CN105118316A - Curved road safe speed calculating method and caution system based on vehicle infrastructure cooperation - Google Patents
Curved road safe speed calculating method and caution system based on vehicle infrastructure cooperation Download PDFInfo
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Abstract
The invention discloses a curved road safe speed calculating method and caution system based on vehicle infrastructure cooperation. The method includes the following steps of calculating the sideslip critical speed of a vehicle; calculating the rollover critical speed of the vehicle; comparing the small values of the two critical speeds and determining the safe speed when the vehicle runs into the curve; and calculating the safe vehicle speed when the vehicle runs into the curve after considering the behavior characteristics of a driver. The invention provides a method for accurately calculating the safe vehicle speed when the vehicle runs into the curve on the basis of fully considering the influences of people, vehicles and roads. Through the comprehensive considering of the vehicle motion characteristics and driver behavior characteristics, the safe vehicle speed of the vehicle at the curved road is analyzed by means of a vehicle dynamics theory. The method has the advantages of simple calculation, fast operation speed, and high reliability, and provides the theoretical method support for the design and development of a curved road safe driving caution system.
Description
Technical field
The present invention relates to traffic safety technology field, particularly relate to a kind of curved road safety speed of a motor vehicle computing method collaborative based on bus or train route and caution system.
Background technology
Bus or train route cooperative system is the technology such as sensing and radio communication based on advanced person, realize the real-time dynamic interaction of car car, bus or train route information, complete collection and the fusion of transport information, thus vehicle driving safety under ensureing complicated traffic environment, improve the New Generation of Intelligent traffic system technology of road network operational efficiency.Topmost 2 subsystems of bus or train route cooperative system are roadside unit and board units, each traffic component units is by roadside unit and board units, in wired or wireless communication mode, realize vehicle and vehicle, vehicle and trackside, and the information transmission between trackside and trackside is with shared.
Hypervelocity is one of main inducing of curve traffic accident.According to the road traffic accident statistics display of the Chinese Ministry of Public Security, in curve traffic accident, about 40% is relevant with hypervelocity.Accurate calculating vehicle enters the safe speed of bend and to carry out early warning significant for reducing the generation of traffic hazard.Traditional curved road safety speed of a motor vehicle computing method only consider the factor such as turning radius, coefficient of road adhesion, and mainly for the skidding accident of pony car, do not consider that heavy goods vehicle, passenger vehicle are at the rollover of bend and skidding accident.Meanwhile, the method also less consideration driver behavioral trait on the impact of safe speed.
Therefore, invent a kind of curved road safety speed of a motor vehicle computing method collaborative based on bus or train route, very important function and significance is designed and developed for curved road safety travelling caution system.In other words, the accurate calculating of bend section safe speed is the prerequisite of exploitation curved road safety travelling caution system, that only has accurate Calculation vehicle enters curved safe speed, just can develop reliable curved road safety travelling caution system, thus ensures that vehicle is in the stability of bend sections of road and security.
Along with advancing by leaps and bounds of China's road traffic cause, road traffic accident rapidly increases oneself and becomes the serious problems that traffic administration faces.Although China's regulatory authorities takes a lot of measure in recent years, compare to western developed country, the accident indexes such as the road traffic accident rate of China and ten thousand car mortality ratio are all relatively high, and Road Safety Status is still very severe.Show according to road traffic accident statistical study, bend section is black spot, and driver Chang Yin drives over the speed limit into curved causing to lose control of one's vehicle and causes traffic hazard, causes great economy and property loss.Therefore, the traffic safety strengthening bend section has great practical significance, and it is very necessary for arranging driving safety warning system at expressway bend.
Summary of the invention
The technical problem to be solved in the present invention is for defect of the prior art, provides a kind of curved road safety speed of a motor vehicle computing method collaborative based on bus or train route and caution system.
The technical solution adopted for the present invention to solve the technical problems is: a kind of curved road safety speed of a motor vehicle computing method collaborative based on bus or train route, comprise the following steps:
1) the sideslip critical velocity of vehicle is calculated: have a bend of outside superelevation on low attachment road surface, the critical velocity v breakked away occurs vehicle
sfor:
In formula: i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface;
for the attachment coefficient on road surface; R is turning radius; G is acceleration of gravity;
2) the rollover critical velocity of vehicle is calculated: at the bend on height attachment road surface, the critical velocity v of rollover occurs vehicle
rfor:
In formula: B is the wheelspan of vehicle, h is height of C.G., i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface; R is turning radius, and g is acceleration of gravity;
3) safe speed v when determining that vehicle enters curved
sr; Sideslip, rollover and the smaller value of two kinds of critical speeds that calculates is closed on by vehicle;
v
sr＝min{v
s,v
r}
4) safe speed v when consideration driver behavioral trait rear vehicle enters curved is calculated
safe;
v
safe＝k
d·v
sr
In formula: k
dfor driver's factor of influence; Described driver's factor of influence is obtained by statistical study.
By such scheme, k when described driver's factor of influence is fine day
dspan be 0.32 ~ 0.38, cloudy day time k
dspan be 0.24 ~ 0.32, the k during greasy weather
dspan be 0.12 ~ 0.18, k during night
dspan be 0.20 ~ 0.27.
Based on the curved road safety vehicle speed alarm system that bus or train route is collaborative, comprising:
Database, for storing the road environment information gathered in advance, described road environment information comprises the superelevation on the road surface in bend section, the horizontal wall inscription angle on road surface, the attachment coefficient on road surface, turning radius;
Real time monitoring apparatus, comprises the camera of the image information for obtaining vehicle, weighing platform and rain sensor;
Information acquisition and computing module, come for the vehicle information that collects according to vehicle type detector with the wheelspan B of estimating vehicle, and the car weight collected in conjunction with dynamic weighing platform is with estimating vehicle height of C.G. h; Also for the wet and slippery information of road surface sleet that collects according to pavement state detecting device to estimate coefficient of road adhesion
Wherein, wheelspan estimation, height of C.G. estimation, coefficient of road adhesion estimation etc., can with reference to existing technical literature;
Curved road safety speed of a motor vehicle computing module, for calculating the curved road safety speed of a motor vehicle;
Specifically comprise:
1) the sideslip critical velocity of vehicle is calculated: have a bend of outside superelevation on low attachment road surface, the critical velocity v breakked away occurs vehicle
sfor:
In formula: i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface;
for the attachment coefficient on road surface; R is turning radius; G is acceleration of gravity;
2) the rollover critical velocity of vehicle is calculated: at the bend on height attachment road surface, the rollover critical velocity v of vehicle
rfor:
In formula: B is the wheelspan of vehicle, h is height of C.G., i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface; R is turning radius, and g is acceleration of gravity;
3) safe speed v when determining that vehicle enters curved
sr; Sideslip, rollover and the smaller value of two kinds of critical speeds that calculates is closed on by vehicle;
v
sr＝min{v
s,v
r}
4) safe speed v when consideration driver behavioral trait rear vehicle enters curved is calculated
safe;
v
safe＝k
d·v
sr
In formula: k
dfor driver's factor of influence; Described driver's factor of influence is obtained by statistical study;
Safe speed alarming device, enters curved front road speed for issuing vehicle and warns; Master control system, velocity radar, broadcasting equipment, warning lamp, LED display is had in described safe speed alarming device, described master control system is by comparing the result of safe speed and the velocity radar calculated, generate information warning, and control broadcasting equipment, warning lamp and LED display display information warning.
By such scheme, k when described driver's factor of influence is fine day
dspan be 0.32 ~ 0.38, cloudy day time k
dspan be 0.24 ~ 0.32, the k during greasy weather
dspan be 0.12 ~ 0.18, k during night
dspan be 0.20 ~ 0.27.
The beneficial effect that the present invention produces is:
The present invention is based on bus or train route to work in coordination with, for the lateral bucking event such as rollover, sideslip of vehicle, and by the demarcation to driver's behavioral trait, establish a kind of curved road safety speed of a motor vehicle computing method considering the many factors such as road environment, vehicle structure parameter, driver's behavioral trait.
The present invention has considered kinetic characteristics of vehicle and driver's behavioral trait, utilizes vehicle power theory to analyze the safe speed of vehicle at bend place.Compare with existing curved road safety speed of a motor vehicle computing method, the computing method of safe speed of the present invention propose, when coefficient of road adhesion rises to certain value, the rollover accident that vehicle occurs can be reflected, thus the curved road safety vehicle speed value making it calculate presents exclusive saturated phenomenon, there is calculating easy, fast operation, high reliability, for designing and developing of curved road safety travelling caution system provides theoretical method support.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the algorithm flow chart of the embodiment of the present invention;
Fig. 2 is that the device of the embodiment of the present invention arranges schematic diagram.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, curved road safety speed of a motor vehicle computing method are the lateral bucking events such as rollover, sideslip occurred at bend for vehicle, based on vehicle-subgrade system technology, suppose can carry out information interaction between vehicle and road, and the driving behavior parameter by having demarcated, on the basis taking into full account people, car, road three impact, set up a kind of method that accurate calculating vehicle enters curved safe speed, the method mainly comprises the following steps:
1) the sideslip critical velocity of vehicle is calculated: have a bend of outside superelevation on low attachment road surface, the critical velocity v breakked away occurs vehicle
sfor:
In formula: i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface;
for the attachment coefficient on road surface; R is turning radius; G is acceleration of gravity;
2) the rollover critical velocity of vehicle is calculated: at the bend on height attachment road surface, the rollover critical velocity v of vehicle
rfor:
In formula: B is the wheelspan of vehicle, h is height of C.G., i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface; R is turning radius, and g is acceleration of gravity;
3) safe speed v when determining that vehicle enters curved
sr; Sideslip, rollover and the smaller value of two kinds of critical speeds that calculates is closed on by vehicle;
v
sr＝min{v
s,v
r}
4) safe speed v when consideration driver behavioral trait rear vehicle enters curved is calculated
safe;
v
safe＝k
d·v
sr
In formula: k
dfor driver's factor of influence; Described driver's factor of influence is obtained by statistical study.
Driver's behavioral trait is also one of key factor affecting the curved road safety speed of a motor vehicle, such as, age, driving age, line of sight conditions, driving habits etc. directly determine that driver is to the control ability of vehicle, and this Driving control ability shows as driver to the reaction of road environment, the behavioral trait such as judgement and operation.Therefore, the driver of different behavioral trait, varies with each individual for the in-mind anticipation value of the curved road safety speed of a motor vehicle and acceptance.In other words, conventionally by considering the curved road safety speed of a motor vehicle computing method that vehicle structure parameter, road environment factor are set up, also driver's behavioral trait must be considered.
For this reason, in curved road safety speed of a motor vehicle computing method, introduce driver's factor of influence, setting up curved road safety speed of a motor vehicle calculating optimization method is:
Visible, consider " people-Che-Lu " multifactor under, when vehicle sails bend into, can ensure that the condition of driving safety is speed of a motor vehicle v≤v
safe.
Demarcated by driver's factor of influence, driver's average influence factor k
d, be 0.34 during fine day, be 0.27 during the cloudy day, being 0.23 during night, is 0.14 during the greasy weather.Compared to fine day and cloudy day, the road visibility under foggy environment can obviously reduce, and driver's sighting distance diminishes, and the greasy weather can cause driver's factor of influence significantly to reduce.Meanwhile, when night running, because professional driver reasonably converts high-low beam light, and the road equipment such as reflector, graticule is auxiliary, and driver's sighting distance does not produce obviously impact to the bend speed of a motor vehicle, comparatively close when driver's factor of influence and cloudy day.
Usually, driver's behavioral trait is comparatively complicated, and its individual difference is very large on the impact of the curved road safety speed of a motor vehicle.According to correlation statistical analysis, longer driver of older, driving age accident easily send out bend be often inclined to selection less enter the curved speed of a motor vehicle, there is lower accident proneness; The driver that age is less, the driving age is shorter then shows as higher accident proneness, enters the curved speed of a motor vehicle often comparatively large, according to individual difference and calibration result, and driver's factor of influence k
dspan as shown in table 1.
Table 1
As shown in Figure 2, a kind of curved road safety vehicle speed alarm system collaborative based on bus or train route, comprising:
Database, for storing the road environment information gathered in advance, described road environment information comprises the superelevation on the road surface in bend section, the horizontal wall inscription angle on road surface, the attachment coefficient on road surface, turning radius;
Real time monitoring apparatus, comprises the camera of the image information for obtaining vehicle, weighing platform and rain sensor;
Real time monitoring apparatus is arranged on the road trackside before bend porch;
Information acquisition and computing module, come for the vehicle information that collects according to vehicle type detector with the wheelspan B of estimating vehicle, and the car weight collected in conjunction with dynamic weighing platform is with estimating vehicle height of C.G. h; Also for the wet and slippery information of road surface sleet that collects according to pavement state detecting device to estimate coefficient of road adhesion
Wherein, wheelspan estimation, height of C.G. estimation, coefficient of road adhesion estimation etc., can with reference to existing technical literature;
Curved road safety speed of a motor vehicle computing module, for calculating the curved road safety speed of a motor vehicle;
Specifically comprise:
1) the sideslip critical velocity of vehicle is calculated: have a bend of outside superelevation on low attachment road surface, the critical velocity v breakked away occurs vehicle
sfor:
In formula: i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface;
for the attachment coefficient on road surface; R is turning radius; G is acceleration of gravity;
2) the rollover critical velocity of vehicle is calculated: at the bend on height attachment road surface, the rollover critical velocity v of vehicle
rfor:
In formula: B is the wheelspan of vehicle, h is height of C.G., i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface; R is turning radius, and g is acceleration of gravity;
3) safe speed v when determining that vehicle enters curved
sr; Sideslip, rollover and the smaller value of two kinds of critical speeds that calculates is closed on by vehicle;
v
sr＝min{v
s,v
r}
4) safe speed v when consideration driver behavioral trait rear vehicle enters curved is calculated
safe;
v
safe＝k
d·v
sr
In formula: k
dfor driver's factor of influence; Described driver's factor of influence is obtained by statistical study;
Safe speed alarming device, enters curved front road speed for feeding back vehicle and warns; Master control system, velocity radar, broadcasting equipment, warning lamp, LED display is had in described safe speed alarming device, described master control system is by comparing the result of safe speed and the velocity radar calculated, generate information warning, and control broadcasting equipment, warning lamp and LED display display information warning.LED display in safe speed alarming device is according to the master control system information received, the hypervelocity of the real-time speed of a motor vehicle of this vehicle, the criticality safety speed of a motor vehicle that system is calculated and this vehicle is judged that information displaying is in LED display, and is travelled by broadcasting equipment, alarming lamp prompt driver safety.
Said process all completes within 1-2 second, to ensure information displaying before vehicle is by safe speed alarming device in LED display.
Safe speed alarming device is arranged on the road trackside before bend porch.
Vehicle driver is according to the information that safe speed alarming device LED display shows, understand the real-time driving speed of a motor vehicle state of oneself, and under hypervelocity condition enter curved before in time adjustment reduce the speed of a motor vehicle to be stabilized in criticality safety vehicle speed range, thus it is curved rear because the speed of a motor vehicle is too fast or road surface is crossed sliding and had an accident to prevent vehicle from entering, and reduces vehicle in the potential safety hazard of sailing bend place into.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (4)
1., based on the curved road safety speed of a motor vehicle computing method that bus or train route is collaborative, it is characterized in that, comprise the following steps:
1) the sideslip critical velocity of vehicle is calculated: have a bend of outside superelevation on low attachment road surface, the critical velocity v breakked away occurs vehicle
sfor:
In formula: i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface;
for the attachment coefficient on road surface; R is turning radius; G is acceleration of gravity;
2) the rollover critical velocity of vehicle is calculated: at the bend on height attachment road surface, the critical velocity v of rollover occurs vehicle
rfor:
In formula: B is the wheelspan of vehicle, h is height of C.G., i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface; R is turning radius, and g is acceleration of gravity;
3) safe speed v when determining that vehicle enters curved
sr; Sideslip, rollover and the smaller value of two kinds of critical speeds that calculates is closed on by vehicle;
v
sr＝min{v
s,v
r}
4) safe speed v when consideration driver behavioral trait rear vehicle enters curved is calculated
safe;
v
safe＝k
d·v
sr
In formula: k
dfor driver's factor of influence; Described driver's factor of influence is obtained by statistical study.
2. curved road safety speed of a motor vehicle computing method according to claim 1, is characterized in that, k when described driver's factor of influence is fine day
dspan be 0.32 ~ 0.38, cloudy day time k
dspan be 0.24 ~ 0.32, the k during greasy weather
dspan be 0.12 ~ 0.18, k during night
dspan be 0.20 ~ 0.27.
3., based on the curved road safety vehicle speed alarm system that bus or train route is collaborative, it is characterized in that, comprising:
Database, for storing the road environment information gathered in advance, described road environment information comprises the superelevation on the road surface in bend section, the horizontal wall inscription angle on road surface, the attachment coefficient on road surface, turning radius;
Real-time monitoring device, mainly comprises the hardware devices such as vehicle type detector, dynamic weighing platform and pavement state detecting device;
Information acquisition and computing module, come for the vehicle information that collects according to vehicle type detector with the wheelspan B of estimating vehicle, and the car weight collected in conjunction with dynamic weighing platform is with estimating vehicle height of C.G. h; Also for the wet and slippery information of road surface sleet that collects according to pavement state detecting device to estimate coefficient of road adhesion
Curved road safety speed of a motor vehicle computing module, for calculating the curved road safety speed of a motor vehicle;
Specifically comprise:
1) the sideslip critical velocity of vehicle is calculated: have a bend of outside superelevation on low attachment road surface, the critical velocity v breakked away occurs vehicle
sfor:
In formula: i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface;
for the attachment coefficient on road surface; R is turning radius; G is acceleration of gravity;
2) the rollover critical velocity of vehicle is calculated: at the bend on height attachment road surface, the critical velocity v of rollover occurs vehicle
rfor:
In formula: B is the wheelspan of vehicle, h is height of C.G., i
yfor the superelevation on road surface, i
y=tan β, β are the horizontal wall inscription angle on road surface; R is turning radius, and g is acceleration of gravity;
3) safe speed v when determining that vehicle enters curved
sr; Sideslip, rollover and the smaller value of two kinds of critical speeds that calculates is closed on by vehicle;
v
sr＝min{v
s,v
r}
4) safe speed v when consideration driver behavioral trait rear vehicle enters curved is calculated
safe;
v
safe＝k
d·v
sr
In formula: k
dfor driver's factor of influence; Described driver's factor of influence is obtained by statistical study.
4. curved road safety vehicle speed alarm system according to claim 3, is characterized in that, k when described driver's factor of influence is fine day
dspan be 0.32 ~ 0.38, cloudy day time k
dspan be 0.24 ~ 0.32, the k during greasy weather
dspan be 0.12 ~ 0.18, k during night
dspan be 0.20 ~ 0.27.
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