher.Methodological function signal is as shown in Figure 1.
The acquisition of step 1:OBD data:
It is equipped with onboard diagnostic system interface substantially on the vehicle produced after from 08 year, repairs investigation vehicle event for the shop 4S
Barrier uses, but also allows car owner that the interface is voluntarily used to read vehicle-state, which is based on CAN2.0B standard, therefore first
The interface and acquisition equipment need to be connected, reads the OBD raw information wherein continually sent out in the form of CAN extension frame.
Step 2:OBD data filtering:
For the communication failure and exception being likely to occur, the collected data of institute are cleaned, exception therein is filtered
Value and null value guarantee data reliability.
The parsing of step 3:OBD data:
Original OBD data are parsed according to ISO-15765 agreement, obtain vehicle sensors, controller respectively and are examined
Disconnected information, and storage and the conversion of unit are carried out to Various types of data according to pre-set form, it is supplied to driver.
Step 4:OBD data diagnosis:
According to data fault code type provided by ISO-15765 agreement, to the error code that vehicle is quoted carry out investigation and
Diagnosis, such as it is faulty, provide fault type and maintenance suggestion.
The analysis of step 5:OBD data:
According to data source type provided by ISO-15765 agreement, related index needed for extracting is extracted one or more
It parses data and carries out operation, judge vehicle real-time working condition, such as judge vehicle suddenly acceleration, anxious deceleration.
Step 6:OBD data statistics:
For the data for needing continuous record cumulative, such as oil consumption, dead time, independent data statistics is carried out to meet
Demand.
Step 7:OBD data correction:
Summarize data according to historical data and anchor point and compensation is modified to real time data, reduces abnormal driving behavior pair
Data bring influences.
Step 8: generate driving analysis report:
Accurate mileage analysis, Fuel consumption analysis and driving behavior analysis are provided, prompt which kind of bad steering row driver has
For with habit.
(2) the move vehicle collecting method based on bus or train route collaboration
As shown in Fig. 2, the move vehicle collecting method based on bus or train route collaboration is realized by bus or train route cooperative surroundings, pass through
Car-mounted terminal acquires real-time vehicle running data, and carries out bus or train route information exchange by bus or train route communication network and trackside terminal, this
Kind method does not need the communication standard of high real-time, is only communicated at the good spacious crossroad of communication condition, simultaneously
The affiliated section of data can be judged according to historical communication data, reduce subsequent data processing difficulty.Method flow such as Fig. 3 institute
Show, specific steps are as follows:
Step 1: trackside terminal opens active ad hoc network function, and actively the car-mounted terminal into communication range sends letter of shaking hands
Breath.
Step 2: car-mounted terminal turn-on data upload function, the start recording vehicle number after establishing bus or train route communication for the first time
According to be sent to corresponding trackside terminal at next crossing.
Step 3: when car-mounted terminal enters in the communication range of next intersection, being set up with trackside terminal stable
Communication connection.
Step 4: car-mounted terminal continues to send location information to trackside terminal, and trackside terminal judges vehicle-mounted according to location information
Whether vehicle locating for terminal closes on crossing, and trackside terminal sends crossing correlation auxiliary to car-mounted terminal according to actual needs and drives letter
Breath and instruction.
Step 5: when vehicle enters within the scope of crossing, trackside terminal sends data to car-mounted terminal and uploads preparation instruction,
Car-mounted terminal sends the essential information (license plate number, vehicle etc.) of the vehicle, and trackside terminal adds the letter of the vehicle in the database
Breath, and the path that the trackside terminal location communicated judges that vehicle is travelled is established with the car-mounted terminal last time according to this and is belonged to.
Step 6: when vehicle leaves crossing range, trackside terminal sends data uploading instructions, vehicle-mounted end to car-mounted terminal
End sends the vehicle data (hourage, stop frequency, oil consumption etc.) of the vehicle counted on the section.
Step 7: trackside terminal is verified to data are uploaded, and rejects unreasonable data and abnormal data.
Step 8: trackside terminal counts all vehicles on every phase access path in the unit time according to data said path
Data complete summarizing for vehicle data.
Step 9: vehicle data and road static data being blended, Highway Evaluation method progress Real-time Road is supplied to and comments
Valence.
(3) the real-time traffic road condition evaluation method based on fuzzy set theory
The real-time traffic evaluation model that this method is established is realized based on Multistage fuzzy comprehensive, is somebody's turn to do in the fusion of trackside terminal
After the static road data and dynamic vehicle data in section, Real-Time Evaluation is carried out to present road operating status, this method is first
Traffic behavior qualitative evaluation is converted into comparative stronger quantitative assessment according to the topology degree that is subordinate to of fuzzy mathematics, to by more
The object that kind environmental factor restricts makes the evaluation of Current traffic operating status, is suitble to solve uncertainty in Traffic Evaluation system
Problem.Evaluation method structure chart is as shown in Figure 4.
Step 1: defining a finite aggregate Q:Q={ q1,q2,…,qn, the element q in Qi(i=1,2 ..., n) it indicates
It is evaluated object, i.e. generated vehicle operation data in this paper actual test.
Step 2: defining a finite aggregate P:P={ p1,p2,…,pm, the element p in Pi(i=1,2 ..., m) it indicates
Different evaluation indexes.
Step 3: enabling ujFor j-th of evaluation index pjThe membership function of ∈ P, it may be assumed that uj=u (pj),uj∈ [0,1], obtaining U is
One limited fuzzy subset, i.e. U={ u1,u2,…,um}.Then an available evaluations matrix R constitutes fuzzy relation R:Q
× U, it may be assumed that
In formula (1): rij- i-th is evaluated degree of membership of the object about j-th of evaluation index, rij=R (qi,uj)∈
[0,1]。
Step 4: definition evaluation result collection is a finite aggregate V={ v1,v2,v3,v4}={ is poor, in, it is good, excellent }, in set
Each element correspond to subordinating degree function a possibility distrabtion section, as shown in formula (2):
uj∈ [0.25 (i-1), 0.25i], v=vi(i=1,2,3,4) (2)
Step 5: in view of evaluation index is for the negatively correlated characteristic of evaluation result, choosing the degree of membership letter of half Cauchy's type of drop
Number, shaped like formula (3):
ForThere is pjU when →+∞j→ 0, pj≤cjWhen uj=0, composite type (2), in p known to (3)j-ujIt sits
Mark system each subordinating degree function distributed area boundary 0.25i there will necessarily be a corresponding critical value pij.It is subordinate to according to same
One group of critical value under function is spent, the undetermined coefficient a of membership function can be found out by the method for regression analysisj,bj,cj。
Step 6: in actual traffic scene, critical value pijValue can according to the change of real road and largely
It floats, therefore introduces the p of dynamic adjustmentijValue strategy:
In formula (4),For the Typical threshold values of direction single under particular link grade link length,For standard road length
(500 meters), ξ are the ratio data caused by signal controls in evaluation index, and the part is not by the shadow of road static parameter
It rings and changes, mainly determined by split and number of phases.αnjIt is n lane to the influence coefficient of j-th of evaluation index, ωmjFor
Influence coefficient of the m fork road to j-th of evaluation index.
Step 7: being directed to obtained degree of membership section uj, it is further converted to the degree of membership r of corresponding indexij, using ladder
Shape degree of membership model takes the interval limit 0.25i of evaluation result collection V for the intermediate degree of membership r of two evaluate collectionsij=0.5, it floats
Section is 0.25i ± 0.1, thus constitutes complete subordinating degree function.As shown in Figure 5.
Step 8: defining S=(Q, U, R) is first order Traffic Evaluation space, and gives a fuzzy vector W:
W=(w1,w2,…,wm)T (5)
The element w of W in formula (5)jIndicate the importance that each evaluation index is evaluated about the first order, then first order Traffic Evaluation
Model:
Step 9: in order to which the weight to evaluation index carries out scientific matching, being divided using analytic hierarchy process (AHP).
Step 10: consistency check being carried out to the weights that analytic hierarchy process (AHP) obtains, it is ensured that the feasibility of result.
Step 11: the symbol in formula (6)It indicates fuzzy operator pair, multiple operator clock synchronizations is introduced when simultaneously, for every
One is evaluated object and a new fuzzy subset can be obtained:
U'={ D1,D1,…,Dp},U'∈[0,1] (7)
In formula (7), p indicates the number of the fuzzy operator pair used.
Multiple operators are to helping to weigh evaluation index for being evaluated the influence of object from many aspects.It chooses altogether herein
Three operators pair: (∧, ∨), (, ∨),Wherein ∧ representative takes small, and ∨ representative takes big, representative multiplication,Generation
Table is added.These three operators consider laying particular emphasis on respectively the contribution of single evaluation index and comprehensive multiple evaluation indexes, wherein
Step 12: by the available new fuzzy relation of Q and U', i.e. R':Q × U' → [0,1]:
In formula (8), dijIt indicates to use j-th of operator clock synchronization, calculate i-th of formula (6) is evaluated the first order of object
Evaluation of estimate.
Step 13: then obtain second level Traffic Evaluation space S '=(Q, U', R'), determining element w to reducej∈
Subjectivity when W makees second level evaluation in S', gives a fuzzy vector W':
W'=(w1',w'2,…,w'p) (9)
The element w' of W' in formula (9)jIndicate j-th of fuzzy operator to the weight evaluated relative to the second level, and
Step 14: calculating the weight of second level evaluation according to analytic hierarchy process (AHP), and carry out consistency check.
Step 15: then there is second level Traffic Evaluation Model, final result is the set B of an evaluation number:
B=W'R'T={ b1,b2,…,bm} (10)
In formula (10), biIt indicates to be evaluated object for the evaluation number of evaluation result collection V i-th, and
Step 16: to keep the result in original Comment gathers B richer, according to weighted average principle to original evaluation result B
It is integrated, first the element in B is normalized to obtainThen by formula (11) 0 carry out it is comprehensive to the end
Highway Evaluation score C:
As it can be seen that C ∈ (0,100] and C value it is bigger, evaluating pavement condition score value is higher.Evaluation result after synthesis can be determined
Amount analysis, compares convenient for the evaluation result between different sections of highway or between same road segment different moments, improves evaluation essence
Degree.
(4) it is applied to the bus or train route collaborative device of real-time traffic evaluation
The device is made of car-mounted terminal and trackside terminal two parts, and the two passes through bus or train route communication module sending and receiving data, dress
Structure is set as shown in fig. 6, specific component is as follows:
1) car-mounted terminal:
Master controller: the control panel of car-mounted terminal, core are high-performance ARM chip, include various types of hardware interface and communication
Module is installed in the vehicle portion, establishes connection by OBD interface and onboard diagnostic system and obtains vehicle data, uses vehicle 12V
Storage battery power supply.
GPS module: positioning system receiver can support GPS, Beidou bimodulus, be connected with master controller serial ports that antenna needs
It is exposed at outside car body.
Display module: liquid crystal display is mounted on vehicle centre console for various information and interactive interface are supplied to driver,
It is connected with master controller LVDS interface, shares 12V power supply.
Voice module: voice input output and voice interactive function are provided, driver's manual operation is reduced, is mounted on aobvious
Show after module close to driver side, is connected with master controller IIS interface.
Bus or train route communication module: the ad-hoc communication with trackside terminal is provided, portion is installed in the vehicle, with master controller string
Mouth is connected, and antenna need to be exposed at outside car body.
Attitude transducer: providing real-time vehicle posture information, is mounted on geometric center on the downside of car body, need to do damping processing,
It is connected with master controller serial ports.
Car-mounted terminal mounting structure is as shown in Figure 7.
Testing procedure is installed:
Step 1: cleaning erecting bed
It will be cleared up at each parts mount position, remove sundries, guaranteed environmental drying, extra cable is fixed, reduced
Security risk.
Step 2: fixed car-mounted terminal master controller
Car-mounted terminal is fixed on vehicle body, access 12V power supply checks whether fundamental system works normally.
Step 3: installation display, voice module
LCD screen and voice module are mounted on vehicle centre console, guarantee that module position stabilization is not shaken, test software system
Whether system and human-computer interaction interface work normally.
Step 4: connection OBD interface
OBD cable on car-mounted terminal is connected with vehicle OBD interface, checks that can OBD information normally obtain.
Step 5: Installation posture sensor
Attitude transducer is fixed at vehicle lower side geometric center, vehicle vibration interference is reduced by damping sponge.
Step 6: installation communication, locating module
All kinds of communications and GPS module are mounted on specified location, are connected with master controller.
Step 7: installation is antenna integrated
Antenna needed for each communication module and receiver are fixed on outside car body, whether normal test each communication function.
Step 8: device cable organizing
Plastic packaging, fixing process are carried out to used cable, vehicle body cable is kept to be arranged in an orderly manner.
Step 9: complete test
Start vehicle testing, can test car-mounted terminal work normally, and whether various types of vehicles operating condition index is normal, with trackside
Whether the communication function of terminal and data interaction are normal.
2) trackside terminal:
Master controller: the control panel of trackside terminal, core are high-performance 32-bit single-chip microcontroller, comprising various types of hardware interface and
Communication module is mounted on inside signal cabinet, passes through RS232, RS485 and the related trackside such as network interface and semaphore, vehicle checker
Equipment establishes connection and obtains roadside data.It is powered using alternating current 220V.
Bus or train route communication module: the ad-hoc communication with car-mounted terminal is provided, is mounted on inside signal cabinet, with master control
Device serial ports processed is connected, and antenna need to be exposed at outside cabinet.
Trackside terminating mount structure is as shown in Figure 8.
Testing procedure is installed:
Step 1: cleaning erecting bed
It will be cleared up at each parts mount position, remove sundries, guaranteed environmental drying, extra cable is fixed, reduced
Security risk.
Step 2: fixed trackside terminal master controller
Trackside terminal is fixed on inside signal cabinet, access 220V power supply checks whether fundamental system works normally.
Step 3: connection roadside device
It is connected by the various types of hardware interface in trackside terminal with corresponding roadside device interface, whether test data acquisition
Normally
Step 4: installation bus or train route communication module
Bus or train route communication module is mounted on specified location, is connected with master controller.
Step 5: installation is antenna integrated
Antenna needed for bus or train route communication module is fixed on outside signal cabinet, whether test communication function is normal.
Step 6: device cable organizing
Plastic packaging, fixing process are carried out to used cable, interior of equipment cabinet cable is kept to be arranged in an orderly manner.
Step 7: complete test
Start actual test, can test trackside terminal work normally, and whether all kinds of roadside device information are normal, and vehicle-mounted
Whether the communication function and data interaction of terminal and remote server are normal.
By this system, car owner can fully understand the operating status and Traffic Information of vehicle, traffic data center
More accurate road network real-time status can not only be grasped, it might even be possible to be induced by system, improve the level of security of road
And operational efficiency.Evaluation system, which does not need all-the-way tracking vehicle-state i.e., simultaneously can determine whether road operating status, reduce data
Load and operand on network, and can effectively avoid trueness error caused by being interfered because of sensor.
Claims (2)
1. a kind of multi-source information acquiring method under bus or train route cooperative surroundings, which is characterized in that this method comprises the following steps:
Step 1: trackside terminal opens active ad hoc network function, and actively the car-mounted terminal into communication range sends handshaking information；
Step 2: car-mounted terminal turn-on data upload function, the start recording vehicle data after establishing bus or train route communication for the first time, with
Corresponding trackside terminal is sent at next crossing；
Step 3: when car-mounted terminal enters in the communication range at next crossing, setting up stable communication link with trackside terminal
It connects；
Step 4: car-mounted terminal continues to send location information to trackside terminal, and trackside terminal judges car-mounted terminal according to location information
Whether locating vehicle closes on crossing, trackside terminal according to actual needs to car-mounted terminal send crossing correlation auxiliary driving information and
Instruction；
Step 5: when vehicle enters within the scope of crossing, trackside terminal sends data to car-mounted terminal and uploads preparation instruction, vehicle-mounted
Terminal sends the essential information of the vehicle, and trackside terminal adds the information of the vehicle in the database, and according to this and vehicle-mounted end
The last trackside terminal location for establishing communication in end judges the path ownership that vehicle is travelled；
Step 6: when vehicle leaves crossing range, trackside terminal sends data uploading instructions, car-mounted terminal hair to car-mounted terminal
Give the vehicle data of the vehicle counted on the section；
Step 7: trackside terminal is verified to data are uploaded, and rejects unreasonable data and abnormal data；
Step 8: trackside terminal counts all vehicle datas on every phase access path in the unit time according to data said path,
Complete summarizing for vehicle data；
Step 9: vehicle data and road static data being blended and carry out Real-time Road evaluation.
2. a kind of device for applying multi-source information acquiring method under bus or train route cooperative surroundings as described in claim 1 comprising vehicle
Mounted terminal and drive test terminal, which is characterized in that
Car-mounted terminal includes master controller, is installed in the vehicle portion, establishes connection by OBD interface and onboard diagnostic system and obtains
Vehicle data；GPS module is connected with master controller serial ports；Display module is mounted on vehicle centre console, with master controller LVDS
Interface is connected；Voice module provides voice input output and voice interactive function, is mounted on after display module close to driver one
Side is connected with master controller IIS interface；Bus or train route communication module provides the ad-hoc communication with trackside terminal, is installed in the vehicle
Portion is connected with master controller serial ports；Attitude transducer provides real-time vehicle posture information, is mounted on geometric center on the downside of car body,
It is connected with master controller serial ports；
Trackside terminal: including master controller, being mounted on inside signal cabinet, establishes connection with semaphore, vehicle checker and obtains road
Side data；Bus or train route communication module provides the ad-hoc communication with car-mounted terminal, is mounted on inside signal cabinet, with main control
Device serial ports is connected.
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| CN109903574B (en) * | 2017-12-08 | 2020-12-22 | 华为技术有限公司 | Method and device for acquiring intersection traffic information |
| CN108961799A (en) * | 2018-07-24 | 2018-12-07 | 佛山市高明曦逻科技有限公司 | Driving information road auxiliary system |
| CN108983599B (en) * | 2018-08-07 | 2021-07-16 | 重庆邮电大学 | Self-adaptive monitoring method for multi-parameter fusion in Internet of vehicles |
| CN110415543A (en) * | 2019-08-05 | 2019-11-05 | 北京百度网讯科技有限公司 | Exchange method, device, equipment and the storage medium of information of vehicles |
| CN110827541B (en) * | 2019-11-08 | 2022-04-26 | 腾讯科技（深圳）有限公司 | Information acquisition method, device, equipment and storage medium |
| CN111341131B (en) * | 2020-03-05 | 2021-01-05 | 星觅(上海)科技有限公司 | Road information sending method, device, equipment and storage medium |
| CN112631273B (en) * | 2020-11-04 | 2022-12-23 | 北方工业大学 | Remote intelligent one-key forced stop control system for public passenger vehicle |
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| CN101833868B (en) * | 2010-05-20 | 2011-12-28 | 浙江中控研究院有限公司 | Traffic monitoring system and monitoring method |
| CN101977351B (en) * | 2010-10-14 | 2013-06-12 | 北京邮电大学 | Method and system for adjusting vehicle travelling state information transmitting rate |
| CN103198690B (en) * | 2013-03-12 | 2016-02-17 | 中国联合网络通信集团有限公司 | Traffic information transferring method, board information terminal, roadside unit and data center |
| CN103956070A (en) * | 2014-04-28 | 2014-07-30 | 东华大学 | Signal light information obtaining system based on vehicle-mounted ad-hoc network |
| CN105809953B (en) * | 2014-12-27 | 2018-07-10 | 吉林大学 | A kind of urban traffic flow bus or train route cooperative control method based on M2M |
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