CN105489023A - Vehicle early-warning system and method at plane intersection without signal control in low visibility condition - Google Patents
Vehicle early-warning system and method at plane intersection without signal control in low visibility condition Download PDFInfo
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- CN105489023A CN105489023A CN201610066995.0A CN201610066995A CN105489023A CN 105489023 A CN105489023 A CN 105489023A CN 201610066995 A CN201610066995 A CN 201610066995A CN 105489023 A CN105489023 A CN 105489023A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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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
- G08G1/095—Traffic lights
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Abstract
The invention discloses a vehicle early-warning system and method at a plane intersection without signal control in a low visibility condition. The vehicle early-warning system comprises a safety speed calculating module, an early-warning information issuing module, a vehicle detection module and a visibility detection module. The visibility detection module is installed at a target intersection to detect visibility of the intersection. The vehicle detection module detects whether vehicles pass by according to changes of a magnetic field, and transmits the running speed of a current vehicle to the safety speed calculating module. The safety speed calculating module calculates the speed according to a safety speed calculating formula, the visibility of the intersection and the running position of the vehicle, determines whether the vehicle is running at the safe speed, and sends a signal to the early-warning information issuing module. Visibility conditions within the area of the intersection can be effectively detected, suggestions are made for the speed of vehicles that are about to pass across the intersection, and early warning is given against vehicle conflicts that about to occur.
Description
Technical field
The present invention relates to the vehicle early warning system and method for non-mandrel roller level-crossing under a kind of low visibility.
Background technology
The quick propelling of current Chinese Urbanization progress, inevitably there is a considerable number of no signal management and the level-crossing controlled in further expanding of the highway system of simultaneous between each region in highway construction.And these crossings are usually located at the rural areas such as the combination area of city and country, joint portion, small towns, the vehicle in this region has the features such as travel speed is fast, driving behavior is barbarous usually.And when low visibility weather situation appears in region, above-mentioned crossing, as dense fog, heavy snow, heavy rain, haze etc., lack the management of intersection signal by the vehicle at above-mentioned crossing, cannot shift to an earlier date and initiatively avoid vehicle collision, which results in the generation of accident.
Existing document has been concerned about the speed of a motor vehicle speed limit problem in the low visibility situation such as collision problem and dense fog, severe snow, haze of crossing more, but and reckon without:
(1) under low visibility condition, based on the safe speed computational problem of the non-mandrel roller level-crossing that potential conflict differentiates;
(2), under low visibility condition, the safe early warning problem of the non-mandrel roller level-crossing of environmental baseline and potential conflict is considered.
And the present invention is when being in low visibility condition mainly for non-mandrel roller level-crossing, visibility detector set near crossing can be relied on to judge, and current visibility conditions and wagon detector detect the vehicle be about to by crossing, and consider environmental baseline and potential conflict, carry out the issue of vehicle safety early warning and safe speed.
Summary of the invention
The present invention is in order to solve the problem, propose the vehicle early warning system and method for non-mandrel roller level-crossing under a kind of low visibility, the present invention detects the visual condition in current crossing by visibility detection module, and be about to by this crossing vehicle speed by vehicle detection module detection, be sent to speed of a motor vehicle computing module, calculate the safe velocity being about to the vehicle that crossing conflict occurs, and be transferred to early warning information in time and issue and be distributed to driver with receiver module, thus reach the vehicle collision process of unsignalized intersection.
To achieve these goals, the present invention adopts following technical scheme:
A vehicle early warning system for non-mandrel roller level-crossing under low visibility, comprises visibility detection module, vehicle detection module safe speed computing module and early warning information release module, wherein:
Described visibility detection module is arranged at target crossing, detect the visibility of crossing, described vehicle detection module detects car speed according to changes of magnetic field, current Vehicle Speed is transferred to safe speed computing module, described safe speed computing module calculates according to safe speed computing formula, the visibility of current crossing and the traveling-position of vehicle, judge whether vehicle is safe velocity, and send a signal to early warning information release module.
Described early warning information release module comprises control module and is laid in the controlled flash of light railway spike group formation of every bar driveway both sides, control module interior reservoir has early warning railway spike frequency algorithm, control module control work controlled flash of light railway spike group works, and described controlled flash of light railway spike group comprises multiple controlled flash of light railway spike be arranged side by side.When the vehicle speed of operation that vehicle detection module detection current lane travels is safe speed, control module is issued normal work order and is made flash of light railway spike according to constant frequency flicker for warning driver's site of road; When vehicle detection module detects the dangerous speed of a motor vehicle, the early warning mechanism of control module is activated, draw the lighting time of lighting order and single railway spike of flash of light railway spike according to the safe speed drawn in conjunction with early warning railway spike frequency algorithm, thus visually reach the object guiding driver initiatively to slow down.
Described visibility detection module, the horizontal visibility section Shi meter De Er formula according to having announced calculates the actual visibility in locality, then carries out adjustment and redefines low visibility standard, storing Current standards after completing adjustment.
Described vehicle detection module is arranged on crossing inlet road.
Based on a method for early warning for said system, comprise the following steps:
(1) visibility detection module is mounted to target crossing, detects the visibility of current crossing, and according to local weather actual state and application level visibility experimental formula carry out adjustment and redefine low visibility standard;
(2) vehicle detection module is according to the changes of magnetic field caused during actual vehicle Multiple through then out detecting device, analyzes this variable signal, calculates Current vehicle travel speed, be sent to safe speed computing module;
(3) anticipation is made when safe speed computing module gets Current vehicle travel speed, traveling-position according to safe speed computing formula, current visibility and vehicle judges, whether be safe velocity under current visibility conditions, if not, then prediction occurring.
In described step (1), calculate current visibility according to the visibility experimental formula that crossing uses.
In described step (3), calculate for the vehicle safety speed of a motor vehicle that same direction road travels, build anti-rear end collision safety speed of a motor vehicle formula, v
n+1' (t+1)=f [v
n+1(t)-v
n(t), L (V) (t), a
n+1(α, β) (t)], L (V) (t)---car visual range before and after t; In formula, V represents visibility; a
n+1---(n+1)th car retarded velocity, retarded velocity and parameter alpha, β is relevant, and wherein α represents coefficient of road adhesion, and β represents vehicle braking performances.
In described step (3), the safe speed for crossing conflict wagon flow calculates, and builds crossing anti-collision safety speed of a motor vehicle formula, v
n+1" (t+1)=f [minL
n+1(i), v
n+1(t)-v
n(t), a (α, β) (t)], v in formula
n+1" (t+1)---t+1 moment n+1 the car anti-collision safety speed of a motor vehicle; L
n+1(i)---the distance of i-th conflict point distance n+1 car.
In described step (3), the controlled condition for crossing is the mistiming of two cars arrival crossing be more than or equal to minimum time headway to add the running time of front truck from stop line to conflict point and the difference of the running time of rear car from stop line to conflict point.
In described step (3), the computing method of safe speed are v
n+1(t+1)=min [v
n+1' (t+1), v
n+1" (t+1)].
In described step (3), early warning railway spike frequency algorithm is f
n+1=Light{CompareTo [C, f
n], v
n+1(t+1), Σ T (i) }, in formula C be warning module when normally working flash of light railway spike flicker frequency be constant; f
nfor last round of safe speed early warning frequency; Σ T (i) is that order lighted by flash of light railway spike.
In described step (3), about being described below of early warning frequency: when vehicle current vehicle speed is greater than safe speed, early warning frequency is drawn by early warning railway spike frequency algorithm, and simultaneously by with driver's reverse direction one by one according to showing that early warning frequency is lighted and circulates, form sight equation and guide driver initiatively to slow down.
The flash color of described railway spike is blue, just can reach the maximum functional benefit of warning module with frequency acting in conjunction.
Beneficial effect of the present invention is:
(1) the contingent vehicle collision of the unsignalized intersection under low visibility condition is classified as main early warning target by the present invention;
(2) speed of operation that vehicle can not enter without control is with one voice front by the present invention yet carries out speed of a motor vehicle suggestion, accomplishes the vehicle early warning of preventing trouble before it happens;
(3) based on the visibility effectively detected in the regional extent of crossing, to being about to the effective early warning being carried out speed of a motor vehicle suggestion and imminent vehicle collision by the vehicle of this crossing;
(4) fully take into account the transport environmental condition of unsignalized intersection, the change of the driving behavior that the factors such as the driver's psychological activity under low visibility condition cause, gives the subsidiary function of certain vehicle safe driving.
Accompanying drawing explanation
Fig. 1 is that crossing of the present invention early warning system lays schematic diagram;
Fig. 2 is present system logical diagram
Fig. 3 is warning module configuration diagram of the present invention
Wherein: 1, vehicle detection module, 2, safe speed computing module, 3, visibility detection module, 4, early warning information issues and receiver module, 5, blue controlled flash of light railway spike, 6, built-in control unit.
Embodiment:
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1, a kind of vehicle early warning method of low visibility non-signalized intersection, comprises the following steps:
Step 1: visibility detection module is mounted to target crossing, according to local weather actual state and application level visibility experimental formula---Koschmieder formula V=, wherein V represents visibility, H represents absolute altitude (km), represent optical thickness, carry out adjustment and redefine low visibility standard, after completing adjustment, storing Current standards;
Step 2: vehicle detection module, according to the changes of magnetic field caused during actual vehicle Multiple through then out detecting device, is analyzed this variable signal and calculates Current vehicle travel speed in conjunction with software kit, being sent to safe speed computing module;
Step 3: can anticipation be made when safe speed computing module gets Current vehicle travel speed, according to safe speed computing formula, v
n+1(t+1)=min [v
n+1' (t+1), v
n+1" (t+1)], the possible left turn lane that conflicts is there is in what the import Through Lane being positioned at any direction as current vehicle position still had other vehicle to be positioned at other any direction simultaneously with the former, here need to set up one to compare and get little formula, the speed of a motor vehicle=CompareTo (current vehicle speed of each car, arrive the crossing time, arrive conflict point distance), there is the possibility that to there is conflict between any two and above vehicle and occur, under then utilizing current visibility conditions, the speed of a motor vehicle get little after determine whether safe velocity, if not, then draw the safety traffic speed of a motor vehicle by the crossing conflict computing formula under built-in low visibility condition and be transferred to early warning information issue and issue with receiver module, if the safety traffic speed of a motor vehicle does not then process.Wherein roughly the same it will not go into details for craspedodrome and Forecasting Methodology described in the speed of a motor vehicle of turning right and above-mentioned steps three.
The structure of the safe speed computing module wherein described in step 3:
1. the current visibility measured by step 1, depends on the function model that current crossing uses;
2. can record required data parameters by step 2, and be sent in safe speed computing module;
3. calculate for the safe speed between the vehicle that same direction road travels, anti-rear end collision safety speed of a motor vehicle formula, v
n+1' (t+1)=f [v
n+1(t)-v
n(t), L (V) (t), a
n+1(α, β) (t)], L (V) (t)---car visual range before and after t; In formula, V represents visibility; a
n+1---(n+1)th car retarded velocity, retarded velocity and parameter alpha, β is relevant, and wherein α represents coefficient of road adhesion, and β represents vehicle braking performances.
4. there is the safe speed calculating of conflict wagon flow for crossing road intersection, build crossing anti-collision safety speed of a motor vehicle formula, v
n+1" (t+1)=f [minL
n+1(i), v
n+1(t)-v
n(t), a (α, β) (t)], v in formula
n+1' (t+1)---prevent in the same way knocking into the back n+1 car at the (n+1)th moment safe speed; L
n+1(i)---the distance of i-th conflict point distance n+1 car.
5. the necessary condition formula of the guarantee rear car safety utilizing this mistiming of t to conflict in conjunction with No-shell culture, condition formula t=CompareTo [h (t), the t of the guarantee rear car safety No-shell culture being applicable to native system is obtained by publicity distortion
a, t
f, L
n+1(i)], wherein h is minimum time headway (s), t
ffor the running time (s) of front truck from stop line to conflict point, t
afor the running time (s) of rear car from stop line to conflict point.
6. above-mentioned function model is stored in single-chip microcomputer, thus carries out Automated condtrol.
Wherein in step 3 about the structure of warning module:
1. the flicker frequency C constant under warning module normal operating conditions is set by current visibility.
2. when detecting that Current vehicle speed of operation is greater than safe speed, activating warning module early warning mechanism, namely activating early warning railway spike frequency algorithm, f
n+1=Light{CompareTo [C, f
n], v
n+1(t+1), Σ T (i) }, in formula C be warning module when normally working flash of light railway spike flicker frequency be constant; f
nfor last round of safe speed early warning frequency; Σ T (i) is that order lighted by flash of light railway spike.
3. the safe speed v obtained by safe speed computing module
n+1(t+1) be sent in safe early warning module built-in control unit.
4. draw early warning frequency, carry out intersection vehicles early warning.
Embodiment one:
When unsignalized intersection southing mouth craspedodrome direction and western import craspedodrome direction have many vehicles entering current unsignalized intersection simultaneously, when first car triggers vehicle detection apparatus, whole system is started working (before vehicle enters crossing, visibility pick-up unit detect the visibility of current crossing in real time and uploading data to safe speed computing module).Mistiming t between the vehicle starting cumulative statistics southing mouth craspedodrome direction and western import craspedodrome direction according to first moment of vehicle detection apparatus of triggering and the current driving speed of a motor vehicle v of vehicle
n, utilize these mistiming data among formula, and the mistiming will press t
1, t
2t
nstore, these mistiming data are used for issuing vehicle early warning as anticipation foundation, here safety traffic mistiming constant to specifically be set according to influence factors such as the number of track-lines of concrete crossing, stop lines, here setting 5 seconds for convenience of citing is safety traffic mistiming constant, when data are imported into after among safe speed computing module, mistiming t
1, t
2t
njust start within 5 seconds, to compare with mistiming constant etc. data, when there is random time difference t<5, then activate safe speed computing formula and draw the minimum safety traffic speed of a motor vehicle, start to carry out safe speed early warning frequency computation part simultaneously.According to the current driving speed of a motor vehicle model v=f (v preset
n, t), Time Created difference with the two-dimentional relation of the current driving speed of a motor vehicle, namely the corresponding mistiming stores current driving speed, when anticipation mistiming t is critical time difference, carries out safe speed v and current driving speed of a motor vehicle v
ncompare, if v<v
n, then to circulate one by one an intense flash railway spike according to early warning frequency, reach safe speed recover normal flicker frequency as lighted one by one according to each railway spike flicker per second frequency once and driver direction and being circulated to vehicle; If v>=v
n, then early warning is not carried out according to normal flicker frequency.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. the vehicle early warning system of non-mandrel roller level-crossing under low visibility, is characterized in that: comprise safe speed computing module, early warning information release module, vehicle detection module and visibility detection module, wherein:
Described visibility detection module is arranged at target crossing, detect the visibility of crossing, whether described vehicle detection module detects according to changes of magnetic field has vehicle to pass through, current Vehicle Speed is transferred to safe speed computing module, described safe speed computing module calculates according to safe speed computing formula, the visibility of current crossing and the traveling-position of vehicle, judge whether vehicle is safe velocity, and send a signal to early warning information release module.
2. the vehicle early warning system of non-mandrel roller level-crossing under a kind of low visibility as claimed in claim 1, it is characterized in that: described visibility detection module, according to local weather actual state and horizontal visibility section Shi meter De Er formula, carry out adjustment and redefine low visibility standard, after completing adjustment, storing Current standards.
3. the vehicle early warning system of non-mandrel roller level-crossing under a kind of low visibility as claimed in claim 1, it is characterized in that: comprise control module and form with the controlled flash of light railway spike group being laid in every bar driveway both sides, control module interior reservoir has early warning railway spike frequency algorithm, control module control work controlled flash of light railway spike group works, and described controlled flash of light railway spike group comprises multiple controlled flash of light railway spike be arranged side by side; When the vehicle speed of operation that vehicle detection module detection current lane travels is safe speed, control module is issued normal work order and is made flash of light railway spike according to constant frequency flicker for warning driver's site of road; When vehicle detection module detects the dangerous speed of a motor vehicle, the early warning mechanism of control module is activated, and draws the lighting time of lighting order and single railway spike of flash of light railway spike according to the safe speed drawn in conjunction with early warning railway spike frequency algorithm.
4. the vehicle early warning system of non-mandrel roller level-crossing under a kind of low visibility as claimed in claim 1, is characterized in that: described vehicle detection module is arranged on the road of crossing.
5. based on a method for early warning for the system such as according to any one of claim 1-4, it is characterized in that: comprise the following steps:
(1) visibility detection module is mounted to target crossing, detects the visibility of current crossing, and according to local weather actual state and application level visibility experimental formula carry out adjustment and redefine low visibility standard;
(2) vehicle detection module is according to the changes of magnetic field caused during actual vehicle Multiple through then out detecting device, analyzes this variable signal, calculates Current vehicle travel speed, be sent to safe speed computing module;
(3) anticipation is made when safe speed computing module gets Current vehicle travel speed, traveling-position according to safe speed computing formula, current visibility and vehicle judges, whether be safe velocity under current visibility conditions, if not, then prediction occurring.
6. method for early warning as claimed in claim 5, is characterized in that: in described step (1), determines current visibility according to the function model that crossing uses.
7. method for early warning as claimed in claim 5, is characterized in that: in described step (3), for form on the road of same direction vehicle between safe speed calculate, build anti-rear end collision safety speed of a motor vehicle formula, v
n+1' (t+1)=f [v
n+1(t)-v
n(t), L (V) (t), a
n+1(α, β) (t)], L (V) (t) is car visual range before and after t; In formula, V represents visibility; a
n+1be (n+1)th car retarded velocity, retarded velocity and parameter alpha, β is relevant, and wherein α represents coefficient of road adhesion, and β represents vehicle braking performances.
8. method for early warning as claimed in claim 5, is characterized in that: in described step (3), and the safe speed for conflict wagon flow calculates, and sets up v
n+1" (t+1)=f [minL
n+1(i), v
n+1(t)-v
n(t), a (α, β) (t)], v in formula
n+1' (t+1) knock into the back n+1 car at the (n+1)th moment safe speed for anti-in the same way; L
n+1i () is the distance of i-th conflict point distance n+1 car.
9. method for early warning as claimed in claim 5, it is characterized in that: in described step (3), is be more than or equal to mistiming that two cars arrives crossing minimum time headway to add difference with the running time of rear car from stop line to conflict point after the running time of front truck from stop line to conflict point for the controlled condition of crossing.
10. method for early warning as claimed in claim 5, it is characterized in that: to circulate one by one an intense flash railway spike according to early warning frequency, reach safe speed recover normal flicker frequency, wherein early warning railway spike flicker frequency f as lighted one by one according to each railway spike flicker per second frequency once and driver direction and being circulated to vehicle
n+1=Light{CompareTo [C, f
n], v
n+1(t+1), Σ T (i) }, in formula C be warning module when normally working flash of light railway spike flicker frequency be constant; f
nfor last round of safe speed early warning frequency; Σ T (i) is that order lighted by flash of light railway spike.
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| CN108399758A (en) * | 2018-04-25 | 2018-08-14 | 合肥工业大学 | A kind of non-mandrel roller T-shape level-crossing real-time vehicle monitor warning systems answered, generated electricity based on voltage inductance |
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