CN106205172B - Unsignalized intersection conflict resolution method and system - Google Patents
Unsignalized intersection conflict resolution method and system Download PDFInfo
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- CN106205172B CN106205172B CN201610809097.XA CN201610809097A CN106205172B CN 106205172 B CN106205172 B CN 106205172B CN 201610809097 A CN201610809097 A CN 201610809097A CN 106205172 B CN106205172 B CN 106205172B
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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
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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Abstract
The invention discloses a kind of unsignalized intersection conflict resolution method and systems, the unsignalized intersection conflict resolution system includes the first electronic label reader group and the second electronic label reader group, data processing unit, trackside distributing device and vehicle-mounted voice broadcast device.System obtains the driving information for driving towards intersection vehicles by the first electronic label reader group and the second electronic label reader group, the conflict between each vehicle is predicted according to vehicle traveling information using two data processing units, and propose conflict resolution method, by trackside distributing device to making prompting at a distance come vehicle, conflict resolution guiding is carried out to the vehicle for entering intersection by vehicle-mounted voice broadcast device, effectively improves the safety of unsignalized intersection.
Description
Technical field
The present invention relates to a kind of unsignalized intersection conflict resolution method and systems.The system is identified based on electronic license plate
Technology (Electronic Vehicle Identification, EVI), passes through the vehicle traveling information and motion state of acquisition
Judge potential conflict, belongs to intelligent transportation field.
Background technology
Electronic license plate identification technology is the extension and raising of Radio Frequency Identification Technology, utilizes the electronics installed on the rolling stock
Car plate label acquires the data on electronic license plate, reaches traffic pipe when it is by equipped with section through radio-frequency identification reader/writer
Reason, the purpose of traffic forecast and control, traffic guiding.Electronic license plate identification technology can break through original traffic information collection technology
Bottleneck realizes classification acquisition and the precise acquisition of vehicle traffic information.
Crossing safety, especially unsignalized intersection are all the important research side of urban traffic safety all the time safely
To, it is proposed that the method that conflict is collided much is avoided for vehicle intersection.In addition to it is existing using GPS obtain vehicle coordinate come
Predict outside the collision between vehicle, it should be seen that electronic license plate identification technology precision in terms of information collection is high, speed is fast and
The features such as one vehicle No.1 one card is corresponding, especially a vehicle No.1 one block corresponding pattern compared with being more suitable for intelligent transportation for GPS
In to vehicle fining, intelligent, personalized management requirement.
It can only be driven by the CAN bus or steering indicating light signal wire of vehicle to obtain in existing intersection vehicles collision avoidance method
Intent information is sailed, needs to make change to vehicle in this way, therefore it is higher to promote cost.
Invention content
Technical problem：It is especially suitable present invention aims at a kind of unsignalized intersection conflict resolution method of offer and system
For non-mandrel roller intersection, for avoiding the conflict in unsignalized intersection between vehicle.
Technical solution：A kind of unsignalized intersection conflict resolution method, the unsignalized intersection conflict resolution method are based on
A kind of unsignalized intersection conflict resolution system realization, the unsignalized intersection conflict resolution system include being installed on each import
The the first electronic label reader group and the second electronic label reader group of track pitch intersection same distance, the first data processing list
Member, the second data processing unit, trackside distributing device, vehicle-mounted voice broadcast device, and switch and power supply；First electronics
Label reader group and the second electronic label reader group are connected with data processing centre, and data processing centre is separately connected trackside
Display screen and vehicle-mounted voice broadcast device, power supply provide required electric energy for the system；The first electronic label reader group peace
Loaded on each entrance driveway updrift side away from intersection d1Place, forming region I；Second electronic label reader group be installed on it is each into
Mouth road updrift side is away from intersection d2Place, forming region II；
The unsignalized intersection conflict resolution method comprises the steps of：
(1), intersection vehicles are driven towards using the first electronic label reader group and the acquisition of the second electronic label reader group
Essential information and driving condition information；
(2), the time required to prediction vehicle reaches intersection, at the time of reaching conflict area and leave conflict area；
(3), judge conflict type and propose that corresponding resolution is suggested；
(4), position, vehicle and the speed information of carrying out vehicle in region I are issued on trackside distributing device；
(5), the information of vehicles for having with this vehicle and conflicting is filtered out, judges conflict type and digestion procedure；
(6), the information in step (5) is sent to driver with voice broadcasting modes.
A kind of unsignalized intersection conflict resolution system, including it is installed on first of each entrance driveway away from intersection same distance
Electronic label reader group and the second electronic label reader group, the first data processing unit, the second data processing unit, trackside
Distributing device, vehicle-mounted voice broadcast device, and switch and power supply；The first electronic label reader group and the second electronics mark
Label reader group is connected with data processing centre, and data processing centre is separately connected trackside display screen and vehicle-mounted voice reports dress
It sets, power supply provides required electric energy for the system；The first electronic label reader group is installed on each entrance driveway updrift side
Away from intersection d1Place, forming region I；Second electronic label reader group is installed on each entrance driveway updrift side away from intersection d2
Place, forming region II；
First electronic label reader group is for obtaining and recording t at the time of each vehicle passes through reader for the first timein (I), speed vi (I), vehicle, braking ability, entrance driveway and license plate number；If detecting, the speed of either car is more than the section safety speed-limit,
Immediately warning information is sent to trackside display device and Ge Che sound broadcasting devices；
Wherein, the serial number that i is identified by the first electronic label reader group for the first time by vehicle, and corresponding vehicle is compiled
Number for vehicle i, i=1,2,3...；N is entrance driveway number where each reader；
At the time of second electronic label reader group again identifies that each vehicle passes through its place entrance driveway reader respectively,
The track number of speed, license plate number and traveling, and keep the data twice of same vehicle corresponding according to license plate number；Track number turns simultaneously
Turn to vehicle driving intention information；It herein if vehicle travels on straight right lane, is handled according to straight trip, it is only necessary to the driver of right-hand rotation
It may be selected to be not turned on voice prompt device；If the unallocated track of branch, vehicle is handled by straight trip situation；
First data processing unit is used for：
(1) judge t at the time of this vehicle k passes through the first electronic label readerkn (I)When, if other vehicles i satisfactions are following
Constraints indicates that vehicle i does not enter into intersection at the moment, otherwise indicates that vehicle i has driven into region III；
vi (I)(tkn (I)-tin (I))≤d1；
Note：Δl(I)=tkn (I)-tin (I), then above formula can be abbreviated as：vi (I)Δl(I)≤d1；
Wherein, vi (I)Indicate that traveling passes through the speed of the first electronic label reader, t in the vehicle k of entrance driveway nkn (I)It indicates
It travels at the time of the vehicle k of entrance driveway n passes through the first electronic label reader, tin (I)Indicate that traveling is passed through in the vehicle i of entrance driveway n
At the time of first electronic label reader, Δ l(I)At the time of indicating that this vehicle k and his vehicle i is identified by the first electronic label reader
Difference, d1Indicate the first electronic label reader away from intersection distance；
(2) t is calculatedkn (I)It each spacing intersection real-time range and is sailed up to the time required to intersection from moment, formula is as follows:
sin (I)=d1-vi (I)(Δl(I)+ xr), △ tin (I)=sin (I)/vi (I)
Wherein sin (I)Indicate to travel the vehicle i in entrance driveway n in region I away from intersection real-time range, △ tin (I)Indicate row
It sails in the vehicle i of entrance driveway n the time required to reach intersection to it after the first electronic label reader, r indicates that system is each
Refresh the Fixed Time Interval of forecast information, x is to count symbol, is incremented by with system time since 0, increases by 1 every time；
Second data processing unit is used for：
(1) at the time of predicting that this vehicle k reaches intersection；
tkn (III)=tkn (II)+d2/vk (II)
Wherein tkn (III)Traveling is indicated at the time of the vehicle k of entrance driveway n is to intersection, tkn (II)Indicate traveling in entrance driveway n
Vehicle k pass through the second reader group at the time of, d2Indicate the second reader group away from intersection distance, vk (II)Indicate traveling in import
Speed of the vehicle k of road n Jing Guo the second reader group；
(2) at the time of predicting that this vehicle k is driven out to intersection；
1. this vehicle k is on main road：
2. this vehicle k is on branch road：
Wherein t 'kn (III)Indicate that traveling is driven out to intersection moment, u in the vehicle k of entrance driveway n1,u2Respectively indicate branch two into
Mouth road width, w1,w2Two entrance driveway width of main road is indicated respectively, and p takes 1 when vehicle k keeps straight in intersection, and p takes 0 when left-hand rotation；
(3) judge to filter out when this vehicle k is in intersection while being in other vehicles in intersection；
Δtkn (Ⅲ)=t 'kn (III)-tkn (III),
②tkn (III)The vehicle i that moment does not enter range II meets：
②tkn (III)The vehicle i that moment enters range II meets：
G=q (u1+u2)+(1-q)(w1+w2)
Wherein Δ tkn (Ⅲ)Indicate times of the vehicle k in intersection, vi (II)Indicate that traveling passes through second in the vehicle i of entrance driveway n
The speed of reader group；G is to write a Chinese character in simplified form label, and when vehicle k travelings are in main road, q takes 1, and traveling q in branch takes 0；
(4) according in the vehicle screened in vehicle driving intention information judgment step (3) whether with the presence of with this vehicle k
Conflict possible vehicle, if there is steering step (5), if not having, voice device reports security information backed off after random, and this is guided；
(5) this vehicle is calculated and at the time of Ta Che arrives and departs from conflict area
A. when this vehicle k travels on main road：
1. this vehicle k straight trips conflict with his vehicle i straight trips
Situation 1：
Situation 2：
2. this vehicle k straight trips conflict with his vehicle i left-hand rotations
Situation 1：
Situation 2 is identical as the 1. middle calculating of situation 2 formula；
Conflict with his vehicle i straight trips 3. this vehicle k turns left
Situation 1：
Situation 2：
Wherein, tck、t′ckAt the time of indicating that this vehicle k enters and leaves conflict area respectively, tci、t′ciHis vehicle i is indicated respectively
At the time of entering and leaving conflict area, tin (II)Traveling is indicated at the time of the vehicle i of entrance driveway n passes through the second reader group, hk
And hiThe length of wagon of this vehicle k and his vehicle i are indicated respectively；
Conflict with his vehicle i left-hand rotations 4. this vehicle k turns left
Voice broadcast prompts his vehicle i brakings of branch road, and stop-for-waiting main road vehicle can lead to after passing through at the stop line
Row；
B. when this vehicle k travels on branch：
Calculation formula is identical as the formula after k, i are exchanged in 1. middle each case；
(7) judge that this vehicle k whether there is with his vehicle i to conflict
If met | tck-tci|<ε then shows that this vehicle k and his vehicle i will almost reach conflict area simultaneously, necessarily causes
Conflict, according to unsignalized intersection vehicle pass-through rule, sound broadcasting device guides branch vehicle deceleration；
Wherein ε is fixed constant, and t reaches the time that conflict area needs after indicating branch vehicle braking, and a is vehicle braking
The deceleration that performance is determined, s indicate decelerating vehicles from region II is entered to the distance for reaching conflict area process, and h indicates vehicle
Length of wagon, vIt is recommended thatIndicate the speed that proposed vehicle is reduced in the voice guidance message that voice prompt device is reported；If
It needs to slow down to avoid potential conflict, then when other vehicles of voice guide there are having cart and cart in the vehicle of conflict
Other vehicles are prompted suitably to accelerate to leave intersection；
The trackside distributing device is in conjunction with the first data processing unit and the second data processing unit prediction result and respectively
Vehicle vehicle information, on its display screen with differentiated symbol respectively by each vehicle in its entrance driveway where position sin (I), estimated △ t the time required to reaching intersectionin (I)It shows on the intersection simple flat surface schematic diagram；And system is every
Refresh single prediction information on a display screen every the set time, while intersection vehicles have been left to judgement and will no longer be shown；Road
Side distributing device includes but not limited to LED display；
Vehicle-mounted voice broadcast device utilizes for reporting the safe guidance information for entering intersection to this vehicle targeted specifically
The prediction result of two data processing units carries out voice guide to transport conditions of this vehicle k in intersection, and broadcasting is deposited with this vehicle k
Trace information, vehicle information and conflict resolution guidance information are travelled in his vehicle of potential conflict, and intersection is left in this vehicle k
Guiding ending message is broadcast when mouth.
Advantageous effect：Compared with prior art, the present invention haing the following advantages：The present invention is only needed by headstock glass
The electronic tag position of installation can identify the track of vehicle traveling, and to obtain driving intention, minimum is changed to vehicle,
Also it more easily realizes.In addition, system issues the certain model in intersection by trackside distribution apparatus to all intersection vehicles that drive towards
Interior information of vehicles is enclosed, is conducive to driver and self holds and adjust transport condition, reduces guiding system below to a certain extent
Workload, timely prompt message be also beneficial to unsignalized intersection and safely improve, recycle on this basis vehicle-mounted
Sound broadcasting device forms specific aim and personalized guiding to each vehicle.The present invention is more suitable for intelligent friendship compared with the prior art
To vehicle fining, intelligent, personalized management requirement in logical.
Description of the drawings
Fig. 1 is a kind of unsignalized intersection conflict resolution system structure diagram.
Fig. 2 is unsignalized intersection conflict resolution method flow chart.
Fig. 3 is unsignalized intersection simple plan view.
Fig. 4 is unsignalized intersection conflict resolution System planes arrangement schematic diagram.
Reference numeral is as follows：1 first reader group；2 second reader groups；3 region, I range；4 region II ranges；5 regions
III range；6 trackside distribution apparatus.
Specific implementation mode
In conjunction with the technical detail and technical principle of the Fig. 1 to Fig. 4 description present invention.In the present invention, the unsignalized intersection
Conflict resolution system includes being installed on each entrance driveway away from intersection same distance (d1And d2) the first electronic label reader group 1
With the second electronic label reader group 2 (referred to as the first reader group and the second reader group, similarly hereinafter), the processing of the first Data Data
Unit (or data processing unit 1) and the second data processing unit (or data processing unit 2), trackside distributing device, vehicle
Carry sound broadcasting device, switch and power supply.Two reader groups (i.e. read by the first electronic label reader group and the second electronic tag
Read device group) it is connected with data processing centre, data processing centre is separately connected trackside display screen and vehicle-mounted voice broadcast device, drives
The person of sailing can choose whether that reception voice guidance message, power supply provide required electric energy for the system by switch.
In a further embodiment, the first reader group and the second reader group are used to obtain the basic letter of vehicle itself
Cease (including license plate number, vehicle etc.) and its running condition information.Trackside distribution apparatus includes but not limited to LED display, should
Equipment is labeled the position of different automobile types vehicle with differentiated symbol based on intersection simple plan view.The publication dress
It sets and may be disposed above entrance driveway at towards direction to the car, be not limited on the right side of runway.Vehicle-mounted voice broadcast device will receive nothing
Line electric signal is converted into voice signal, and the voice guidance message of resolution conflict is provided for driver.The guidance information is with vehicle
Type is different and changes.
First electronic label reader is installed on each entrance driveway updrift side away from intersection d1At (90-100m), formed
Region I 3.Second reader group is installed on each entrance driveway updrift side away from intersection d2At (20-30m), forming region II 4.
Described two data processing lists successively according to the first and second reader groups obtain data prediction vehicle sail up to the intersection moment,
At the time of reaching and sail out of conflict area etc., and provide in conjunction with driving intention information the guiding suggestion of conflict resolution.The publication
Device may be disposed above entrance driveway at towards direction to the car, is not limited on the right side of runway, is located at the first and second reader groups
Between centre position.
In a further embodiment, unsignalized intersection conflict resolution method mainly comprises the steps of：
(1) intersection vehicles essential information and driving condition information are driven towards using two groups of electronic label reader acquisitions.
(2) the time required to prediction vehicle reaches intersection, at the time of reaching conflict area and leave conflict area.
(3) judge conflict type and propose that corresponding resolution is suggested.
(4) position for carrying out vehicle in region I, vehicle, speed information are issued on trackside distributing device.
(5) information of vehicles for having with this vehicle and conflicting is filtered out
(6) advisory information of resolution conflict is sent to driver with sound broadcasting device.
Aspect is described further with reference to the accompanying drawings and examples.It should be understood that these descriptions are merely illustrative,
And it is not intended to limit the scope of the present invention.
As shown in figure 4, the first electronic label reader is installed on each entrance driveway updrift side away from intersection d1(90-
100m) place, forming region I, ranging from region III 5 in intersection.Second reader group is installed on each entrance driveway updrift side
Away from intersection d2At (20-30m), forming region II.Distributing device may be disposed above entrance driveway at towards direction to the car, unlimited
On the right side of runway, the midblock between the first reader group and the second reader group.
Unsignalized intersection conflict resolution system structure as shown in Figure 1, the first electronic label reader by collected letter
Breath reaches data processing unit 1 (the first data processing unit), and data processing unit 2 (the first data processing unit) will be at data
After the informix processing for managing unit 1 (the first data processing unit) and the acquisition of the second reader group, on the one hand information is passed
Sound broadcasting device is transported to, is passed after being on the other hand modified to the result of data processing unit 1 (the first data processing unit)
Trackside distributing device 6 is transported to, completes entirely to come vehicle forecast and conflict resolution process.
The conflict resolution method is as shown in Fig. 2, there is the following steps：
Step 1：First electronic label reader is for obtaining and recording t at the time of each vehicle passes through reader for the first timein (I), speed
Spend vi (I), vehicle, braking ability, the basic informations such as entrance driveway and license plate number.If detecting that the speed of either car is more than to be somebody's turn to do
Section safety speed-limit then sends warning information to trackside display device and Ge Che sound broadcasting devices immediately.Wherein, i is vehicle
For the first time by the serial number (i.e. each vehicle enters the sequence of identification range I) that the first electronic label reader is identified, i=1,2,
3..., it is and by corresponding car number vehicle i；N is entrance driveway number where each reader in the first electronic label reader.Its
In, classify to vehicle by vehicle, can be divided into minibus (7 or less), motor bus (7 or more), buggy (2.5 tons with
Under) and truck (2.5 tons or more) four types, hereinafter referred to as minibus, buggy is trolley, abbreviation motor bus, truck
For cart.
Second reader group again identify that each vehicle respectively pass through its where entrance driveway reader at the time of, speed, vehicle
The track number of the trade mark, traveling, and keep the data twice of same vehicle corresponding according to license plate number.Track number is converted into vehicle simultaneously
Driving intention information.It herein if vehicle travels on straight right lane, is handled according to straight trip, it is only necessary to which the driver of right-hand rotation may be selected not
Open voice prompt device.If the unallocated track of branch, vehicle is handled by straight trip situation.
Step 2：The data of first electronic label reader acquisition are handled in data processing unit 1, including：
(1) judge t at the time of this vehicle k passes through the first electronic label readerkn (I)When, if other vehicles i satisfactions are following
Constraints indicates that vehicle i does not enter into intersection at the moment, otherwise indicates that vehicle i has driven into region III.
vi (I)(tkn (I)-tin (I))≤d1
Note：Δl(I)=tkn (I)-tin (I), then above formula can be abbreviated as：vi (I)Δl(I)≤d1
Wherein, vi (I)Indicate that traveling passes through the speed of the first electronic label reader, t in the vehicle k of entrance driveway nkn (I)It indicates
It travels at the time of the vehicle k of entrance driveway n passes through the first electronic label reader, tin (I)Indicate that traveling is passed through in the vehicle i of entrance driveway n
At the time of first electronic label reader, Δ l(I)At the time of indicating that this vehicle k and his vehicle i is identified by the first electronic label reader
Difference, d1Indicate the first electronic label reader away from intersection distance.
(2) it calculates from tkn (I)Each spacing intersection distance and the time required to sailing up to intersection from moment, formula is as follows:
sin (I)=d1-vi (I)(Δl(I)+xr)
△tin (I)=sin (I)/vi (I)
Wherein sin (I)Indicate to travel the vehicle i in entrance driveway n in region I away from intersection real-time range, △ tin (I)Indicate row
It sails in the vehicle i of entrance driveway n the time required to reach intersection to it after the first electronic label reader, r indicates that system is each
Refresh the Fixed Time Interval of forecast information, x is to count symbol, is incremented by with system time since 0, increases by 1 every time.
Step 3：To the knot of the second reader group collected data and data processing unit 1 in data processing unit 2
Fruit carries out comprehensive analysis, including the following contents：
(1) at the time of predicting that this vehicle k reaches intersection.
tkn (III)=tkn (II)+d2/vk (II)
Wherein tkn (III)Traveling is indicated at the time of the vehicle k of entrance driveway n is to intersection, tkn (II)Indicate traveling in entrance driveway n
Vehicle k pass through the second reader group at the time of, d2Indicate the second reader group away from intersection distance, vk (II)Indicate traveling in import
Speed of the vehicle k of road n Jing Guo the second reader group.
(2) at the time of predicting that this vehicle k is driven out to intersection.
1. this vehicle k is on main road：
2. this vehicle k is on branch road：
Wherein t 'kn (III)Traveling is indicated at the time of the vehicle k of entrance driveway n is driven out to intersection, as shown in figure 3, u1,u2Respectively
Indicate two entrance driveway width of branch, w1,w2Two entrance driveway width of main road is indicated respectively, and p takes 1 when vehicle k keeps straight in intersection, a left side
P takes 0 when turning.
(3) judge to filter out when this vehicle k is in intersection while being in other vehicles in intersection.
Δtkn (Ⅲ)=t 'kn (III)-tkn (III)
①tkn (III)The vehicle i that moment does not enter range II meets：
②tkn (III)The vehicle i that moment enters range II meets：
G=q (u1+u2)+(1-q)(w1+w2)
Wherein Δ tkn (Ⅲ)Indicate times of the vehicle k in intersection, vi (II)Indicate that traveling passes through second in the vehicle i of entrance driveway n
The speed of reader group.G is to write a Chinese character in simplified form label, and when vehicle k travelings are in main road, q takes 1, and traveling q in branch takes 0.
(4) according in the vehicle filtered out in vehicle driving intention information judgment step (3) whether with the presence of with this vehicle k rush
Prominent possible vehicle, if there is steering (5), if reporting security information backed off after random without voice device, this is guided.
(5) this vehicle is calculated and at the time of Ta Che arrives and departs from conflict area
A. when this vehicle k travels on main road：
1. this vehicle k straight trips conflict with his vehicle i straight trips
Situation 1：
Situation 2：
2. this vehicle k straight trips conflict with his vehicle i left-hand rotations
Situation 1：
Situation 2 is identical as the 1. middle calculating of situation 2 formula.
Conflict with his vehicle i straight trips 3. this vehicle k turns left
Situation 1：
Situation 2：
Wherein tck、t′ckAt the time of indicating that this vehicle k enters and leaves conflict area respectively, tci、t′ciHis vehicle i is indicated respectively
At the time of entering and leaving conflict area, tin (II)Traveling is indicated at the time of the vehicle i of entrance driveway n passes through the second reader group, hk
And hiThe length of wagon of this vehicle k and his vehicle i are indicated respectively.
Conflict with his vehicle i left-hand rotations 3. this vehicle k turns left
Voice broadcast prompts his vehicle i brakings of branch road, and stop-for-waiting main road vehicle can pass after passing through at the stop line.
B. when this vehicle k travels on branch：
Calculation formula at the time of this vehicle and Ta Che arrive and depart from conflict area is mutual with k, i in 1. middle each case
Formula after changing is identical.
(7) judge that this vehicle k whether there is with his vehicle i to conflict
If met | tck-tci|<ε then shows that this vehicle k and his vehicle i will almost reach conflict area simultaneously, necessarily causes
Conflict, according to unsignalized intersection vehicle pass-through rule, sound broadcasting device guides branch vehicle deceleration.
vIt is recommended that=vi (II)-at
Wherein t reaches the time that conflict area needs after indicating branch vehicle braking, and a is determined by vehicle braking performances
Deceleration, s indicate decelerating vehicles from region II is entered to the distance for reaching conflict area process, and h indicates the length of wagon of vehicle,
vIt is recommended thatIndicate the speed that proposed vehicle is reduced in the voice guidance message that voice prompt device is reported.
If there is thering is cart and cart to need to slow down to avoid potential conflict in the vehicle of conflict, then voice guide its
Other vehicles are prompted suitably to accelerate to leave intersection when his vehicle.
Step 4：Trackside distributing device combination data processing unit 1 and 2 prediction result of data processing unit and each vehicle vehicle
Type information, on its display screen with differentiated symbol respectively by each vehicle in its entrance driveway where position sin (I), it is pre-
Meter reaches △ t the time required to intersectionin (I)It shows on the intersection simple flat surface schematic diagram.And system is every fixation
Time refreshes single prediction information on a display screen, while having left intersection vehicles to judgement and will no longer be shown.Trackside is issued
Device includes but not limited to LED display.
Step 5：, vehicle-mounted voice broadcast device is different from trackside distributing device, reports enter intersection to this vehicle targeted specifically
The safe guidance information of mouth carries out language using the prediction result of data processing unit 2 to transport conditions of this vehicle k in intersection
Sound guides, and broadcasts to travel trace information, vehicle information and conflict resolution there are his vehicle of potential conflict with this vehicle k and guide and believe
Breath, and guiding ending message is broadcast when this vehicle k leaves intersection.
In short, in the present invention, the intersection conflict resolution method based on electronic license plate identification technology, it is only necessary to pass through vehicle
The electronic tag position installed at head glass can identify the track of vehicle traveling, to obtain driving intention, to vehicle
Change is minimum, also more easily realizes.In addition, system drives towards intersection vehicles publication intersection by trackside distribution apparatus to all
The a certain range of information of vehicles of mouth, is conducive to driver and self holds and adjust transport condition, reduces to a certain extent below
The workload of guiding system, timely prompt message be also beneficial to unsignalized intersection and safely improve, on this basis again
The guiding be directed to, be personalized, refining is formed with to each vehicle using vehicle-mounted voice broadcast device, dual safety is formed and protects
Barrier.
Claims (7)
1. a kind of unsignalized intersection conflict resolution method, which is characterized in that the unsignalized intersection conflict resolution method is based on
A kind of unsignalized intersection conflict resolution system realization, the unsignalized intersection conflict resolution system include being installed on each import
The the first electronic label reader group and the second electronic label reader group of track pitch intersection same distance, the first data processing list
Member, the second data processing unit, trackside distributing device, vehicle-mounted voice broadcast device, and switch and power supply；First electronics
Label reader group and the second electronic label reader group respectively with the first data processing unit and the second data processing unit phase
Even, the first data processing unit and the second data processing unit are separately connected trackside distributing device and vehicle-mounted voice broadcast device,
Power supply provides required electric energy for the system；The first electronic label reader group is installed on each entrance driveway updrift side away from friendship
At prong d1, forming region I；Second electronic label reader group be installed on each entrance driveway updrift side away from intersection d2 at,
Forming region II；
The unsignalized intersection conflict resolution method comprises the steps of：
(1), the base for driving towards intersection vehicles is obtained using the first electronic label reader group and the second electronic label reader group
This information and driving condition information；
First electronic label reader group is for obtaining and recording t at the time of each vehicle passes through reader for the first timein (I), speed vi (I)、
Vehicle, braking ability, entrance driveway and license plate number；If detecting, the speed of either car is more than current road segment safety speed-limit,
Immediately warning information is sent to trackside display device and Ge Che sound broadcasting devices；
Wherein, the serial number that i is identified by the first electronic label reader group for the first time by vehicle, and be by corresponding car number
Vehicle i, i=1,2,3...；N is entrance driveway number where each reader；
Second electronic label reader group again identify that each vehicle respectively pass through its where entrance driveway reader at the time of, speed
The track number of degree, license plate number and traveling, and keep the data twice of same vehicle corresponding according to license plate number；Track number conversion simultaneously
For vehicle driving intention information；It herein if vehicle travels on straight right lane, is handled according to straight trip, it is only necessary to which the driver of right-hand rotation can
Selection is not turned on voice prompt device；If the unallocated track of branch, vehicle is handled by straight trip situation；
(2), the time required to prediction vehicle reaches intersection, at the time of reaching conflict area and leave conflict area；
(3), judge conflict type and propose that corresponding resolution is suggested；
(4), position, vehicle and the speed information of carrying out vehicle in region I are issued on trackside distributing device；
(5), the information of vehicles for having with this vehicle and conflicting is filtered out, judges conflict type and digestion procedure；
(6), the information in step (5) is sent to driver with voice broadcasting modes.
2. unsignalized intersection conflict resolution method according to claim 1, which is characterized in that the first data processing unit
The number obtained successively according to the first electronic label reader group and the second electronic label reader group with the second data processing unit
It is predicted that vehicle sail up to the intersection moment, reach and sail out of conflict area at the time of, and combine driving intention information to entry/exit conflicts
The guiding suggestion of resolution；The trackside distributing device may be disposed above entrance driveway, towards direction to the car at, and positioned at the first electricity
Midblock between subtab reader group and the second electronic label reader group.
3. unsignalized intersection conflict resolution method according to claim 1, which is characterized in that in step (2), at data
Reason is completed in the first data processing unit, is included the following steps：
(1) judge t at the time of this vehicle k passes through the first electronic label readerkn (I)When, if other vehicles i meets following constraint
Condition indicates that vehicle i does not enter into intersection at the moment, otherwise indicates that vehicle i has driven into region III, the region III is intersection
Interior range；
vi (I)(tkn (I)-tin (I))≤d1；
Note：Δl(I)=tkn (I)-tin (I), then above formula can be abbreviated as：vi (I)Δl(I)≤d1；
Wherein, vi (I)Indicate that traveling passes through the speed of the first electronic label reader, t in the vehicle k of entrance driveway nkn (I)Indicate traveling
At the time of the vehicle k of entrance driveway n passes through the first electronic label reader, tin (I)Indicate that traveling passes through first in the vehicle i of entrance driveway n
At the time of electronic label reader, Δ l(I)Indicate poor, d1 at the time of this vehicle k is identified with his vehicle i by the first electronic label reader
Indicate the first electronic label reader away from intersection distance；
(2) t is calculatedkn (I)It each spacing intersection real-time range and is sailed up to the time required to intersection from moment, formula is as follows：
sin (I)=d1-vi (I)(Δl(I)+xr)
△tin (I)=sin (I)/vi (I)
Wherein sin (I)Indicate to travel the vehicle i in entrance driveway n in region I away from intersection real-time range, △ tin (I)Indicate that traveling exists
The time required to the vehicle i of entrance driveway n reaches intersection after the first electronic label reader to it, r indicates that system refreshes every time
The Fixed Time Interval of forecast information, x are to count symbol, are incremented by with system time since 0, increase by 1 every time.
4. unsignalized intersection conflict resolution method according to claim 1, which is characterized in that in step (3), at data
Reason is completed in the second data processing unit, is included the following steps：
(1) at the time of predicting that this vehicle k reaches intersection；
tkn (III)=tkn (II)+d2/vk(II)
Wherein tkn (III)Traveling is indicated at the time of the vehicle k of entrance driveway n is to intersection, tkn (II)It indicates to travel the vehicle k in entrance driveway n
At the time of by the second reader group, d2 indicates the second reader group away from intersection distance, vk (II)Indicate traveling entrance driveway n's
Speed of the vehicle k Jing Guo the second reader group；
(2) at the time of predicting that this vehicle k is driven out to intersection；
1. this vehicle k is on main road：
2. this vehicle k is on branch road：
Wherein t 'kn (III)Indicate that traveling is driven out to the intersection moment in the vehicle k of entrance driveway n, u1, u2 indicate two entrance driveway of branch respectively
Width, w1, w2 indicate two entrance driveway width of main road respectively, and p takes 1 when vehicle k keeps straight in intersection, and p takes 0 when left-hand rotation；
(3) judge to filter out when this vehicle k is in intersection while being in other vehicles in intersection；
Δtkn (Ⅲ)=t 'kn (III)-tkn (III)
①tkn (III)The vehicle i that moment does not enter range II meets：
②tkn (III)The vehicle i that moment enters range II meets：
G=q (u1+u2)+(1-q) (w1+w2)
Wherein Δ tkn (Ⅲ)Indicate times of the vehicle k in intersection, vi (II)Indicate that traveling is read in the vehicle i of entrance driveway n by second
The speed of device group；G is to write a Chinese character in simplified form label, and when vehicle k travelings are in main road, q takes 1, and traveling q in branch takes 0；
(4) whether conflict with the presence of with this vehicle k according in the vehicle screened in vehicle driving intention information judgment step (3)
Possible vehicle, if there is steering step (5), if not having, voice device reports security information backed off after random, and this is guided；
(5) this vehicle is calculated and at the time of Ta Che arrives and departs from conflict area
A. when this vehicle k travels on main road：
1. this vehicle of k straight trips conflict with his vehicle i straight trips
Situation 1：
Situation 2：
2. this vehicle of k straight trips conflict with his vehicle i left-hand rotations
Situation 1：
Situation 2 is identical as the 1. middle calculating of situation 2 formula；
Conflict with his vehicle i straight trips 3. this vehicle of k turns left
Situation 1：
Situation 2：
Wherein, tck、t′ckAt the time of indicating that this vehicle k enters and leaves conflict area respectively,tci、t′ciIndicate that his vehicle i enters respectively
At the time of with conflict area is left, tin (II)Traveling is indicated at the time of the vehicle i of entrance driveway n passes through the second reader group, hkAnd hi
The length of wagon of this vehicle k and his vehicle i are indicated respectively；
Conflict with his vehicle i left-hand rotations 4. this vehicle of k turns left
Voice broadcast prompts his vehicle i brakings of branch road, and stop-for-waiting main road vehicle can pass after passing through at the stop line；
B. when this vehicle k travels on branch：
Calculation formula is identical as the formula after k, i are exchanged in 1. middle each case；
(7) judge that this vehicle k whether there is with his vehicle i to conflict
If met | tck-tci|<ε then shows that this vehicle k and his vehicle i will almost reach conflict area simultaneously, necessarily lead to a conflict,
According to unsignalized intersection vehicle pass-through rule, sound broadcasting device guides branch vehicle deceleration；
V suggestions=vi (II)-at；
Wherein ε is fixed constant, and t reaches the time that conflict area needs after indicating branch vehicle braking, and a is vehicle braking performances
The deceleration determined, s indicate decelerating vehicles from region II is entered to the distance for reaching conflict area process, and h indicates vehicle
Length of wagon, v suggest the speed that proposed vehicle is reduced in the voice guidance message that expression voice prompt device is reported；If deposited
There are cart and cart to need to slow down to avoid potential conflict, then to carry when other vehicles of voice guide in the vehicle of conflict
Show that other vehicles suitably accelerate to leave intersection.
5. unsignalized intersection conflict resolution method according to claim 1, which is characterized in that in step (4), trackside hair
Cloth apparatus combines the first data processing unit and the second data processing unit prediction result and each vehicle vehicle information, in its display
On screen with differentiated symbol respectively by each vehicle in its entrance driveway where position sin (I), estimated reach needed for intersection
Time △ tin (I)It shows on the intersection simple flat surface schematic diagram；And system is brushed on a display screen every the set time
New single prediction information, while intersection vehicles have been left to judgement and will no longer be shown；Trackside distributing device includes but not limited to
LED display.
6. unsignalized intersection conflict resolution method according to claim 1, which is characterized in that in step (5), vehicle-mounted language
Sound broadcast device utilizes the second data processing unit for reporting the safe guidance information for entering intersection to this vehicle targeted specifically
Prediction result voice guide is carried out to transport conditions of this vehicle k in intersection, broadcast with this vehicle k there are potential conflict he
Vehicle travels trace information, vehicle information and conflict resolution guidance information, and guiding knot is broadcast when this vehicle k leaves intersection
Beam information.
7. a kind of unsignalized intersection conflict resolution system, which is characterized in that identical away from intersection including being installed on each entrance driveway
The the first electronic label reader group and the second electronic label reader group of distance, at the first data processing unit, the second data
Manage unit, trackside distributing device, vehicle-mounted voice broadcast device, and switch and power supply；The first electronic label reader group
It is connected respectively with the first data processing unit and the second data processing unit with the second electronic label reader group, at the first data
Reason unit and the second data processing unit are separately connected trackside distributing device and vehicle-mounted voice broadcast device, and power supply is that the system carries
For required electric energy；The first electronic label reader group be installed on each entrance driveway updrift side away from intersection d1 at, formed
Region I；Second electronic label reader group be installed on each entrance driveway updrift side away from intersection d2 at, forming region II；
First electronic label reader group is for obtaining and recording t at the time of each vehicle passes through reader for the first timein (I), speed vi (I)、
Vehicle, braking ability, entrance driveway and license plate number；If detecting, the speed of either car is more than current road segment safety speed-limit,
Immediately warning information is sent to trackside display device and Ge Che sound broadcasting devices；
Wherein, the serial number that i is identified by the first electronic label reader group for the first time by vehicle, and be by corresponding car number
Vehicle i, i=1,2,3...；N is entrance driveway number where each reader；
Second electronic label reader group again identify that each vehicle respectively pass through its where entrance driveway reader at the time of, speed
The track number of degree, license plate number and traveling, and keep the data twice of same vehicle corresponding according to license plate number；Track number conversion simultaneously
For vehicle driving intention information；It herein if vehicle travels on straight right lane, is handled according to straight trip, it is only necessary to which the driver of right-hand rotation can
Selection is not turned on voice prompt device；If the unallocated track of branch, vehicle is handled by straight trip situation；
First data processing unit is used for：
(1) judge t at the time of this vehicle k passes through the first electronic label readerkn (I)When, if other vehicles i meets following constraint
Condition indicates that vehicle i does not enter into intersection at the moment, otherwise indicates that vehicle i has driven into region III, the region III is intersection
Interior range；
vi (I)(tkn (I)-tin (I))≤d1；
Note：Δl(I)=tkn (I)-tin (I), then above formula can be abbreviated as：vi (I)Δl(I)≤d1；
Wherein, vi (I)Indicate that traveling passes through the speed of the first electronic label reader, t in the vehicle k of entrance driveway nkn (I)Indicate traveling
At the time of the vehicle k of entrance driveway n passes through the first electronic label reader, tin (I)Indicate that traveling passes through first in the vehicle i of entrance driveway n
At the time of electronic label reader, Δ l(I)Indicate poor, d1 at the time of this vehicle k is identified with his vehicle i by the first electronic label reader
Indicate the first electronic label reader away from intersection distance；
(2) t is calculatedkn (I)It each spacing intersection real-time range and is sailed up to the time required to intersection from moment, formula is as follows:
sin (I)=d1-vi (I)(Δl(I)+xr)
△tin (I)=sin (I)/vi (I)
Wherein sin (I)Indicate to travel the vehicle i in entrance driveway n in region I away from intersection real-time range, △ tin (I)Indicate that traveling exists
The time required to the vehicle i of entrance driveway n reaches intersection after the first electronic label reader to it, r indicates that system refreshes every time
The Fixed Time Interval of forecast information, x are to count symbol, are incremented by with system time since 0, increase by 1 every time；Second number
It is used for according to processing unit：
(1) at the time of predicting that this vehicle k reaches intersection；
tkn (III)=tkn (II)+d2/vk (II)
Wherein tkn (III)Traveling is indicated at the time of the vehicle k of entrance driveway n is to intersection, tkn (II)It indicates to travel the vehicle k in entrance driveway n
At the time of by the second reader group, d2 indicates the second reader group away from intersection distance, vk (II)Indicate traveling entrance driveway n's
Speed of the vehicle k Jing Guo the second reader group；
(2) at the time of predicting that this vehicle k is driven out to intersection；
1. this vehicle k is on main road：
2. this vehicle k is on branch road：
Wherein t 'kn (III)Indicate that traveling is driven out to the intersection moment in the vehicle k of entrance driveway n, u1, u2 indicate two entrance driveway of branch respectively
Width, w1, w2 indicate two entrance driveway width of main road respectively, and p takes 1 when vehicle k keeps straight in intersection, and p takes 0 when left-hand rotation；
(3) judge to filter out when this vehicle k is in intersection while being in other vehicles in intersection；
Δtkn (Ⅲ)=t 'kn (III)-tkn (III)
①tkn (III)The vehicle i that moment does not enter range II meets：
②tkn (III)The vehicle i that moment enters range II meets：
G=q (u1+u2)+(1-q) (w1+w2)
Wherein Δ tkn (Ⅲ)Indicate times of the vehicle k in intersection, vi (II)Indicate that traveling is read in the vehicle i of entrance driveway n by second
The speed of device group；G is to write a Chinese character in simplified form label, and when vehicle k travelings are in main road, q takes 1, and traveling q in branch takes 0；
(4) whether conflict with the presence of with this vehicle k according in the vehicle screened in vehicle driving intention information judgment step (3)
Possible vehicle, if there is steering step (5), if not having, voice device reports security information backed off after random, and this is guided；
(5) this vehicle is calculated and at the time of Ta Che arrives and departs from conflict area
A. when this vehicle k travels on main road：
1. this vehicle k straight trips conflict with his vehicle i straight trips
Situation 1：
Situation 2：
2. this vehicle k straight trips conflict with his vehicle i left-hand rotations
Situation 1：
Situation 2 is identical as the 1. middle calculating of situation 2 formula；
Conflict with his vehicle i straight trips 3. this vehicle k turns left
Situation 1：
Situation 2：
Wherein, tck、t′ckAt the time of indicating that this vehicle k enters and leaves conflict area respectively, tci、t′ciIndicate that his vehicle i enters respectively
At the time of with conflict area is left, tin (II)Traveling is indicated at the time of the vehicle i of entrance driveway n passes through the second reader group, hkAnd hi
The length of wagon of this vehicle k and his vehicle i are indicated respectively；
Conflict with his vehicle i left-hand rotations 4. this vehicle k turns left
Voice broadcast prompts his vehicle i brakings of branch road, and stop-for-waiting main road vehicle can pass after passing through at the stop line；
B. when this vehicle k travels on branch：
Calculation formula is identical as the formula after k, i are exchanged in 1. middle each case；
(7) judge that this vehicle k whether there is with his vehicle i to conflict
If met | tck-tci|<ε then shows that this vehicle k and his vehicle i will almost reach conflict area simultaneously, necessarily lead to a conflict,
According to unsignalized intersection vehicle pass-through rule, sound broadcasting device guides branch vehicle deceleration；
V suggestions=vi (II)-at；
Wherein ε is fixed constant, and t reaches the time that conflict area needs after indicating branch vehicle braking, and a is vehicle braking performances
The deceleration determined, s indicate decelerating vehicles from region II is entered to the distance for reaching conflict area process, and h indicates vehicle
Length of wagon, v suggest the speed that proposed vehicle is reduced in the voice guidance message that expression voice prompt device is reported；If deposited
There are cart and cart to need to slow down to avoid potential conflict, then to carry when other vehicles of voice guide in the vehicle of conflict
Show that other vehicles suitably accelerate to leave intersection；
The trackside distributing device combines the first data processing unit and the second data processing unit prediction result and each vehicle vehicle
Type information, on its display screen with differentiated symbol respectively by each vehicle in its entrance driveway where position sin (I), it is pre-
Meter reaches △ t the time required to intersectionin (I)It shows on the intersection simple flat surface schematic diagram；And system is every fixation
Time refreshes single prediction information on a display screen, while having left intersection vehicles to judgement and will no longer be shown；Trackside is issued
Device includes but not limited to LED display；
Vehicle-mounted voice broadcast device utilizes the second number for reporting the safe guidance information for entering intersection to this vehicle targeted specifically
Voice guide is carried out to transport conditions of this vehicle k in intersection according to the prediction result of processing unit, broadcasts to exist with this vehicle k and dive
Trace information, vehicle information and conflict resolution guidance information are travelled in his vehicle of conflict, and when this vehicle k leaves intersection
Broadcast guiding ending message.
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