CN112735138A - Device and method for checking potential safety hazards of expressway - Google Patents
Device and method for checking potential safety hazards of expressway Download PDFInfo
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- CN112735138A CN112735138A CN202110020605.7A CN202110020605A CN112735138A CN 112735138 A CN112735138 A CN 112735138A CN 202110020605 A CN202110020605 A CN 202110020605A CN 112735138 A CN112735138 A CN 112735138A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
The invention relates to a device and a method for checking potential safety hazards of a highway, and belongs to the technical field of highway traffic safety. The troubleshooting device is installed on a detection vehicle and comprises a first information sensing module, a second information sensing module, a data acquisition instrument, a data storage unit and a microcomputer, wherein the first information sensing module is connected to the data storage unit and the microcomputer through the data acquisition instrument, the second information sensing module is also connected to the data storage unit and the microcomputer, and data transmission is further carried out between the data storage unit and the microcomputer. The checking method comprises different working modes, different detection methods are adopted in different road sections, different emphasis is placed on various tested objects, and therefore the least safe factor can be accurately extracted, and the checking method can meet the working requirements under different road environment factors. The invention does not influence the normal road traffic order and does not generate new unsafe factors when in work.
Description
Technical Field
The invention relates to a device and a method for checking potential safety hazards of a highway, belongs to the technical field of highway traffic safety, and particularly belongs to the technical field of highway traffic accident prevention.
Background
Highways play an important role in national economy as an important component of the road network. However, with the annual increase of traffic volume, traffic accidents of the super-large roads of the expressway occur occasionally, and the problem of road traffic safety is still outstanding.
The curve, long downhill, bad sight distance, road side danger and mark line defect road sections in the highway are the high-rise road sections of accidents, the road sections bury hidden dangers for safe driving of the highway, and the traffic accidents can happen if a driver does not pay attention to the hidden dangers. Aiming at the problems, measures are required to be taken to investigate the potential safety hazards in the road environment, road conditions and auxiliary facilities, relevant information is collected and can be fed back upwards in time, and a road management department is assisted to complete the investigation task of the potential safety hazards of the road.
The existing manual detection method has the defects of low speed, poor precision, low efficiency, traffic control, real-time performance, flexibility, safety and the like.
Disclosure of Invention
In order to solve the above problems, the present invention provides a device and a method for checking potential safety hazards of a highway based on a detection vehicle, which have high efficiency, high precision and high real-time performance.
The purpose of the invention is realized by the following technical scheme:
a device for checking potential safety hazards of a highway is arranged on a detection vehicle and comprises a first information sensing module, a second information sensing module, a data acquisition instrument, a data storage unit and a microcomputer, wherein the first information sensing module is respectively connected to the data storage unit and the microcomputer through the data acquisition instrument, the second information sensing module is also respectively connected to the data storage unit and the microcomputer, and data transmission is further carried out between the data storage unit and the microcomputer;
the first information sensing module comprises a gyroscope, an acceleration sensor, a moment and corner sensor, a vehicle speed sensor and a wind speed sensor; the speed sensor, the gyroscope and the acceleration sensor are respectively arranged at a vehicle bottom plate close to the gravity center of the detected vehicle, the torque and corner sensor is arranged at a steering wheel of the detected vehicle, and the wind speed sensor is arranged at the outer side of the top of the detected vehicle;
the second information perception module comprises a video acquisition camera and a video identification and analysis server, wherein the video acquisition camera is connected to the data storage unit and is also connected to the microcomputer through the video identification and analysis server; the video acquisition cameras are provided with a plurality of cameras which are respectively arranged at the head, the tail and two sides of the detection vehicle.
The method for checking the potential safety hazard of the expressway based on the checking device of claim 1 comprises the following steps:
1) in a long straight section of a highway, acquiring the length of a detected section, detecting the speed continuity of a vehicle, the running speed of the vehicle and the design speed harmony by a vehicle speed sensor, acquiring the distance between the front and rear vehicle following by a video acquisition camera, and judging whether the long straight section has potential safety hazards or not; wherein the coordination of the vehicle running speed and the design speed is realized by detecting the actual vehicle speed v of the vehicle0And a desired vehicle speed vsDifference value Δ v of (1)1Judging;
2) on a curve section of a highway, acquiring a roll angle and a transverse acceleration of a detected vehicle during running through a gyroscope and an acceleration sensor respectively, and judging the safety of the running posture of the vehicle;
acquiring the frequency, the moment and the rotation angle of a steering wheel rotated by a driver through a moment and rotation angle sensor, and judging the operation stability of the vehicle;
the data acquisition instrument acquires the actual vehicle speed v once every n seconds0Wherein n is a positive integer, calculating the curvature radius R of the road at the corresponding momentmAnd storing the maximum speed difference Deltav between the actual speed and the design speed of the vehicle in the curve road section2Judging the running speed of the vehicle and the design speed coordination, and detecting the curvature radius change rate R 'of the vehicle in the curve road section'mJudging the safety of the curve road section;
thereby judging whether the curve road section has potential safety hazard;
3) on a long downhill section of a highway, the length of a ramp, the speed of the downhill and the uniformity of the speed of the vehicle are detected through a vehicle speed sensor, the depression angle of the detected vehicle is obtained through a gyroscope to judge the safety of the gradient, a video acquisition camera is used for acquiring the setting of a gradient emergency auxiliary facility and an emergency lane, and the integrity of each facility is judged and the reasonability is set to judge whether the long downhill section has potential safety hazards
4) Acquiring the heights of guardrails on two sides of a detection vehicle and the distance from the detection vehicle to a valley through video acquisition cameras on a highway bridge and a cliff road section; acquiring the connection transition condition of a bridge lead and a bridge guardrail through a video acquisition camera, and detecting the lateral wind borne by the bridge through a wind speed sensor at the top of a vehicle; thereby judging whether potential safety hazards exist in the bridge and the cliff road section;
5) in the highway tunnel section, plane linearity of the tunnel inlet and outlet section is obtained through a vehicle speed sensor to judge the inlet and outlet linearity of the tunnel, and the farthest visible distance and the illumination condition in the tunnel are obtained through a video acquisition camera, so that whether potential safety hazards exist in the tunnel section is judged;
6) on expressways and interchange sections, acquiring the integrity degree and congestion condition of a traffic guide sign and the linear continuity of an interchange type three-dimensional crossing main line and the ramps through a video acquisition camera, and judging whether potential safety hazards exist on the ramps and the interchange sections;
7) acquiring and detecting the actual speed v of the vehicle through a speed sensor at the joint of different sections of the expressway0Variation Δ v3And judging the running speed coordination of the adjacent road sections.
Further, in the long straight section of the expressway, the long straight section is divided into sections Z1、Z2、…、ZnWherein n is a positive integer, and the actual vehicle speed v of the detected vehicle for each road section0And storing the data into a data storage unit.
Further, in a long straight section of a highway, the desired vehicle speed vsIs the highest speed limit of the long straight section, the actual speed v0The method comprises the steps of detecting the maximum speed of a vehicle on the premise of ensuring driving safety; the coordination of the vehicle running speed and the design speed is judged as follows:
|Δv1if the | is less than or equal to 10km/h, the operating speed and the design speed have good harmony;
10km/h<|Δv1if the | is less than or equal to 20km/h, the coordination between the running speed and the design speed is poor;
20km/h<|Δv1if the coordination between the running speed and the design speed is poor, carrying out safety checking calculation on the technical index of the road section, and adopting corresponding technical or engineering measures to ensure the running safety; the technical indexes comprise minimum flat curve radius, ultra-high flat curve and parking sight distance.
Furthermore, on the curved road section of the expressway, the vehicle is detected to pass through the curve at the maximum speed on the premise of ensuring the driving safety.
Furthermore, on a curve section of the highway,
when the maximum roll angle is more than 20 degrees or the lateral acceleration is more than 2m/s2Judging that the curve road section has potential safety hazards;
maximum frequency omega when turning the steering wheel>1.57rad/s or maximum angle of rotation
Then, it is judgedPotential safety hazards exist in the curve section;
when rate of change of radius of curvature R'mIf the current road section is larger than 1.4, judging that potential safety hazards exist in the curve road section;
the coordination of the running speed and the design speed is judged as follows:
|Δv2if the | is less than or equal to 10km/h, the operating speed and the design speed have good harmony;
10km/h<|Δv2if the | is less than or equal to 20km/h, the coordination between the running speed and the design speed is poor;
20km/h<|Δv2if yes, the coordination between the running speed and the design speed is poor;
further, in a long downhill section of the expressway, when the depression angle theta of a detected vehicle is larger than 4 degrees or the vehicle speed difference per hundred meters is larger than 3m/s, the potential safety hazard of the long downhill section is judged.
Further, when the height of guardrails on two sides of the detected vehicle is lower than 70cm or the distance between the vehicle on the outermost lane and a valley is less than 2m, judging that potential safety hazards exist in the cliff road section;
and when the lateral wind speed is greater than 50m/s, judging that potential safety hazards exist in the bridge section.
Further, in the highway tunnel section, when the farthest visible distance of a driver at the tunnel exit is less than 200m, the tunnel section is judged to have potential safety hazards.
Further, at the junction of different sections of the highway, the running speed coordination of adjacent sections is judged as follows:
|Δv3the | is less than or equal to 10km/h, the running speed coordination is good;
10km/h<|Δv3if the | is less than or equal to 20km/h, the running speed coordination is better;
20km/h<|Δv3and if the running speed is not consistent with the design speed, adjusting the design indexes of the adjacent flat longitudinal surfaces to meet the requirement of running speed consistency.
Furthermore, in each section of the highway, the visibility and the integrity of various traffic signs, indicator lights and safety facilities are acquired and collected through the video acquisition camera, meanwhile, the damage condition, the roadbed and road surface condition and the drainage facility appearing on the road surface are acquired, the vehicle following distance and the surrounding traffic flow condition of the front and the rear of the detection vehicle are acquired, and the analysis and the judgment are carried out by the video identification and analysis server.
The invention has the following beneficial effects:
the invention overcomes the problems of slow speed, poor precision, low efficiency and traffic control requirement of the existing manual detection method, and simultaneously overcomes the problems of insufficient real-time performance, flexibility and safety of the existing manual detection method. The invention sets different working modes, adopts different detection methods at different road sections and has different emphasis on various detected objects, thereby realizing accurate extraction of the least safe factors and being suitable for working requirements under different road environmental factors. The invention does not influence the normal road traffic order and does not generate new unsafe factors when in work.
Drawings
Fig. 1 is a schematic structural diagram of the highway potential safety hazard troubleshooting device;
FIG. 2 is a schematic diagram of the system operation principle of the device for checking potential safety hazards of the highway;
the system comprises a video acquisition camera 1, a first camera 11, a second camera 12, a third camera 13, a fourth camera 14, a video identification and analysis server 2, a data acquisition instrument 3, a vehicle speed sensor 4, an acceleration sensor 5, a gyroscope 6, a torque and rotation angle sensor 7, a microcomputer 8, a data storage unit 9 and a wind speed sensor 10.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A device for checking potential safety hazards of expressways is shown in figures 1 and 2 and is installed on a detection vehicle and comprises a first information sensing module, a second information sensing module, a data acquisition instrument 3, a data storage unit 9 and a microcomputer 8, wherein the first information sensing module is respectively connected to the data storage unit 9 and the microcomputer 8 through the data acquisition instrument 3, the second information sensing module is also respectively connected to the data storage unit 9 and the microcomputer 8, and data transmission is further carried out between the data storage unit 9 and the microcomputer 8;
the first information sensing module comprises a gyroscope 6, an acceleration sensor 5, a moment and rotation angle sensor 7, a vehicle speed sensor 4 and a wind speed sensor 10; the speed sensor 4, the gyroscope 6 and the acceleration sensor 5 are respectively arranged at a vehicle bottom plate close to the gravity center of the detected vehicle, the moment and corner sensor 7 is arranged at a steering wheel of the detected vehicle, and the wind speed sensor 10 is arranged at the outer side of the top of the detected vehicle;
the second information perception module comprises a video acquisition camera 1 and a video recognition analysis server 2, wherein the video acquisition camera 1 is connected to a data storage unit 9 and is also connected to a microcomputer 8 through the video recognition analysis server 2; the video acquisition cameras are provided with a plurality of cameras which are respectively arranged at the head, the tail and two sides of the detection vehicle. In this embodiment, the video capturing cameras are five, wherein the first camera 11 is disposed on the top side of the head of the detection vehicle, the second camera 12 is disposed on the position close to the steering wheel of the head of the detection vehicle, the third camera 13 and the fifth camera (not shown in the figure) are disposed on two sides of the detection vehicle, and the fourth camera 14 is disposed on the top side of the tail of the detection vehicle.
The video acquisition camera 1 is a wide-angle camera, can clearly see objects in 20 meters on two sides of a lane, and has an acquisition video format of 720p and 60 frames.
The video identification analysis server 2 adopts a DS-6102HF/B intelligent video analysis server.
The data acquisition instrument 3 is a multichannel data acquisition instrument and adopts an IPEhub2 type data acquisition instrument.
The vehicle speed sensor 4 is a non-contact vehicle speed sensor, adopts a SPEEDBOX GPS vehicle speed sensor, has the characteristics of small volume, high precision, low power consumption and the like, can output signals in a digital mode when in work, and can trigger and input braking events.
The acceleration sensor 5 is a triaxial ultralow frequency acceleration sensor and adopts an Endevco35_ B3 sensor in the United states.
The gyroscope 6 adopts a VG700-AB electronic gyroscope which can accurately measure important physical quantities such as a vehicle body roll angle, a pitch angle, a lateral acceleration, a yaw rate and the like and is used for evaluating the vehicle attitude.
The torque and rotation angle sensor 7 employs an RMS STEERING WHEEL FEL 2.0.0 steering wheel torque angle sensor.
The microcomputer 8 is the brain of the whole device and is responsible for controlling and coordinating the work of each device, the microcomputer adopts a PC, a USB interface is used for connecting an IPEhub2 type data acquisition instrument and a DS-6102HF/B intelligent video analysis server, and professional staff use corresponding software on the PC to analyze the acquired data.
The data storage unit 9 is a mass data storage.
The wind speed sensor 10 is a current type wind speed and wind direction integrated sensor EC-8 SX.
The communication among all the devices of the troubleshooting device adopts a CAN bus communication method.
The system of the checking device is carried on a detection vehicle, the information such as road environment, road condition and the integrity of equipment along the road are dynamically acquired and detected along with the movement of the detection vehicle, the acquired data information is stored, after the detection task of the road section is completed, professional workers analyze and process the data to find out hidden dangers existing on the road, and a road management department further takes measures to complete the repair work.
The invention utilizes the vehicle-mounted road potential safety hazard troubleshooting device to complete the extraction of road unsafe factors. When the troubleshooting method works, a minimum of 5 workers are required on the vehicle, including 2 drivers, 2 technicians and 1 safety officer who have rich driving experiences. The driver is responsible for completing the driving task with high quality, the technical staff is responsible for equipment maintenance, data acquisition of instruments, analysis and arrangement of reports, and the security staff is responsible for guaranteeing safe driving, equipment safety and logistics. Before each work, a technician works out a corresponding detection plan according to the existing road environment information of the measured road section and the detection criterion, and strictly executes the detection plan in the subsequent detection work.
In principle, the checking method does not affect the normal road traffic order and does not generate new unsafe factors when working. Under the influence of factors such as road types and environments, different working modes need to be formulated by the checking method so as to adapt to working requirements under different environmental factors. In addition, different emphasis is placed on various tested objects in different road sections, so that the least safe factor can be accurately extracted. The expressway has strict speed limit, and the too high or too low speed of a vehicle can generate great risk, so the detection vehicle is required to be capable of normally running according to the specified speed of the detection road section. The highway strictly controls the driving direction of the automobile and the entrance and exit of the automobile, and the repeated detection cost and the risk are higher, so that the detection vehicle does not need to perform repeated detection. The checking method is only suitable for testing under the condition that the traffic flow of most highway sections is normal, namely the test vehicles meet corresponding test conditions under the condition that the traffic flow condition meets the corresponding test conditions, and the test is not suitable for being carried out under the condition that the traffic flow is large and the traffic jam is caused.
The invention divides the highway into several categories according to the detection requirements: long straight sections, curves, long downhill slopes, bridges and cliff roads, tunnels, ramps and overpasses, and junctions of different sections.
The method for checking the potential safety hazard of the expressway is based on the checking device and comprises the following steps:
1) in a long and straight section of an expressway, generally, traffic accidents caused by difficulty of road environment are relatively few, and traffic accidents caused by inattention and overspeed of a driver are relatively many. In the road section, the linear continuity of the road is the detection key point, and the safety of the road section is judged mainly by detecting the length of a straight line section of the road section, detecting the speed continuity of a vehicle and the distance between the front vehicle and the rear vehicle. The high-speed long straight road is easy to cause driving fatigue, and the longer the long straight road is, the more easily the driver is distracted. The speed sensor acquires the length of the detected road section, the speed continuity of the detected vehicle, the running speed and the setting of the vehicleAnd calculating the speed coordination and acquiring the distance between the front car and the rear car through the video acquisition camera. Dividing the long straight section into sections Z1、Z2、…、ZnWherein n is a positive integer, and the actual vehicle speed v of the detected vehicle for each road section0And storing the data into a data storage unit. The coordination of the vehicle running speed and the design speed is realized by detecting the actual vehicle speed v of the vehicle0And a desired vehicle speed vsDifference value Δ v of (1)1Determination, wherein a desired vehicle speed vsIs the highest speed limit of the long straight section, the actual speed v0The method comprises the following steps of detecting the maximum speed of a vehicle on the premise of ensuring driving safety:
|Δv1if the | is less than or equal to 10km/h, the operating speed and the design speed have good harmony;
10km/h<|Δv1if the | is less than or equal to 20km/h, the coordination between the running speed and the design speed is poor;
20km/h<|Δv1and if the coordination between the running speed and the design speed is poor, carrying out safety checking calculation on the technical indexes of the road section, and adopting corresponding technical or engineering measures to ensure the running safety, wherein the technical indexes in the long straight road section comprise the minimum flat curve radius, the ultra-high flat curve and the parking sight distance.
2) In the curve section of the expressway, the posture, the magnitude of centrifugal force and the operation stability of the automobile are the detection key points when the automobile runs on the section. Respectively acquiring a roll angle and a transverse acceleration of a detected vehicle during running through a gyroscope and an acceleration sensor, and judging the safety of the running posture of the vehicle; and acquiring the frequency, the moment and the rotation angle of a steering wheel rotated by a driver through a moment and rotation angle sensor, and judging the operation stability of the vehicle.
Detecting that the vehicle passes through a curve at the maximum speed on the premise of ensuring driving safety, and acquiring the actual speed v once every n seconds by a data acquisition instrument0Wherein n is a positive integer, calculating the curvature radius R of the road at the corresponding momentmAnd storing the maximum speed difference Deltav between the actual speed and the design speed of the vehicle in the curve road section2Judging the compatibility of the running speed of the vehicle and the design speed, and detecting the change of the curvature radius of the vehicle in the curve sectionConversion rate R'mAnd judging the safety of the curve road section.
Wherein, when the maximum side inclination angle is more than 20 degrees or the lateral acceleration is more than 2m/s2Judging that the curve road section has potential safety hazards;
maximum frequency omega when turning the steering wheel>1.57rad/s or maximum angle of rotation
Judging that the curve road section has potential safety hazards;
when rate of change of radius of curvature R'mAnd if the current value is more than 1.4, judging that the curve road section has potential safety hazards.
The coordination of the running speed and the design speed is judged as follows:
|Δv2if the | is less than or equal to 10km/h, the operating speed and the design speed have good harmony;
10km/h<|Δv2if the | is less than or equal to 20km/h, the coordination between the running speed and the design speed is poor;
20km/h<|Δv2if so, the coordination between the operation speed and the design speed is poor.
3) On a long downhill section of the expressway, the arrangement reasonableness of the length, the gradient and the emergency lane of the ramp of the section is the key point for detection. Detect ramp length, downhill path speed and speed of a motor vehicle homogeneity through speed sensor, obtain the depression angle of car through the gyroscope and judge the slope security, gather the setting of the emergent auxiliary facilities of slope and emergent lane and judge the sound level of each facility and set up the rationality through first camera, wherein emergent auxiliary facilities include deceleration strip and speed reduction information sign. And when the depression angle theta of the detected vehicle is larger than 4 degrees or the vehicle speed difference per hundred meters is larger than 3m/s, judging that potential safety hazards exist in the long downhill section.
4) In the highway bridge and the cliff-facing road section, the detection of the section is mainly the psychological bearing capacity and the danger perception capacity of a driver when the road on the cliff-facing side drives. The psychological bearing capacity of the driver is judged by later psychological investigation of the driver. When the automobile runs on the bridge floor and the cliff road, the sensing capability of the automobile to the danger on the outer side of the road is judged according to the height of the guardrails on the two sides and the distance between the outer side of the automobile and the valley. And when the height of guardrails on two sides of the detected vehicle is lower than 70cm or the distance between the vehicle on the outermost lane and the valley is less than 2m, judging that the cliff road section has potential safety hazards. Specifically, the height of the guardrails on the two sides of the detection vehicle and the distance from the detection vehicle to the valley are obtained through the third camera and the fifth camera.
When the safety of the bridge is detected, safety judgment is performed on the bridge design mainly from the aspects of bridge lead speed coordination, bridge lead and bridge guardrail connection transition conditions, bridge section design, side wind borne by the bridge and the like. The bridge lead and the bridge guardrail linking transition condition is collected through the first camera, the third camera and the fifth camera, and the lateral wind borne by the bridge is detected through a wind speed sensor at the top of the vehicle. And when the lateral wind speed is greater than 50m/s, judging that potential safety hazards exist in the bridge section.
5) In the section of the highway tunnel, the detection key points of the section are the line shape of the entrance and the exit of the tunnel, illumination and the farthest visible distance in the tunnel. The plane linearity of the tunnel entrance and exit road section is obtained through the vehicle speed sensor, the tunnel entrance and exit linearity is judged, and the farthest visible distance and the lighting condition inside the tunnel are obtained through the second camera. And when the farthest visible distance of the driver at the tunnel exit is less than 200m, judging that potential safety hazards exist in the tunnel section.
6) In the expressway ramps and the interchange road sections, the integrity degree and the congestion condition of the traffic guide signs and the linear continuity of the interchange type stereo crossing main lines and the ramps are judged when the road sections are mainly detected, and the integrity degree and the congestion condition of the traffic guide signs and the linear continuity of the interchange type stereo crossing main lines and the ramps are obtained through the first camera.
7) At the junction of different road sections of the highway, the linear change of the road between the adjacent road sections is large, so that the running speed coordination of the adjacent road sections is poor, traffic accidents are easily caused, and when a detection vehicle passes through junction points of the different road sections, the actual speed v of the detection vehicle is obtained through a vehicle speed sensor0Variation Δ v3Judging the running speed harmony of adjacent road sections;
|Δv3|≤10km/h，the running speed coordination is good;
10km/h<|Δv3if the | is less than or equal to 20km/h, the running speed coordination is better, and when the conditions allow, the technical indexes of adjacent road sections are properly adjusted, so that the running safety is improved;
20km/h<|Δv3and if the running speed is not consistent with the design speed, adjusting the design indexes of the adjacent flat longitudinal surfaces to meet the requirement of running speed consistency.
The detection method is the key point of detection of each road section, the visibility and the integrity of various traffic signs, indicator lights and safety facilities are acquired in the whole test road section, the damage condition of the road surface, the road bed and road surface condition and drainage facilities are acquired, the following distance of vehicles at the front and the rear of the detected vehicles and the surrounding traffic flow condition are acquired, and the analysis and the judgment are carried out by a video recognition and analysis server. In the whole process, lateral wind data are detected on canyon sections and tunnel outlets, wind speed and wind direction signals are acquired by using a wind speed sensor, and a data acquisition instrument collects the lateral wind data. Various detection data of the system are required to be stored in a data storage device, and analysis and judgment are carried out at the later stage, and workers can also carry out analysis and processing by using a computer in the detection process. In order to facilitate the later-stage data processing and analysis, videos collected by the cameras are edited and processed through the video server and combined into a video with 4 animation scenes, the change of the detection data of each road section along with time is marked at the upper right corner of each animation, and road marks, marked lines and judgment results thereof collected by the video server are reflected in the video, so that engineering personnel can conveniently and visually know the detection results of each road section.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The device for troubleshooting potential safety hazards of the expressway is characterized by being mounted on a detection vehicle and comprising a first information sensing module, a second information sensing module, a data acquisition instrument, a data storage unit and a microcomputer, wherein the first information sensing module is respectively connected to the data storage unit and the microcomputer through the data acquisition instrument, the second information sensing module is also respectively connected to the data storage unit and the microcomputer, and the data storage unit and the microcomputer are mutually subjected to data transmission;
the first information sensing module comprises a gyroscope, an acceleration sensor, a moment and corner sensor, a vehicle speed sensor and a wind speed sensor; the speed sensor, the gyroscope and the acceleration sensor are respectively arranged at a vehicle bottom plate close to the gravity center of the detected vehicle, the torque and corner sensor is arranged at a steering wheel of the detected vehicle, and the wind speed sensor is arranged at the outer side of the top of the detected vehicle;
the second information perception module comprises a video acquisition camera and a video identification and analysis server, wherein the video acquisition camera is connected to the data storage unit and is also connected to the microcomputer through the video identification and analysis server; the video acquisition cameras are provided with a plurality of cameras which are respectively arranged at the head, the tail and two sides of the detection vehicle.
2. The method for checking the potential safety hazard of the expressway based on the checking device of claim 1 is characterized by comprising the following steps of:
1) in a long straight section of a highway, acquiring the length of a detected section, detecting the speed continuity of a vehicle, the running speed of the vehicle and the design speed harmony by a vehicle speed sensor, acquiring the distance between the front and rear vehicle following by a video acquisition camera, and judging whether the long straight section has potential safety hazards or not; wherein the coordination of the vehicle running speed and the design speed is realized by detecting the actual vehicle speed v of the vehicle0And a desired vehicle speed vsDifference value Δ v of (1)1Judging;
2) on a curve section of a highway, acquiring a roll angle and a transverse acceleration of a detected vehicle during running through a gyroscope and an acceleration sensor respectively, and judging the safety of the running posture of the vehicle;
acquiring the frequency, the moment and the rotation angle of a steering wheel rotated by a driver through a moment and rotation angle sensor, and judging the operation stability of the vehicle;
the data acquisition instrument acquires the actual vehicle speed v once every n seconds0Wherein n is a positive integer, calculating the curvature radius R of the road at the corresponding momentmAnd storing the maximum speed difference Deltav between the actual speed and the design speed of the vehicle in the curve road section2Judging the running speed of the vehicle and the design speed coordination, and detecting the curvature radius change rate R 'of the vehicle in the curve road section'mJudging the safety of the curve road section;
thereby judging whether the curve road section has potential safety hazard;
3) on a long downhill section of a highway, the length of a ramp, the speed of the downhill and the uniformity of the speed of the vehicle are detected through a vehicle speed sensor, the depression angle of the detected vehicle is obtained through a gyroscope to judge the safety of the gradient, a video acquisition camera is used for acquiring the setting of a gradient emergency auxiliary facility and an emergency lane, and the integrity of each facility is judged and the reasonability is set to judge whether the long downhill section has potential safety hazards
4) Acquiring the heights of guardrails on two sides of a detection vehicle and the distance from the detection vehicle to a valley through video acquisition cameras on a highway bridge and a cliff road section; acquiring the connection transition condition of a bridge lead and a bridge guardrail through a video acquisition camera, and detecting the lateral wind borne by the bridge through a wind speed sensor at the top of a vehicle; thereby judging whether potential safety hazards exist in the bridge and the cliff road section;
5) in the highway tunnel section, plane linearity of the tunnel inlet and outlet section is obtained through a vehicle speed sensor to judge the inlet and outlet linearity of the tunnel, and the farthest visible distance and the illumination condition in the tunnel are obtained through a video acquisition camera, so that whether potential safety hazards exist in the tunnel section is judged;
6) on expressways and interchange sections, acquiring the integrity degree and congestion condition of a traffic guide sign and the linear continuity of an interchange type three-dimensional crossing main line and the ramps through a video acquisition camera, and judging whether potential safety hazards exist on the ramps and the interchange sections;
7) acquiring and detecting the actual speed v of the vehicle through a speed sensor at the joint of different sections of the expressway0Variation Δ v3And judging the running speed coordination of the adjacent road sections.
3. The method for troubleshooting the safety hazard of the expressway as recited in claim 2, wherein a desired vehicle speed v is expected in a long straight section of the expresswaysIs the highest speed limit of the long straight section, the actual speed v0The method comprises the steps of detecting the maximum speed of a vehicle on the premise of ensuring driving safety; the coordination of the vehicle running speed and the design speed is judged as follows:
|Δv1if the | is less than or equal to 10km/h, the operating speed and the design speed have good harmony;
10km/h<|Δv1if the | is less than or equal to 20km/h, the coordination between the running speed and the design speed is poor;
20km/h<|Δv1if the coordination between the running speed and the design speed is poor, carrying out safety checking calculation on the technical index of the road section, and adopting corresponding technical or engineering measures to ensure the running safety; the technical indexes comprise minimum flat curve radius, ultra-high flat curve and parking sight distance.
4. The method for eliminating the potential safety hazard of the expressway according to claim 2, wherein in the curve section of the expressway, the vehicle is detected to pass through the curve at the maximum speed on the premise of ensuring the driving safety.
5. The method for troubleshooting the potential safety hazard of the expressway according to claim 2, wherein in an expressway curve section,
when the maximum roll angle is more than 20 degrees or the lateral acceleration is more than 2m/s2Judging that the curve road section has potential safety hazards;
maximum frequency omega when turning the steering wheel>1.57rad/s or maximum angle of rotation
Judging that the curve road section has potential safety hazards;
when rate of change of radius of curvature R'mIf the current road section is larger than 1.4, judging that potential safety hazards exist in the curve road section;
the coordination of the running speed and the design speed is judged as follows:
|Δv2if the | is less than or equal to 10km/h, the operating speed and the design speed have good harmony;
10km/h<|Δv2if the | is less than or equal to 20km/h, the coordination between the running speed and the design speed is poor;
20km/h<|Δv2if so, the coordination between the operation speed and the design speed is poor.
6. The method for eliminating the potential safety hazard of the expressway according to claim 2, wherein in the long downhill section of the expressway, when the depression angle theta of a detected vehicle is greater than 4 degrees or the vehicle speed difference per hundred meters is greater than 3m/s, the existence of the potential safety hazard in the long downhill section is judged.
7. The method for troubleshooting the potential safety hazard on the expressway according to claim 2, wherein when the height of guardrails on two sides of a detected vehicle is less than 70cm or the distance between the vehicle on the outermost lane and a valley is less than 2m, the potential safety hazard on the cliff road section is judged;
and when the lateral wind speed is greater than 50m/s, judging that potential safety hazards exist in the bridge section.
8. The method for troubleshooting the potential safety hazard of the expressway according to claim 2, wherein in the expressway tunnel section, when the farthest visible distance of a driver at the tunnel exit is less than 200m, the tunnel section is judged to have the potential safety hazard.
9. The method for troubleshooting the potential safety hazard of the expressway according to claim 2, wherein at the joint of different sections of the expressway, the operating speed coordination of adjacent sections is judged as follows:
|Δv3if the absolute value is less than or equal to 10km/h, the operation is carried outThe speed coordination is good;
10km/h<|Δv3if the | is less than or equal to 20km/h, the running speed coordination is better;
20km/h<|Δv3and if the running speed is not consistent with the design speed, adjusting the design indexes of the adjacent flat longitudinal surfaces to meet the requirement of running speed consistency.
10. The method for troubleshooting safety hazards on expressways as claimed in claim 2, wherein the visualizations and the integrity of various traffic signs, indicator lights and safety facilities are acquired through the video acquisition cameras at each section of the expressways, and meanwhile, the damage condition of the road surface, the road bed and road surface condition and drainage facilities are acquired, the following distance of the vehicles and the surrounding traffic flow condition at the front and the rear of the detected vehicles are acquired, and the analysis and the judgment are carried out by the video recognition analysis server.
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