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Non-intrusive Traffic Data Collection with Wireless

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Non-intrusive Traffic Data Collection with

Wireless Sensor Networks for Intelligent
Transportation Systems

Jianying Zheng1, Qing Wang1, Bin Xu1, Wei Bi1, Yanyun Tao1,
Yang Xiao2,3,* and Suat Ozdemir4
1
School of Urban Rail Transportation, Soochow University, China.
2
School of Computer & Software, Nanjing University of Information Science & Technology,
Nanjing, 210044, China
3
Department of Computer Science, The University of Alabama, Box 870290,
Tuscaloosa, AL 35487–0290 USA
4
Computer Engineering Department, Gazi University, Maltepe, Ankara, TR-06570, Turkey
Emails: zhengjianying@suda.edu.cn, wangqing9115@163.com, xubin0924@foxmail.com,
1073974005@qq.com, taoyanyun@suda.edu.cn, yangxiao@ieee.org, suatozdemir@gazi.edu.tr

Received: June 19, 2015. Accepted: October 8, 2015.

Traffic congestion has become a critical problem in modern society. This

problem brings low work efficiency and inconvenient travel for people. In
order to solve this problem of traffic congestion, it is essential to collect a
large number of traffic data because all of the traffic-related decisions
depend on these raw data. Many methods of collecting traffic data have
recently been proposed. But these methods are usually quite expensive and
intrusive. In this paper, wireless sensor networks are used to sense the vehi-
cle information and collect the vehicle flow data. The magnetic sensor Hon-
eywell HMC5883L is adopted, and sensed magnetic information is sent to a
control center by the wireless Zigbee protocol. Based on such sensing infor-
mation, filtering algorithms and decision-making algorithms are given to
calculate the final vehicle flow data. The system platform is illustrated, and
the experiment results show that the method proposed is very reliable and
high-precision. In addition, different from the work by University of Califor-
nia-Berkeley, magnetic sensor nodes are placed beside the road instead of in
the middle of the road. Therefore, this paper provides a method to collect the
vehicle flow data, which are non-intrusive to the transportation systems.

*Corresponding author: Email: yangxiao@ieee.org.

Dr. Xiao is with both Nanjing University of Information Science & Technology (School of Com-
puter & Software, Nanjing University of Information Science & Technology, Nanjing, 210044, China)
and The University of Alabama (Department of Computer Science, The University of Alabama, Box
870290, Tuscaloosa, AL 35487–0290 USA)

41
42 Jianying Zheng et al.

Keywords:  Intelligent Transportation Systems, Wireless Sensor Networks,

Traffic Data Collection, Magnetic Sensor, Non-intrusive.

1 Introduction

In the field of transportation, traffic congestion becomes a critical problem.

Intelligent transportation systems have been a promising way to solve the
problem. Since intelligent transportation systems are strongly related to
information technology, information technology will play an important role
on implementing such intelligent transportation systems. In intelligent trans-
portation systems, the part of sensing measurement is very essential because
all decision-makings are based on these raw data. Most conventional traffic
surveillance systems make use of intrusive sensors, for example, inductive
loop detectors, micro-loop probes, pneumatic road tubes, video detecting,
microwave radar, piezoelectric cables and other weight-in-motion sensors.
In these methods, the surveillance devices are always buried in the road
or equipped above the road [1–3]. In case of the vehicle passing by, the mea-
suring sensors will acquire such changes and produce corresponding signals
to detect the vehicle passing by and calculate the vehicle flow. In order to
implement these methods, the planning and design of the transportation are
required to be known in advance. In addition, these methods are often out of
work after a few years. For example, inductive loop detectors often suffer
failures in two or three years. Replacing these inductive loop detectors need
to destroy the pavement and then bury new inductive loop detectors. This
work will cause great impact on the current traffic, and it is not possible or not
allowed in some cases.
Recent advances in micro electro mechanical systems have revealed that
the devices of sensors are capable of integrating the capability of sensing,
processing, and communication [4–7]. A large number of such sensors can
build wireless sensor networks, which can be used to achieve the required
information for human beings [8–9]. The applications of wireless sensor
networks are very diverse, including battlefield surveillance, environmental
monitoring, industrial diagnostics, and intelligent transportation [9–11].
Along with the development of wireless sensor networks, a new and promis-
ing solution will occur for intelligent transportation systems to solve the
traffic congestion problem. In University of California-Berkeley, magnetic
and acoustic sensors are used to detect the vehicles passing by [12–14]. After
comparing these two kinds of sensing ways, magnetic sensors are thought to
be a better option. In their solutions, the magnetic sensors are deployed in the
middle of the freeway or intersection road, and the deployment time is about
ten minutes [12–16]. In these conditions, about eighty percent vehicles are
correctly classified. The drawback of the solution proposed by University of
California-Berkeley is the requirement of interrupting the traffic, which is
also the drawback of conventional surveillance methods.
 Non-intrusive Traffic Data Collection with WSNs 43

Many related work exist in wireless sensor networks. In [1], the authors
deploy sensors along critical lines (such as transportation systems) instead
of all over the region. In [2], mobile robots, static sensors, and RFID are used
to deploy along roads (such as transportation systems), but the focus is on
bio-inspired communication and cooperation among robots, sensors, and
RFID tags. In [3], a divide- and conquer-based surveillance framework is
proposed to divide the surveillance area into small areas that sensors can
easily monitor. In [4], the authors study location information to achieve
intelligent monitoring and control via range-based localization algorithms
in wireless sensor networks. In [5], random scheduling for sensing coverage
with consideration of connectivity in sensor network is studied. In [6], the
authors provide a survey of data aggregation in wireless sensor networks.
In [7, 11], the authors study routing protocols in wireless sensor networks. In
[8], the authors study lightweight deployment-aware scheduling in wireless
sensor networks. In [9], a comprehensive survey of energy-efficient schedul-
ing mechanisms in wireless sensor networks is provided. In [10], the authors
study key management in wireless sensor networks. In [17], the collision-free
multichannel superframe scheduling problem for the IEEE 802.15.4 standard
is studied for wireless sensor networks. In [12], the authors study traffic sur-
veillance systems for intelligent transportation systems, in which the mag-
netic sensors are deployed in the middle of the freeway or intersection road,
and the deployment time is about ten minutes. In [13], the authors study
vehicle classification data for wireless sensor networks. In [14], the authors
study the real time traffic measurement from single loop inductive signatures.
In [18–19], routing and data delivery via multiple hops are studied.
This paper applies wireless sensor networks to collect traffic flow data.
The traffic information is sensed and sent to the control center by the wireless
Zigbee protocol. This way can avoid the complex wiring. In addition, the
magnetic sensors are deployed beside the road instead of in the middle
of the road, which can avoid interrupting the traffic when these wireless
systems are used to collect traffic flow data.
The rest of the paper is organized as follows. Section 2 describes the hard-
ware platform of the wireless surveillance system used to collect traffic flow
data. Then software of signal processing is illustrated in Section 3. Experi-
mental results are provided in Section 4. Finally, conclusions and future work
are discussed in Section 5.

2 Hardware Platform of Wireless Surveillance

Systems

This section will describe the hardware platform of wireless surveillance

systems. The wireless surveillance system is composed of sensor nodes,
a sink node, and a PC, which are shown in Fig.1. A Honeywell magnetic
sensor (HMC5883L) is equipped on a sensor node to sense the magnetic
44 Jianying Zheng et al.

Figure 1
The hardware platform of the wireless surveillance system

signal when the vehicles pass by. Then this magnetic signal is sent to the
sink node by the wireless Zigbee protocol. Once the sink node receives this
magnetic signal, it will transmit it to the PC by the serial communication
protocol. The magnetic signal will be displayed in real-time, based on
which decisions are made to determine the number of vehicles passing
by. The following subsection will introduce each part of the wireless
surveillance system briefly.

2.1 Magnetic Sensor HMC5883L

Generally speaking, the vehicles are made up of iron material. It is a good
way to detect vehicles with the change of magnetic field. In the wireless
surveillance system, a Honeywell magnetic sensor (HMC5883L) is equipped
on a sensor node. The prototype of HMC5883L is shown in Fig. 2.
The Honeywell magnetic sensor (HMC5883L) is a high integrated
module, and is a weak magnetic sensor chip with a digital interface. Built-in
Honeywell’s patented integrated circuits are composed of amplifier, auto-
matic degaussing drives, and offset calibration. The sensor works according
to anisotropic magnetoresistance (AMR) effect to detect the geomagnetic
field signal. Then the signal is exported as differential voltage to the multiple
user experiment, and converted to digital signal by the analog-to-digital
converter (ADC) component. Generally, the accuracy can reach 5 mill gauss.
By designing suitable resistor–capacitor (RC) filter circuit, the stability of
power supply can be improved and the noise can also be reduced. The block
diagram of magnetic sensor HMC5883L is shown in Fig.3.
 Non-intrusive Traffic Data Collection with WSNs 45

Figure 2
The sensing module-HMC5883L

Figure 3
The block diagram of the magnetic sensor-HMC5883L

2.2 Explanation of AMR Effect

AMR basic unit with an anisotropy of the sensor is long, thin perm alloy
(Ni-Fe) deposited on a semiconductor process on a silicon substrate formed
with the deposited film in the form of strips, and the arrangement, forming a
flat linear array, increases the perceived reluctance of the magnetic field area.
Therefore, the magnetic field inside the magnetic domain magneto resistive
changes the points, the angle of the current occurs, and the resistance on the
performance of the anisotropic magneto resistance. Fig. 4 shows the magneto
resistance change with respect to the angle θ.
We have,

R(q ) = R⊥ sin 2 q + R// cos2 q (1)

46 Jianying Zheng et al.

Figure 4
Magneto resistance changes with respect to the angle θ

where R^ represents the resistance of current electric direction perpendicu-

lar to the magnetization direction, R// represents the resistance of current
electric direction parallel to the direction of magnetization.

2.3  Wireless Communication Protocol

In the wireless surveillance system, information transmission is performed
by the wireless Zigbee protocol between the sensor node and sink node.
The Zigbee protocol is based on IEEE802.15.4 standard and is a kind of
communication technologies with low-power and short-distance in personal
area network [17–18]. Self-organization and low cost are thought as the
advantages of the Zigbee protocol [20–22]. Because of these advantages, the
Zigbee protocol has been an effective solution in the field of automatic
control. The wireless surveillance system adopts CC2530 as wireless trans-
ceiver module to receive and send data. When the vehicles pass by the sensor
node, the geomagnetic field will change. Then the sensor can detect such
change, and converts this analogy signal into digital signal. The digital signal
is sent by the sensor node to the sink node via the wireless Zigbee protocol.
After receiving such signal, the decisions can be made to determine whether
a vehicle passes by or not, and then the vehicle flow can be calculated.

3 Software Illustration of the Wireless

Surveillance System

In the wireless surveillance system, sensor nodes are deployed beside the
road in order to reduce the traffic interference. This way will increase the dif-
ficulty of signal acquisition and processing. This section will give the method
of signal processing and decision-making algorithms to calculate the vehicle
flow precisely.
 Non-intrusive Traffic Data Collection with WSNs 47

3.1  Traffic flow information collection

In the wireless surveillance system, all information transmission is based on
the wireless channels. First of all, we will face the problem of time synchro-
nous, which is very different from the way with wired methods. Transmission
delay becomes an important factor to be considered. Besides, bicycles and
motor bicycles are made of iron materials sensitive to the magnetic sensors,
and these factors make the detection of vehicles difficult. This noise will
decrease the accuracy of the vehicle detection and is required to be removed
from the original signal. The geomagnetic field around the vehicle is defined
as real signal filed, and all other related signal magnetic field is defined as the
interference. The magnetic sensor node is placed beside the road instead of in
the middle of the road to collect the magnetic signal. Meanwhile, other kinds
of interferences are collected, for example, electromagnetic signals, wireless
signals, or power signal. Since the margin of the signal field decreases expo-
nentially to the distance, an interference filtering algorithm and a vehicle flow
calculation algorithm are required.

3.2 Original sensing data

The original sensing data is achieved by the magnetic sensor from the AMR
effect and then converted to the digital data which can be dealt with by per-
sonal computer. In the earth, the magnetic intensity for each point has three
directions, and these three directions are combined into a scalar as follows.

G3 = Gx 2 + Gy 2 + Gz 2 (2)

where Gx, Gy, Gz represent three directions, and G3 represents the scalar.

3.3  Interference filtering algorithm

Due to the drifting and instability of magnetic sensor, interference filtering
algorithms are used. After collecting several continuous values, the difference
of two adjacent values is calculated. If the difference is bigger than a pre-
defined value (SET_VALUE), the middle value will be removed. Finally, the
Gaussian filtering algorithm is used to make the magnetic signal smoother.

3.4  Decision-making algorithms for vehicles flow calculation

To calculate accurately the number of vehicles passing by, decision-making
algorithms are required. In the wireless surveillance system, the threshold
value method is used. Since the magnetic intensity is a directed variable, its
initial value will be affected by the deployed location and direction. In order
to reduce the impact, the initial value is selected as follows.
n

∑x
i=1
i
x0 = , i = 1, 2,…, n (3)
n
48 Jianying Zheng et al.

where x0 represents the initial value, xi represents the xth sampling value from
the magnetic sensor, n represents the sample times.
The threshold value is set to be (x0 + Dx). The magnetic signal value is x,
and it is related to time t. The relationship can be formulated as follows.

x = f (t ) (4)

Then the decision-making methods can be formulated as follows.

1 if x ≥ x0 + ∆x for all t ∈ (T , T + ∆t )
v =  (5)
0 otherwise
where T represents a time instant, Dt represents a period of time defined in
advance. From the equation (5), it is known that a vehicle is thought to pass
by only when the detected magnetic signal value exceeds the predefined
threshold value during a predefined period of time. This method can avoid the
misjudgment due to the interference. The flow chart of the wireless surveil-
lance system is shown in Fig. 5.

Figure 5
The flow chart of the wireless surveillance system
 Non-intrusive Traffic Data Collection with WSNs 49

4 Experimental Results

In order to demonstrate the performance of the wireless surveillance system,

a large number of experiments are performed and shown in this section. All
experiments are performed in three test sites, which are the intersection of
Huayuan Road and S227 Road, the T-intersection of Huayuan Road and
Jixue Road, and the T-intersection of Xuzhuang Community. Fig. 7 shows
these three test sites clearly.
First of all, the experiment results on the intersection of Huayuan Road
and S227 Road are described in detail. This place is located in Xiangcheng
District, Suzhou City, Jiangsu Province. It is a very important traffic artery
with one-way and two-lane. As shown in Fig. 8, the sensor node is placed
beside the road, and the sink node is placed in the other side of the road with
ten meters far. The sensor node detects the magnetic signal when vehicles
pass by, and the sink node receives the magnetic signal so as to determine
whether there is a vehicle passing by or not.
When a bicycle passed the wireless surveillance system, the correspond-
ing magnetic signal is recorded and shown in Fig. 9. The magnetic intensity
changes from 0.442 gauss to 0.433 gauss as shown in Fig. 9. The magnetic
signal is shown in Fig.10 when a motor bicycle passed by. The magnetic
intensity changes, but it is not obvious compared with the situation where a
bicycle passed by. This is different from the general understanding, which
is that the bicycle is much smaller than the motor bicycle. The magnetic
sensor is sensitive to the iron material. Most of bicycles are made of iron
material. However, almost all motor bicycles are made of alloy materials.
Therefore, the magnetic sensor is much less sensitive to motor bicycles than
bicycles.

Figure 7
Three places where experiments were performed
50 Jianying Zheng et al.

Figure 8
The deployment of the wireless surveillance system in the intersection of Huayuan Road and
S227 Road

Figure 9
The magnetic signal when a bicycle passed by
 Non-intrusive Traffic Data Collection with WSNs 51

Figure 10
The magnetic signal when a motor bicycle passed by

The magnetic signal is shown in Fig.11 when a small vehicle passed by.
The magnetic intensity changes from 0.437 gauss to 0.425 gauss. This
magnetic signal is bigger than that of bicycle passing by and motor bicycle
passing by. When a large vehicle passed by, the corresponding magnetic
signal changed and the results are shown in Fig.12. The magnetic intensity
changes from 0.437 gauss to 0.405 gauss. This magnetic signal is much
bigger than that of three kinds of traffic tools previously mentioned passing
by. In order to show more details, the magnetic signals detected in four
kinds of traffic tools are shown together in Fig.13. Based on the compari-
son, it is not hard to determine the vehicle flow according to the magnetic
signal. Especially, the bigger vehicle flow can be accurately estimated.
In order to demonstrate the wireless surveillance system, long-time experi-
ments are performed. Fig.14 shows one of the examples when five vehicles
passed by the wireless surveillance system during a period of time. The statis-
tic results are shown in Table 1. The detected vehicle flow is calculated by the
magnetic signal detected, and the actual vehicle flow is calculated by human
beings. In Table 1, the accuracy of the vehicle flow is calculated as follows.
d
Accuracy = ×100% (6)
a
where d represents the detected vehicle flow and a represents the actual
vehicle flow.
52 Jianying Zheng et al.

Figure 11
The magnetic signal when a small vehicle passed by

Figure 12
The magnetic signal when a large vehicle passed by
 Non-intrusive Traffic Data Collection with WSNs 53

Figure 13
The comparison of four kinds of traffic tools

Figure 14
The magnetic signal when five vehicles passed by during a period of time
54 Jianying Zheng et al.

The serial number Actual vehicle flow Detected vehicle flow Accuracy

1 38 35 92.1%

2 18 16 88.9%

3 20 18 90%

Table 1
The accuracy of vehicle flow detection with wireless surveillance systems

Based on the statistic results shown in Table 1, the wireless surveillance

system can detect the vehicle flow with the accuracy of ninety percent.
Furthermore, the similar experiments are performed in other two places
(the T-intersection of Huayuan Road and Jixue Road and the T-intersection
of Xuzhuang community Road). The magnetic signals detected in these
two places are shown in Fig.15 and Fig.16, respectively. The accuracy of
vehicle flow detection in these two places is calculated and shown in Table 2.
The accuracy of the vehicle flow can be reach more than ninety percent.
In addition, these experiments are all performed in urban traffic intersections.
Such accuracy of the vehicle flow can satisfy almost all applications in
intelligent transportation systems.

Figure 15
The magnetic signal in the T-intersection of Huayuan Road and Jixue Road during a period
of time
 Non-intrusive Traffic Data Collection with WSNs 55

Figure 16
The magnetic signal in the T-intersection of Xuzhuang community Road during a period of time

5  Conclusions and Future Work

This paper presents our experiments of applying wireless sensor networks

into detecting the vehicle flow. Different from the work by University of
California-Berkeley, the sensor nodes are deployed besides the road instead
of in the middle of the road. The interruption to the current traffic can be
avoided in this way, which is considered as the most important factor to
design the detection systems of traffic vehicle flow. Such a wireless surveil-
lance system has been designed and used to detect the vehicle flow data.
A large number of experiments have been performed and shown that such
a wireless surveillance system is a good option to detect the vehicle flow

Actual Detected
Detected place vehicle flow vehicle flow Accuracy

T-intersection of Huayuan Road and Jixue Road  9  9 100%

T-intersection of Xuzhuang Road 12 11 91.7%

Table 2
The accuracy of vehicle flow detection in two other places
56 Jianying Zheng et al.

efficiently. The accuracy can reach more than ninety percent. This accuracy
can satisfy almost all applications in urban intelligent transportation systems.
In the future, the wireless surveillance systems are needed to improve.
Complex roads are planned to test, such as two-lane roads. In complex roads,
the magnetic signal is also sensitive to the distance between the sensor nodes
and the traffic tools. How to distinguish the types of traffic tools becomes a
difficult problem. The detection model and the decision-making optimal
algorithms are two key points.

Acknowledgments

This work was supported in part by the Natural Science Foundation of China
under grant number 61203218, 61374200, and the Natural Science Founda-
tion of Jiangsu Province under grant nunber BK2011318, and Science Project
of Suzhou (Industrial Foundation Research) under grant number SYG201407

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