CN111292557A - Non-lamp control intersection safety early warning method and system based on vehicle speed control - Google Patents
Non-lamp control intersection safety early warning method and system based on vehicle speed control Download PDFInfo
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
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- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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Abstract
The invention discloses a non-lamp control intersection safety early warning method and a non-lamp control intersection safety early warning system based on vehicle speed control, wherein the method comprises the following steps: respectively detecting the visual recognization distance a of the main road vehicle per second, the visual recognization distance b of the secondary road vehicle per second and the visual recognization distance c of the secondary road pedestrians per second; respectively calculating the minimum braking safe distance d of the vehicles on the main roadaminMinimum braking safety distance d of the secondary vehiclebminTime t when the main road vehicle passes through the corresponding conflict pointaThe time t when the secondary vehicle passes through the corresponding conflict pointbAnd the time t of the pedestrian on the secondary road passing through the corresponding conflict pointc(ii) a The method overcomes the defect that the safety early warning system of the non-lamp control intersection only realizes the safety early warning function of the vehicles on the main road in the prior art, and the speed of the vehicles on the main road and the secondary road is the sameToo fast, or the distance from the vehicle arriving at the intersection to the conflict point of the intersecting road is less than the minimum braking distance, it is difficult to ask it to avoid the problem of the vehicle or pedestrian of the intersecting road.
Description
Technical Field
The invention relates to the field of traffic safety and control, in particular to a non-lamp control intersection safety early warning method and system based on vehicle speed control.
Background
The non-lamp control intersection is an intersection without traffic signal lamp control, generally an intersection with a newly built city traffic flow not meeting the signal lamp setting condition, or an intersection with intercity highways, country roads and branches. In order to ensure the traffic safety of the non-lamp controlled intersection, a stop and go-giving mark line is generally arranged on a secondary road (a secondary road or a branch road), and a warning mark for paying attention to the intersection is arranged on a main road (a main road or a secondary road). With the rapid development of vehicle and pedestrian detection technology, in recent years, the application of a safety early warning system of a non-lamp-controlled intersection is more and more common, the system can detect the arrival condition of a secondary vehicle or a pedestrian in real time and immediately feed the arrival condition back to a display device of a main road, so that a driver of the main road vehicle is timely reminded of avoiding, and the safety of the non-lamp-controlled intersection is further improved.
The current safety early warning system of the non-lamp control intersection only simply realizes the safety early warning function of vehicles on the main road, when the speed of the vehicles on the main road and the secondary road is too high, or the distance between the vehicle reaching the intersection and the conflict point of the intersected road is less than the minimum braking distance (the shortest braking distance for safely stopping under a certain speed condition), the vehicle or the pedestrian on the intersected road is difficult to be required to be avoided, and even safety accidents can occur.
Therefore, the invention provides a non-lamp control intersection safety early warning method and a non-lamp control intersection safety early warning system based on vehicle speed control, which can effectively overcome the technical problems in the using process.
Disclosure of Invention
Aiming at the technical problems, the invention aims to overcome the problems that the safety early warning system of the non-lamp control intersection in the prior art only simply realizes the safety early warning function of vehicles on the main road, and when the speed of the vehicles on the main road and the secondary road is too high, or the distance between the vehicle reaching the intersection and the conflict point of the intersection road is less than the minimum braking distance (the shortest braking distance for safely stopping at a certain speed), the vehicle or the pedestrian on the intersection road is difficult to be required to be avoided, and even a safety accident can occur, thereby providing the safety early warning method and the safety early warning system of the non-lamp control intersection based on the speed control, which can effectively overcome the technical problems in the using process.
In order to achieve the purpose, the invention provides a non-lamp control intersection safety early warning method based on vehicle speed control, which is characterized by comprising the following steps:
respectively detecting the visual recognization distance a of the main road vehicle per second, the visual recognization distance b of the secondary road vehicle per second and the visual recognization distance c of the secondary road pedestrians per second;
respectively calculating the minimum braking safe distance d of the vehicles on the main roadaminMinimum braking safety distance d of the secondary vehiclebminTime t when the main road vehicle passes through the corresponding conflict pointaThe time t when the secondary vehicle passes through the corresponding conflict pointbAnd the time t of the pedestrian on the secondary road passing through the corresponding conflict pointc(ii) a Wherein the content of the first and second substances,
when the distance from the main road vehicle to the corresponding conflict point is greater than daminAnd the distance from the secondary road vehicle to the corresponding conflict point is more than dbminThe method comprises the following steps:
at ta＞taReducing the speed limit of the vehicles on the main road and keeping the speed limit of the vehicles on the secondary road unchanged;
at ta≤taReducing the vehicle limit speed of the secondary road and keeping the vehicle limit speed of the main road unchanged;
when the distance from the main road vehicle to the corresponding conflict point is less than daminWhen the vehicle speed is limited, the vehicle speed limit of the secondary road is reduced, and the vehicle speed limit of the main road is kept unchanged;
when the distance from the secondary road vehicle to the corresponding conflict point is less than dbminWhen the vehicle speed limit is not changed, the vehicle speed limit of the main road is reduced, and the vehicle speed limit of the secondary road is kept unchanged;
when the distance from the main road vehicle to the corresponding conflict point is greater than daminThe method comprises the following steps:
at tc-ta＞tPreset ofUnder the condition of (1), keeping the limited speed of the vehicle on the main road unchanged, and reminding pedestrians to pay attention to the vehicle;
at tc-ta≤tPreset ofIn the case of (2), reducing the main road vehicle limit speed;
when the distance from the main road vehicle to the corresponding conflict point is less than or equal to daminKeeping the limited speed of the vehicles on the main road unchanged, and reminding pedestrians to wait in situ to avoid the vehicles;
d isaminAnd d isbminThe calculation formula of (2) is as follows:
wherein d isminTaking the minimum braking distance of the vehicle, v the vehicle speed, the original speed-limiting vehicle speed, t the response time of the driver, 1 second, g the gravity acceleration, α the ground friction coefficient, and i the road gradient;
ta、tb、tcthe calculation formula of (2) is as follows:
wherein laVehicle length of main road vehicle, /)bVehicle length, v, of a secondary vehiclecThe pedestrian pace.
Preferably, while the keeping the main road vehicle limit speed constant, the method further comprises: sending out an early warning signal to the vehicles and/or pedestrians on the secondary road to remind the vehicles on the primary road of coming;
while the reducing the main road vehicle limit speed, the method further includes: and sending out an early warning signal to the vehicles on the main road to remind the vehicles and/or pedestrians on the next road.
Preferably, the early warning signal is an acousto-optic early warning signal.
The invention also provides a non-lamp control intersection safety early warning system based on vehicle speed control, which comprises:
the video detection module is used for identifying and detecting vehicles and pedestrians;
the radar detection module is used for detecting the speed of the vehicles and the pedestrians, and respectively detecting the visual recognition distance a of the vehicles on the main road per second, the visual recognition distance b of the vehicles on the secondary road per second and the visual recognition distance c of the pedestrians on the secondary road per second;
a calculation module for calculating the minimum braking safety distance d of the vehicles on the main road respectivelyaminMinimum braking safety distance d of the secondary vehiclebminTime t when the main road vehicle passes through the corresponding conflict pointaThe time t when the secondary vehicle passes through the corresponding conflict pointbAnd the time t of the pedestrian on the secondary road passing through the corresponding conflict pointc(ii) a Wherein the content of the first and second substances,
d isaminAnd d isbminThe calculation formula of (2) is as follows:
wherein d isminIs the most important for vehiclesThe method comprises the following steps of (1) obtaining a small braking distance, v being a vehicle speed, an original speed-limiting vehicle speed, t being a driver reaction time, 1 second, g being a gravity acceleration, α being a ground friction coefficient, and i being a road gradient;
ta、tb、tcthe calculation formula of (2) is as follows:
wherein laVehicle length of main road vehicle, /)bVehicle length, v, of a secondary vehiclecThe pedestrian pace;
a logic control module for performing the steps of:
when the distance from the main road vehicle to the corresponding conflict point is greater than daminAnd the distance from the secondary road vehicle to the corresponding conflict point is more than dbminThe method comprises the following steps:
at ta＞taReducing the speed limit of the vehicles on the main road and keeping the speed limit of the vehicles on the secondary road unchanged;
at ta≤taReducing the vehicle limit speed of the secondary road and keeping the vehicle limit speed of the main road unchanged;
when the distance from the main road vehicle to the corresponding conflict point is less than daminWhen the vehicle speed is limited, the vehicle speed limit of the secondary road is reduced, and the vehicle speed limit of the main road is kept unchanged;
when the distance from the secondary road vehicle to the corresponding conflict point is less than dbminWhen the vehicle speed limit is not changed, the vehicle speed limit of the main road is reduced, and the vehicle speed limit of the secondary road is kept unchanged;
when the distance from the main road vehicle to the corresponding conflict point is greater than daminThe method comprises the following steps:
at tc-ta＞tPreset ofUnder the condition of (1), keeping the limited speed of the vehicle on the main road unchanged, and reminding pedestrians to pay attention to the vehicle;
at tc-ta≤tPreset ofIn the case of (2), reducing the main road vehicle limit speed;
when the distance from the main road vehicle to the corresponding conflict point is less than or equal to daminAnd in time, the speed limit of the vehicles on the main road is kept unchanged, and pedestrians are reminded to wait in situ so as to avoid the vehicles.
Preferably, the system further comprises:
the early warning prompting module is used for keeping the limited speed of the vehicle on the main road unchanged, and the method further comprises the following steps: sending out an early warning signal to the vehicles and/or pedestrians on the secondary road to remind the vehicles on the primary road of coming;
while the reducing the main road vehicle limit speed, the method further includes: and sending out an early warning signal to the vehicles on the main road to remind the vehicles and/or pedestrians on the next road.
Preferably, the early warning prompt module is an LED early warning display screen.
Preferably, the logic control module reduces the speed limit of the vehicles on the main road and/or reduces the speed limit of the vehicles on the secondary road by controlling the variable speed limit sign.
Preferably, the system further comprises:
the solar photovoltaic battery pack is used for converting solar energy into electric energy and supplying power to the system;
and the wireless network bridge module is used for carrying out wireless signal transmission with the background server.
The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the non-lamp control intersection safety early warning method based on vehicle speed control is realized.
The invention also provides a machine readable storage medium on which a program is stored, which when executed implements a non-lamp-controlled intersection safety warning method based on vehicle speed control.
According to the technical scheme, the non-lamp control intersection safety early warning method based on vehicle speed control has the beneficial effects that: aiming at the problem that the current non-lamp control intersection safety early warning system lacks main and secondary road safety early warning judgment logic and a vehicle speed control function, and particularly the potential safety hazard exists when the distance from a vehicle to an intersection conflict point is less than the minimum braking distance, the main and secondary road safety early warning judgment logic and a processing mechanism are established by constructing the non-lamp control intersection safety early warning system and method based on vehicle speed control, a video radar detector is adopted to detect the speed and the distance of the vehicle or a pedestrian entering the intersection, and a variable speed limit sign is adopted to carry out intervention control on the driving speed of the main road vehicle and the secondary road vehicle in advance.
The invention solves the problem that the current non-lamp control intersection safety early warning system is lack of safety early warning judgment logic and processing mechanism and cannot give consideration to the potential safety hazard generated by controlling the vehicle speed and the minimum braking distance, thereby effectively improving the application value of the intersection safety early warning system, and effectively improving the traffic efficiency of the non-lamp control intersection while fully ensuring the traffic safety of the main and secondary roads of the non-lamp control intersection.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a logic diagram of a non-light controlled intersection safety precaution method based on vehicle speed control according to a preferred embodiment of the present invention;
FIG. 2 is a block diagram of a vehicle speed-based control system according to a preferred embodiment of the present invention;
FIG. 3 is a layout schematic of a vehicle speed control system provided in a preferred embodiment of the present invention; and
fig. 4 is a schematic structural diagram of an electronic device provided in a preferred embodiment of the present invention.
Description of the reference numerals
401 processor 402 memory
403 communication interface 404 bus
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, the invention provides a non-lamp control intersection safety early warning method based on vehicle speed control, which comprises the following steps:
respectively detecting the visual recognization distance a of the main road vehicle per second, the visual recognization distance b of the secondary road vehicle per second and the visual recognization distance c of the secondary road pedestrians per second;
respectively calculating the minimum braking safe distance d of the vehicles on the main roadaminMinimum braking safety distance d of the secondary vehiclebminTime t when the main road vehicle passes through the corresponding conflict pointaThe time t when the secondary vehicle passes through the corresponding conflict pointbAnd the time t of the pedestrian on the secondary road passing through the corresponding conflict pointc(ii) a Wherein the content of the first and second substances,
when the distance from the main road vehicle to the corresponding conflict point is greater than daminAnd the distance from the secondary road vehicle to the corresponding conflict point is more than dbminThe method comprises the following steps:
at ta＞taReducing the speed limit of the vehicles on the main road and keeping the speed limit of the vehicles on the secondary road unchanged;
at ta≤taReducing the vehicle limit speed of the secondary road and keeping the vehicle limit speed of the main road unchanged;
when the distance from the main road vehicle to the corresponding conflict point is less than daminWhen the vehicle speed is limited, the vehicle speed limit of the secondary road is reduced, and the vehicle speed limit of the main road is kept unchanged;
when the distance from the secondary road vehicle to the corresponding conflict point is less than dbminWhen the vehicle speed limit is not changed, the vehicle speed limit of the main road is reduced, and the vehicle speed limit of the secondary road is kept unchanged;
when the distance from the main road vehicle to the corresponding conflict point is greater than daminThe method comprises the following steps:
at tc-ta＞tPreset ofUnder the condition of (1), keeping the limited speed of the vehicle on the main road unchanged, and reminding pedestrians to pay attention to the vehicle;
at tc-ta≤tPreset ofIn the case of (2), reducing the main road vehicle limit speed;
when the distance from the main road vehicle to the corresponding conflict point is less than or equal to daminKeeping the limited speed of the vehicles on the main road unchanged, and reminding pedestrians to wait in situ to avoid the vehicles;
d isaminAnd d isbminThe calculation formula of (2) is as follows:
wherein d isminThe minimum braking distance of the vehicle, v is the vehicle speed, the original speed limiting vehicle speed is taken, t is the reaction time of the driver, 1 second is taken, g is the gravity acceleration, α is the ground friction coefficient, i is the road gradient, wherein d isminThe minimum braking distance of the vehicle, v is the vehicle speed, the original speed limiting vehicle speed is taken, t is the response time of the driver, 1 second is taken, g is the gravity acceleration, α is the ground friction coefficient, i is the road gradient, and d is the vehicle speedaminCorresponds to va；dbminCorresponds to vbThe d can be calculated according to the formulaaminAnd d isbmin(ii) a V isaFor the speed limit of the main path, vbIs the defined speed on the secondary road.
ta、tb、tcThe calculation formula of (2) is as follows:
wherein laVehicle length of main road vehicle, /)bVehicle length, v, of a secondary vehiclecThe pedestrian pace.
In a preferred embodiment of the present invention, while keeping the main road vehicle limit speed constant, the method further comprises: sending out an early warning signal to the vehicles and/or pedestrians on the secondary road to remind the vehicles on the primary road of coming;
while the reducing the main road vehicle limit speed, the method further includes: and sending out an early warning signal to the vehicles on the main road to remind the vehicles and/or pedestrians on the next road.
In a preferred embodiment of the present invention, the warning signal is an acousto-optic warning signal.
The principle of the non-light-controlled intersection safety early-warning method based on vehicle speed control is illustrated as follows:
the logic and processing mechanism of vehicle detection and safety pre-warning judgment of a certain lane on the main road and the secondary road are taken as an example for explanation. When the main road detects the coming vehicle, the main road video radar detector records the main road vehicle visual identification distance a every second, if the secondary road detects the coming vehicle, the secondary road video radar detector records the secondary road vehicle visual identification distance b every second, and if the distances from the main road vehicle and the secondary road vehicle to the corresponding conflict points are both larger than the minimum braking safety distance, the time t when the main road vehicle and the secondary road vehicle pass the corresponding conflict points is comparedaAnd tbWherein t isa、tbCan be calculated by the formulas (2) and (3). If ta>tbIf the speed limit of the sub-road vehicle is not changed, the main road variable speed limit sign reduces the speed limit Deltav of the main road vehiclea(ΔvaCan be set according to actual conditions), the main road LED early warning display screen displays 'coming vehicles on the secondary road', and vehicles on the secondary road preferentially pass through the intersection; if ta≤tbIf the speed limit of the main road vehicle is not changed, the speed limit sign of the secondary road vehicle reduces the speed limit delta v of the secondary road vehicleb(ΔvbCan be set according to actual conditions), secondary LED early warningThe display screen displays that vehicles come from the main road and the vehicles on the main road preferentially pass through the intersection. If the distance from the main road vehicle to the conflict point is less than the minimum braking safety distance daminIf the speed limit of the main road vehicle is not changed, the speed limit sign of the secondary road vehicle reduces the speed limit delta v of the secondary road vehiclebAnd the secondary road LED early warning display screen displays that the vehicles come from the main road, and the vehicles on the main road preferentially pass through the intersection. If the distance from the secondary vehicle to the conflict point is less than the minimum braking safety distance dbminIf the speed limit of the sub-road vehicle is not changed, the main road variable speed limit sign reduces the speed limit Deltav of the main road vehicleaAnd the main road LED early warning display screen displays that the vehicles come from the secondary road, and the vehicles on the secondary road preferentially pass through the intersection. The situation that the distances from the vehicles on the main road and the secondary road to the corresponding conflict points are smaller than the minimum braking safety distance is not allowed, and the situation needs to be avoided in the setting of system layout and early warning judgment distances.
And if the secondary road detects the pedestrian, the secondary road video radar detector records the visual recognition distance c of the pedestrian on the secondary road every second. If the distance from the main road vehicle to the conflict point is larger than the minimum braking distance daminThen comparing the time t of the main road vehicle and the secondary road pedestrian passing the corresponding conflict pointaAnd tcWherein t iscCan be calculated by equation (4). If tc-ta>3s, the speed of the main road vehicle is limited to be unchanged, the secondary road LED early warning display screen displays that the vehicle is paying attention to the coming vehicle, and the main road vehicle preferentially passes through the intersection; if tc-taIf the speed is less than or equal to 3s, the limited speed delta v of the main road vehicle is reducedaAnd the main road LED early warning display screen displays that the pedestrians are noticed. If the distance from the main road vehicle to the conflict point is less than the minimum braking safety distance daminIf the speed of the main road vehicle is limited to be unchanged, the LED early warning display screen on the secondary road displays 'please wait', and the main road vehicle preferentially passes through the intersection.
Wherein laThe length of the vehicle coming for the main road, lbDetecting the length of the vehicle coming for a secondary road, vcFor pedestrian pace, 1.0 to 1.2m/s can be generally taken.
As shown in fig. 2, the present invention further provides a non-lamp controlled intersection safety pre-warning system based on vehicle speed control, the system includes:
the video detection module is used for identifying and detecting vehicles and pedestrians;
the radar detection module is used for detecting the speed of the vehicles and the pedestrians, and respectively detecting the visual recognition distance a of the vehicles on the main road per second, the visual recognition distance b of the vehicles on the secondary road per second and the visual recognition distance c of the pedestrians on the secondary road per second;
a calculation module for calculating the minimum braking safety distance d of the vehicles on the main road respectivelyaminMinimum braking safety distance d of the secondary vehiclebminTime t when the main road vehicle passes through the corresponding conflict pointaThe time t when the secondary vehicle passes through the corresponding conflict pointbAnd the time t of the pedestrian on the secondary road passing through the corresponding conflict pointc(ii) a Wherein the content of the first and second substances,
d isaminAnd d isbminThe calculation formula of (2) is as follows:
wherein d isminThe minimum braking distance of the vehicle, v is the vehicle speed, the original speed limiting vehicle speed is taken, t is the response time of the driver, 1 second is taken, g is the gravity acceleration, α is the ground friction coefficient, i is the road gradient, and d is the vehicle speedaminCorresponds to va；dbminCorresponds to vbThe d can be calculated according to the formulaaminAnd d isbmin
ta、tb、tcThe calculation formula of (2) is as follows:
wherein laVehicle length of main road vehicle, /)bVehicle length, v, of a secondary vehiclecThe pedestrian pace;
a logic control module for performing the steps of:
when the distance from the main road vehicle to the corresponding conflict point is greater than daminAnd the distance from the secondary road vehicle to the corresponding conflict point is more than dbminThe method comprises the following steps:
at ta＞taReducing the speed limit of the vehicles on the main road and keeping the speed limit of the vehicles on the secondary road unchanged;
at ta≤taReducing the vehicle limit speed of the secondary road and keeping the vehicle limit speed of the main road unchanged;
when the distance from the main road vehicle to the corresponding conflict point is less than daminWhen the vehicle speed is limited, the vehicle speed limit of the secondary road is reduced, and the vehicle speed limit of the main road is kept unchanged;
when the distance from the secondary road vehicle to the corresponding conflict point is less than dbminWhen the vehicle speed limit is not changed, the vehicle speed limit of the main road is reduced, and the vehicle speed limit of the secondary road is kept unchanged;
when the distance from the main road vehicle to the corresponding conflict point is greater than daminThe method comprises the following steps:
at tc-ta＞tPreset ofUnder the condition of (1), keeping the limited speed of the vehicle on the main road unchanged, and reminding pedestrians to pay attention to the vehicle;
at tc-ta≤tPreset ofIn the case of (2), reducing the main road vehicle limit speed;
when the distance from the main road vehicle to the corresponding conflict point is less than or equal to daminAnd in time, the speed limit of the vehicles on the main road is kept unchanged, and pedestrians are reminded to wait in situ so as to avoid the vehicles.
In a preferred embodiment of the present invention, the system further comprises:
the early warning prompting module is used for keeping the limited speed of the vehicle on the main road unchanged, and the method further comprises the following steps: sending out an early warning signal to the vehicles and/or pedestrians on the secondary road to remind the vehicles on the primary road of coming;
while the reducing the main road vehicle limit speed, the method further includes: and sending out an early warning signal to the vehicles on the main road to remind the vehicles and/or pedestrians on the next road.
In a preferred embodiment of the present invention, the early warning module is an LED early warning display screen.
In a preferred embodiment of the present invention, the logic control module decreases the speed limit of the vehicle on the main road and/or decreases the speed limit of the vehicle on the sub-road by controlling the variable speed limit flag.
In a preferred embodiment of the present invention, the system further comprises:
the solar photovoltaic battery pack is used for converting solar energy into electric energy and supplying power to the system;
and the wireless network bridge module is used for carrying out wireless signal transmission with the background server.
FIG. 3 shows a schematic diagram of a practical deployment of the system; wherein, in the figure
The system is a safety early warning system, namely a combination of an LED early warning display screen, a variable speed limit sign and a video radar detector;
is a video radar detector;
the vehicle safety early warning system is respectively arranged at the side of the inlet road of the corner of the main road and the corner of the secondary road of the intersection, and the specific arrangement position is determined according to the main road and the corner of the intersection,The speed limit of the vehicles on the secondary road, the minimum braking safety distance of the vehicles, the maximum detection distance of the early warning system and the positions of the traffic collision points on the primary road and the secondary road are determined. The method comprises the steps of firstly determining the positions of traffic conflict points of a main road and a secondary road, and determining a plurality of different traffic conflict points according to intersection points of passing paths of a plurality of different entrance lanes of the main road and the secondary road. Then, the speed limit value of the vehicle on the main road and the secondary road and the minimum braking safety distance are determined, the speed limit values of the main road, the secondary road and the branch road are respectively set to be 50, 40 and 30km/h (which can be set according to the actual situation), and the speed limit value v adopted by the main road (the main road or the secondary road) is determinedaSpeed limit v adopted by a secondary path (secondary path or branch) of 50 or 40km/hbIs 40 or 30km/h, and the minimum braking safety distance of the main road vehicle and the secondary road vehicle before a certain road conflict point is set as damin、dbminIn conjunction with va、vbCan be calculated by equation (1).
Wherein d isminFor minimum braking distance of the vehicle, v is vehicle speed, t is driver reaction time, typically taken to be 1 second, g is gravitational acceleration, α is ground friction coefficient, i is road grade, then daminCorresponds to va；dbminCorresponds to vbThe d can be calculated according to the formulaaminAnd d isbmin(ii) a V isaFor the speed limit of the main path, vbIs the defined speed on the secondary road.
And finally, determining the setting positions of the primary and secondary road safety early warning systems according to the minimum braking safety distance corresponding to the conflict point determined by the innermost entrance lane of the primary road and the outermost entrance lane of the secondary road, wherein the distance range from the vehicle in a certain lane to the corresponding minimum braking safety distance critical position detected in the effective detection range of the primary road video radar detector is a visible distance range a, and the distance range from the vehicle in a certain lane or the pedestrian to the corresponding minimum braking safety distance critical position detected in the effective detection range of the secondary road video radar detector is a visible distance range b or c, so that the distance from the vehicle in a certain lane to the conflict point of the primary road is a + daminThe distance from the vehicle or pedestrian on a certain lane to the conflict point on the secondary road is b + dbminOr c + dbmin. And if the vehicle enters the solid line range of the main and secondary road guide lanes, the lane is not changeable, otherwise illegal snapshot of the vehicle running in the non-specified lane is carried out by the system high-definition camera.
The following illustrates the specific components and principles of the system:
as shown in fig. 2, the main functional components of the non-lamp control intersection safety pre-warning system based on vehicle speed control provided by the invention include: the device comprises a video radar detector, a variable speed limit sign, an LED early warning display screen, a solar photovoltaic battery pack, a wireless network bridge and other power supply and wireless communication supporting equipment, and can adopt a vertical rod installation mode. The video radar detector is a high-definition video camera and speed measuring radar integrated detection device, the detection range is about 15 meters to 200 meters from the installation position of the video radar detector, 4 lanes are covered at most, different traffic types such as vehicles, non-motor vehicles and pedestrians can be distinguished, traffic parameters such as speed and distance can be accurately detected, the high-definition video camera further has a vehicle license plate recognition function, and illegal behaviors such as vehicle overspeed can be captured. The variable speed limit sign is composed of an LED dot matrix display screen, can set different vehicle speed limit pre-values, can dynamically display different speed limit values according to system requirements, and is mainly used for controlling the passing speed of vehicles on a main road and a secondary road. The LED early warning display screen is composed of an LED dot matrix, can display different warning information according to the system safety early warning judgment logic, and is used for warning vehicles or pedestrians arriving at the intersection to safely pass through the intersection. The system is generally divided into a main road early warning system and a secondary road early warning system. When the main road detection area enters a traffic main body, activating a secondary road early warning system to work; and when the secondary road detection area enters a traffic main body, activating the main road early warning system to work.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 4, the electronic apparatus includes: a processor 401, a memory 402, a communication interface 403, and a bus 404; the processor 401, the memory 402 and the communication interface 403 complete mutual communication through the bus 404; the communication interface 403 is used for information transmission between the electronic device and the communication device of the terminal; the processor 401 is configured to call the program instruction in the memory 402 to execute the above-mentioned non-lamp-controlled intersection safety pre-warning method based on vehicle speed control.
An embodiment of the present invention further provides a machine-readable storage medium, on which a program is stored, where the program is executed to implement the above-mentioned non-lamp-controlled intersection safety early warning method based on vehicle speed control.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A non-lamp control intersection safety early warning method based on vehicle speed control is characterized by comprising the following steps:
respectively detecting the visual recognization distance a of the main road vehicle per second, the visual recognization distance b of the secondary road vehicle per second and the visual recognization distance c of the secondary road pedestrians per second;
respectively calculating the minimum braking safe distance d of the vehicles on the main roadaminMinimum braking safety distance d of the secondary vehiclebminTime t when the main road vehicle passes through the corresponding conflict pointaThe time t when the secondary vehicle passes through the corresponding conflict pointbAnd the time t of the pedestrian on the secondary road passing through the corresponding conflict pointc(ii) a Wherein the content of the first and second substances,
when the distance from the main road vehicle to the corresponding conflict point is greater than daminAnd the distance from the secondary road vehicle to the corresponding conflict point is more than dbminThe method comprises the following steps:
at ta＞taReducing the speed limit of the vehicles on the main road and keeping the speed limit of the vehicles on the secondary road unchanged;
at ta≤taReducing the vehicle limit speed of the secondary road and keeping the vehicle limit speed of the main road unchanged;
when the distance from the main road vehicle to the corresponding conflict point is less than daminWhen the vehicle speed is limited, the vehicle speed limit of the secondary road is reduced, and the vehicle speed limit of the main road is kept unchanged;
when the distance from the secondary road vehicle to the corresponding conflict point is less than dbminWhen the vehicle speed limit is not changed, the vehicle speed limit of the main road is reduced, and the vehicle speed limit of the secondary road is kept unchanged;
when the distance from the main road vehicle to the corresponding conflict point is greater than daminThe method comprises the following steps:
at tc-ta＞tPreset ofUnder the condition of (1), keeping the limited speed of the vehicle on the main road unchanged, and reminding pedestrians to pay attention to the vehicle;
at tc-ta≤tPreset ofIn the case of (2), reducing the main road vehicle limit speed;
when the distance from the main road vehicle to the corresponding conflict point is less than or equal to daminWhile keeping the speed limit of the main road vehicleReminding pedestrians to wait in place to avoid vehicles;
d isaminAnd d isbminThe calculation formula of (2) is as follows:
wherein d isminTaking the minimum braking distance of the vehicle, v the vehicle speed, the original speed-limiting vehicle speed, t the response time of the driver, 1 second, g the gravity acceleration, α the ground friction coefficient, and i the road gradient;
ta、tb、tcthe calculation formula of (2) is as follows:
wherein laVehicle length of main road vehicle, /)bVehicle length, v, of a secondary vehiclecThe pedestrian pace.
2. The non-lamp-controlled intersection safety precaution method based on vehicle speed control of claim 1,
while the maintaining the main road vehicle speed limit is unchanged, the method further comprises: sending out an early warning signal to the vehicles and/or pedestrians on the secondary road to remind the vehicles on the primary road of coming;
while the reducing the main road vehicle limit speed, the method further includes: and sending out an early warning signal to the vehicles on the main road to remind the vehicles and/or pedestrians on the next road.
3. The vehicle speed control-based non-lamp-controlled intersection safety early warning method as claimed in claim 2, wherein the early warning signal is an acousto-optic early warning signal.
4. A non-lamp control intersection safety early warning system based on vehicle speed control is characterized in that the system comprises:
the video detection module is used for identifying and detecting vehicles and pedestrians;
the radar detection module is used for detecting the speed of the vehicles and the pedestrians, and respectively detecting the visual recognition distance a of the vehicles on the main road per second, the visual recognition distance b of the vehicles on the secondary road per second and the visual recognition distance c of the pedestrians on the secondary road per second;
a calculation module for calculating the minimum braking safety distance d of the vehicles on the main road respectivelyaminMinimum braking safety distance d of the secondary vehiclebminTime t when the main road vehicle passes through the corresponding conflict pointaThe time t when the secondary vehicle passes through the corresponding conflict pointbAnd the time t of the pedestrian on the secondary road passing through the corresponding conflict pointc(ii) a Wherein the content of the first and second substances,
d isaminAnd d isbminThe calculation formula of (2) is as follows:
wherein d isminTaking the minimum braking distance of the vehicle, v the vehicle speed, the original speed-limiting vehicle speed, t the response time of the driver, 1 second, g the gravity acceleration, α the ground friction coefficient, and i the road gradient;
ta、tb、tcthe calculation formula of (2) is as follows:
wherein laVehicle length of main road vehicle, /)bVehicle length, v, of a secondary vehiclecThe pedestrian pace;
a logic control module for performing the steps of:
when the distance from the main road vehicle to the corresponding conflict point is greater than daminAnd the distance from the secondary road vehicle to the corresponding conflict point is more than dbminThe method comprises the following steps:
at ta＞taReducing the speed limit of the vehicles on the main road and keeping the speed limit of the vehicles on the secondary road unchanged;
at ta≤taReducing the vehicle limit speed of the secondary road and keeping the vehicle limit speed of the main road unchanged;
when the distance from the main road vehicle to the corresponding conflict point is less than daminWhen the vehicle speed is limited, the vehicle speed limit of the secondary road is reduced, and the vehicle speed limit of the main road is kept unchanged;
when the distance from the secondary road vehicle to the corresponding conflict point is less than dbminWhen the vehicle speed limit is not changed, the vehicle speed limit of the main road is reduced, and the vehicle speed limit of the secondary road is kept unchanged;
when the distance from the main road vehicle to the corresponding conflict point is greater than daminThe method comprises the following steps:
at tc-ta＞tPreset ofUnder the condition of (1), keeping the limited speed of the vehicle on the main road unchanged, and reminding pedestrians to pay attention to the vehicle;
at tc-ta≤tPreset ofIn the case of (2), reducing the main road vehicle limit speed;
when the distance from the main road vehicle to the corresponding conflict point is less than or equal to daminAnd in time, the speed limit of the vehicles on the main road is kept unchanged, and pedestrians are reminded to wait in situ so as to avoid the vehicles.
5. The vehicle speed control-based non-lamp-controlled intersection safety pre-warning system according to claim 4, further comprising:
the early warning prompting module is used for keeping the limited speed of the vehicle on the main road unchanged, and the method further comprises the following steps: sending out an early warning signal to the vehicles and/or pedestrians on the secondary road to remind the vehicles on the primary road of coming;
while the reducing the main road vehicle limit speed, the method further includes: and sending out an early warning signal to the vehicles on the main road to remind the vehicles and/or pedestrians on the next road.
6. The vehicle speed control-based non-lamp-controlled intersection safety early warning system as claimed in claim 5, wherein the early warning prompting module is an LED early warning display screen.
7. The vehicle speed control-based non-lamp-controlled intersection safety pre-warning system according to claim 4, wherein the logic control module is used for reducing the speed limit of vehicles on the main road and/or reducing the speed limit of vehicles on the secondary road by controlling the variable speed limit sign.
8. The vehicle speed control-based non-lamp-controlled intersection safety pre-warning system according to claim 4, further comprising:
the solar photovoltaic battery pack is used for converting solar energy into electric energy and supplying power to the system;
and the wireless network bridge module is used for carrying out wireless signal transmission with the background server.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method of any one of claims 1 to 3.
10. A machine readable storage medium having a program stored thereon, wherein the program when executed implements the method of any one of claims 1 to 3.
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