CN114550477A - Bus driving safety early warning system and method - Google Patents
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
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Abstract
The application discloses bus driving safety early warning system and method, and the system comprises: the road side data acquisition equipment is used for acquiring road side data; the vehicle-mounted terminal is used for acquiring vehicle side data, uploading the vehicle side data to the data processing unit and issuing an early warning instruction to the execution equipment; the data processing unit is used for receiving the road side data and the vehicle side data to generate an early warning instruction and sending the early warning instruction to the vehicle-mounted terminal; the system calculates early warning information of improving driving safety of the bus by acquiring roadside data and vehicle-mounted data, gives early warning about potential danger during bus driving on roads with complex road conditions, and transmits the early warning information to related personnel and vehicles through the execution equipment, so that traffic accidents can be effectively reduced, and the driving safety of the bus is improved. The method and the device can be widely applied to the technical field of public transportation.
Description
Technical Field
The application relates to the technical field of public transportation, in particular to a bus driving safety early warning system and method.
Background
At present, the Advanced Driving Assistance System (Advanced Driving Assistance System) is mostly used for bus Driving safety, and various sensors (millimeter wave radar and camera) installed on a vehicle are utilized to sense the surrounding environment at any time in the Driving process of the vehicle, collect data, identify, detect and track static and dynamic objects, and perform systematic operation and analysis, so that drivers can be aware of possible dangers in advance, and the comfort and safety of vehicle Driving are effectively improved.
With the development of cities, the traditional advanced driving assistance system for bus driving is difficult to adapt to more and more complex driving environments, and the driving safety of buses faces more challenges, so that a new early warning system and method for bus driving safety is urgently needed.
Disclosure of Invention
The present application aims to solve at least to some extent one of the technical problems existing in the prior art.
Therefore, an object of the embodiment of the application is to provide a bus driving safety early warning system, which can perform early warning on risks in a bus driving process, so that the driving safety of a bus is improved.
In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the application comprises the following steps:
in a first aspect, an embodiment of the present application provides a bus driving safety early warning system, including:
the road side data acquisition equipment is used for acquiring road side data;
the vehicle-mounted terminal is used for acquiring vehicle side data, uploading the vehicle side data to the data processing unit and issuing an early warning instruction to the execution equipment;
the data processing unit is used for receiving the road side data and the vehicle side data to generate an early warning instruction and sending the early warning instruction to the vehicle-mounted terminal;
and the execution equipment is used for executing the early warning instruction to carry out early warning on the driving safety.
In addition, the bus driving safety early warning system according to the embodiment of the invention can also have the following additional technical characteristics:
further, in this embodiment of the application, the roadside data acquisition device includes one or more devices of a traffic light signal collector, an environment collector, a camera or a laser radar.
Further, in this application embodiment, the execution device includes one or more of voice broadcast module, rear of a vehicle display screen, dispatch display screen and in-vehicle guidance screen.
Further, in the embodiment of the application, the system further comprises a road side unit and an on-board unit; the road side unit is connected with the data processing unit; the vehicle-mounted terminal is connected with the vehicle-mounted unit.
Further, in the embodiment of the present application, the data processing unit is disposed at a road side; the data processing unit is in communication connection with the roadside data acquisition equipment.
Further, in this application embodiment, the roadside unit is connected with the on-board unit through microwave.
On the other hand, the embodiment of the application further provides a bus driving safety early warning method, which includes:
acquiring road side data and vehicle side data;
obtaining an early warning instruction according to the road side data and the vehicle side data;
and early warning is carried out on the driving safety according to the early warning instruction.
Further, in this embodiment of the application, obtaining an early warning instruction according to the road side data and the vehicle side data includes:
acquiring road side data and vehicle side data;
analyzing the road side data and the vehicle side data through edge calculation to obtain a calculation result;
and combining the road side data, the vehicle side data and the calculation result to obtain the early warning instruction.
Further, in the embodiment of the present application, the acquiring of the vehicle-side data includes acquiring vehicle waybill task data, acquiring vehicle GPS information, and acquiring vehicle CAN bus data.
Further, in this embodiment of the application, the acquiring of the road side data includes acquiring traffic signal information or road side environment information.
Advantages and benefits of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application:
the method and the device for improving the driving safety of the public transport vehicle calculate the early warning information of the public transport vehicle by collecting the road side data and the vehicle-mounted data, warn the potential danger of the public transport vehicle on the road with complex road conditions, and transmit the early warning information to related personnel and vehicles through the execution equipment, so that the occurrence of traffic accidents can be effectively reduced, and the driving safety of the public transport vehicle is improved.
Drawings
Fig. 1 is a schematic structural diagram of a bus driving safety early warning system in a specific embodiment of the invention;
FIG. 2 is a schematic diagram illustrating steps of a method for early warning of bus driving safety in an embodiment of the present invention;
fig. 3 is a schematic diagram of an intersection anti-collision early warning scene in a specific embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings, and the following describes principles and processes of a bus driving safety warning system and method in the embodiments of the present invention.
The bus driving safety early warning system is characterized by comprising the following steps:
referring to fig. 1, the bus driving safety early warning system according to the embodiment of the present application may include a roadside data acquisition device, a vehicle-mounted terminal, a data processing unit, and an execution device, where the roadside data acquisition device may acquire road side data during bus driving through different devices; the vehicle-mounted terminal can acquire vehicle side data, the vehicle side data can be uploaded to the data processing unit in a wireless transmission mode after the vehicle side data are acquired, and the data processing unit can receive the road side data and the vehicle side data to generate an early warning instruction, send the early warning instruction to the vehicle-mounted terminal and issue the early warning instruction to the execution equipment; and the execution equipment executes the early warning instruction to early warn the driving safety.
In some embodiments of the present application, the bus driving safety early warning system may further include a road side unit and a vehicle-mounted unit; the Road Side Unit is also called RSU, which is the English abbreviation of Road Side Unit, and the transliteration is the meaning of the Road Side Unit, and the vehicle-mounted Unit is also called OBU (on Board Unit), the RSU can be installed at the Road Side, and the RSU communicates with the OBU by adopting a special short-range communication technology; further, in this application embodiment, RSU and OBU carry out data interaction through microwave connection, when the public transit that is equipped with the OBU is equipped with the road of RSU, RSU can be connected with the OBU and accomplish vehicle mounted terminal and data acquisition unit's data interaction.
In some embodiments of the present application, the data processing unit may be disposed at the road side; the data processing unit can be connected with roadside data acquisition equipment, and roadside data acquired by the roadside data acquisition equipment is transmitted to the data acquisition unit which is also positioned at the roadside through a line or wireless connection; the roadside data can comprise roadside picture data, video data on a road, real-time traffic light information data and environment data of bus driving; the data processing unit can analyze different early warning instructions according to different road side data and vehicle side data.
Further, in some embodiments of this application roadside collection equipment include one or more equipment in traffic light signal collector, environment collector, camera or laser radar, through different data acquisition equipment, can be more perfect, collect the roadside data comprehensively, the follow-up data processing unit of being convenient for makes the early warning of judging more accurately.
Further, in some embodiments of the present application, the execution device may execute the early warning instruction received by the vehicle-mounted terminal, and since the early warning object is not only a driver of the bus, but also may be a motor vehicle behind the bus, and may also be a bus of another shift on the same route, even passerby passengers around the bus, and the like, in the present application, the execution device may include one or more devices of a voice broadcast module, a tail display screen, a dispatch display screen, and an in-vehicle guidance screen; the early warning information can be sent to the multi-party participants of road safety through different devices, so that the early warning information can be transmitted to more objects, and the probability of traffic accidents is further reduced.
In addition, referring to fig. 2, corresponding to the system of fig. 1, in an embodiment of the present application, a bus driving safety early warning method is further provided, including:
s1, acquiring road side data and vehicle side data;
specifically, in the embodiment of the present application, the road-side data may include information such as traffic signals, road-side environment, and participants in traffic weakness; the roadside environment may be weather, road conditions, etc.; the information of the traffic weakness participants can be non-motor vehicle information, pedestrian information and the like; the vehicle-side data may then include vehicle wayside task data, vehicle GPS information, and vehicle CAN bus data. The vehicle waybill task data comprises a bus running route, a whole course/short line, a running direction, task starting time, current station information and the like; the vehicle GPS data comprises vehicle data, and the CAN bus data comprises information such as vehicle real-time speed, brake state, accelerator state, steering lamp state and the like.
S2, obtaining an early warning instruction according to the road side data and the vehicle side data;
after data on the road side and data on the vehicle side are obtained, the attribute of the target can be accurately recognized through deep learning of a neural network algorithm through edge calculation and analysis, information such as types, directions, distances, speeds, moving directions and flow rates of motor vehicles, non-motor vehicles or pedestrians can also be output, and the information is verified with the result of a high-definition video code stream AI recognition algorithm to obtain different early warning instructions.
S3, giving an early warning to the driving safety according to the early warning instruction;
after the early warning instruction is obtained, early warning is made on the driving safety in different early warning modes, such as voice broadcasting early warning or early warning display through a display screen;
further, obtaining an early warning instruction according to the road side data and the vehicle side data may include:
acquiring road side data and vehicle side data;
analyzing the road side data and the vehicle side data through edge calculation to obtain a calculation result;
and combining the road side data, the vehicle side data and the calculation result to obtain the early warning instruction.
Specifically, the relative positions of the road side target and the bus can be obtained through a module for calculating and analyzing the input edges of the road side data and the vehicle side data, the advancing speed and direction of the vehicle can be obtained according to the road side data and the vehicle side data, and the early warning instruction can be obtained according to the speed, the direction and the relative positions.
The following description is given of data processing in the embodiment of the present application, taking early warning of an intersection anti-collision scene as an example:
when the bus normally runs on a road, the direction and the position of the motor vehicle running on the current road and the position and the direction of the bus with the OBU are obtained through a laser radar or a high-definition video in road-side data acquisition equipment installed on the road side. The intersection center is used as an original point, vehicles with the distance from the bus greater than a certain threshold value are filtered, and the specific distance d is calculated according to the following formula: where v is the maximum speed at which the road allows the vehicle to travel, and t is a set driver reaction time, typically 3 seconds, set in the present embodiment to 5 seconds, considering the possibility of overspeed;
referring to fig. 3, the data processing procedure of the data processing unit in the embodiment of the present application is described below, and with reference to fig. 3, when the intersection midpoint is taken as the coordinate origin, the east direction is taken as the positive semi-axis direction of the coordinate system X, the north direction is taken as the positive semi-axis direction of the coordinate system Y, and when the other vehicle B on the left side linearly drives to the intersection, the coordinates of the conflict point Z are first calculated under the coordinate system, specifically, the coordinates of the conflict point Z are assumed to be (X is the positive semi-axis direction of the coordinate system Y)c，Yc) The coordinate of the O point is (X)1，Y1) The coordinate of the point Q is (X)2,Y2) The angles of the lines OW and QU to the X-axis are respectively theta1And theta2Since the O point and the Q point are on the straight lines OW and QU, respectively, the slope of the straight line OW is tan (θ)1) The slope of the straight line QU is tan (theta)2) Thus, the equation of two straight lines can be obtained:
Yc-Y1＝tan(θ2)*(Xc-X1)
and
Yc-Y2＝tan(θ2)*(Xc-X2)
the coordinate of Z obtained by simultaneous solution of the above equations is
And
wherein, theta1And theta2Are not equal to 90 degrees. The parameters can be directly measured at 90 degrees without going through the algorithm.
After the conflict point is calculated, whether the bus and other vehicles drive into the intersection or pass through the conflict point is judged, the angle of the connecting line of the bus A and the point O is set to be alpha, the course angle of the bus A is set to be beta, when the difference value of the angles of the alpha and the beta is larger than or equal to 90 degrees, the bus A is considered to pass through the point O, if the difference value of the angles of the alpha and the beta is smaller than or equal to 90 degrees, the bus A is considered to not pass through the point O, similarly, whether the bus A passes through the point W and whether the bus B passes through the point Q and the point U can also be detected by the method, after the positions of the bus A and the other vehicles B are judged, the respective distances from the conflict point are calculated, and the real-time coordinate of the bus A is assumed to be (X and the distance between the bus A and the other vehicles is calculated), and the real-time coordinate of the bus A is assumed to bea，Ya) The real-time coordinate of the vehicle B is (X)b，Yb) Specifically, the distance S of the bus A from the conflict pointACan be divided into two sections of functions, if the bus A does not pass through the O point, SAIs composed of
If the bus A does not pass through the point O and passes through the collision point SAIs composed of
Distance S of vehicle B from conflict pointBCan be divided into two functions, S if the vehicle B does not pass through the O pointBIs composed of
If the vehicle B does not pass through the point O and passes through the collision point SBIs composed of
After respective distances are calculated, the braking time Δ Τ of a and B needs to be calculated, specifically, it is assumed that the initial speeds of a bus a and a vehicle B are VaAnd VbA V is measuredaSubstituting the braking time of the vehicles A and B into the following formula, and if the braking time delta T of the vehicles A and B is less than preset 5 seconds, determining that the collision risk exists, wherein the formula is specifically as follows:
wherein a is the acceleration of the automobile, and S is the distance from the bus A or the bus B to the conflict point;
when the vehicle B selects left turn, the conflict point is W (X) as shown in fig. 2w,Yw) W is a point on the OW straight line, so that the coordinate of W can be calculated through calculation, and the driving direction of the bus A is unchanged; thus, SACan be obtained by adaptive adjustment of the above formula, and SBTwo cases can be distinguished:
when B has not passed the point Q,
wherein
The length of the circular arc QW;
when B passes through the point Q,
calculating the above SAAnd SBThe braking time can be calculated in substituting the formula of the delta T, and the collision risk of the bus A when the vehicle B turns left can be judged according to the braking time.
After the data processing unit accomplishes above-mentioned calculation, if judge to have the collision risk, data processing unit can send early warning instruction to vehicle mounted terminal through RSU and OBU's interaction, vehicle mounted terminal can remind the bus driver in time to brake and turn to through voice broadcast, avoids the emergence of accident, also can inform rear vehicle through the rear of a vehicle display screen, can also inform passenger's vehicle through dispatch display screen and car in lead the screen and be about to brake or turn to, remind the passenger to pay attention to safety.
In addition, in some embodiments of this application, after the early warning takes place, the bus driver can take in advance to relax the throttle, brake, perhaps beat operations such as steering wheel, and vehicle-mounted terminal can note the bus driver and carry out corresponding brake this moment, and the time of relaxing the throttle and beating operations such as steering wheel, and follow-up relevant personnel's accessible vehicle-mounted terminal data is traceed back and is evaluated the exactness of driver's operation.
The contents in the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above method embodiments.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion regarding the actual implementation of each module is not necessary for an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer given the nature, function, and interrelationships of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the present application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the application, which is defined by the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium, which includes programs for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of 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.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable programs that can be considered for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with a program execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the programs from the program execution system, apparatus, or device and execute the programs. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the program execution system, apparatus, or device.
In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
While the present application has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a bus driving safety early warning system which characterized in that includes:
the road side data acquisition equipment is used for acquiring road side data;
the vehicle-mounted terminal is used for acquiring vehicle side data, uploading the vehicle side data to the data processing unit and issuing an early warning instruction to the execution equipment;
the data processing unit is used for receiving the road side data and the vehicle side data to generate an early warning instruction and sending the early warning instruction to the vehicle-mounted terminal;
and the execution equipment is used for executing the early warning instruction to carry out early warning on the driving safety.
2. A bus driving safety early warning system according to claim 1, wherein the roadside data collecting device comprises one or more of a traffic light signal collector, an environment collector, a camera or a laser radar.
3. The bus driving safety early warning system according to claim 1, wherein the execution device comprises one or more of a voice broadcast module, a tail display screen, a scheduling display screen and an in-vehicle guidance screen.
4. The bus driving safety early warning system according to claim 1, further comprising a road side unit and a vehicle-mounted unit; the road side unit is connected with the data processing unit; the vehicle-mounted terminal is connected with the vehicle-mounted unit.
5. The bus driving safety early warning system according to claim 1, wherein the data processing unit is arranged at the road side; the data processing unit is in communication connection with the roadside data acquisition equipment.
6. The bus driving safety early warning system of claim 4, wherein the road side unit is connected with the vehicle-mounted unit through microwaves.
7. A bus driving safety early warning method is characterized by comprising the following steps:
acquiring road side data and vehicle side data;
obtaining an early warning instruction according to the road side data and the vehicle side data;
and early warning is carried out on the driving safety according to the early warning instruction.
8. The bus driving safety early warning method according to claim 7, wherein the step of obtaining the early warning instruction according to the road side data and the vehicle side data comprises:
acquiring and obtaining road side data and vehicle side data;
analyzing the road side data and the vehicle side data through edge calculation to obtain a calculation result;
and combining the road side data, the vehicle side data and the calculation result to obtain the early warning instruction.
9. The method of claim 7, wherein the obtaining of the vehicle-side data comprises obtaining vehicle waybill task data, obtaining vehicle GPS information, and obtaining vehicle CAN bus data.
10. The method according to claim 7, wherein the obtaining roadside data comprises obtaining traffic signal information or obtaining roadside environmental information.
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| CN117636591A (en) * | 2023-11-29 | 2024-03-01 | 武汉市公共交通集团有限责任公司信息中心 | Public transport driving safety early warning method and system |
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