CN104123851B - Fast passing assisting method and device for vehicles at intersection based on vehicle-road communication - Google Patents
Fast passing assisting method and device for vehicles at intersection based on vehicle-road communication Download PDFInfo
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- CN104123851B CN104123851B CN201410381827.1A CN201410381827A CN104123851B CN 104123851 B CN104123851 B CN 104123851B CN 201410381827 A CN201410381827 A CN 201410381827A CN 104123851 B CN104123851 B CN 104123851B
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Abstract
The invention relates to a fast passing assisting method and device for vehicles at an intersection based on vehicle-road communication. The method comprises the following steps: 1) arranging the fast passing assisting device for the vehicles at the intersection; 2) acquiring phase timing information of a traffic light through a traffic signal acquiring module, and broadcasting to a vehicle queue waiting in the intersection because of red traffic light; 3) pressing an automatic vehicle control module button by a driver to enable the vehicle to enter an automatic control state; 4) synchronously starting vehicles through automatic vehicle control modules of all vehicle queues waiting because of the red traffic light when the traffic light turns to green; 5) keeping all vehicles at a safe distance under the control of the automatic vehicle control modules so as to form a cruising queue to fast pass through the intersection; 6) pressing an automatic control module button by the driver to finish automatic control and recover the normal driver-based control after passing through the intersection. The method and device can be widely applied to intelligent traffic management processes of various intersections.
Description
Technical field
The present invention relates to the passing method and device of a kind of intelligent transportation system, are communicated especially with regard to one kind based on bus or train route
Intersection vehicles fast passing householder method and device.
Background technology
As automobile pollution increases and road traffic increasingly rises, day the problems such as road congestion, traffic accident take place frequently
It is beneficial serious.Counted according to vehicle supervision department of China, in the etesian traffic accident of China, have 20% or so to be occur handing over
Prong location, meanwhile, intersection location is also the main section of traffic congestion.How intersection is improved by technological means
Vehicle pass-through efficiency, guarantee driving safety becomes the emphasis of Chinese scholars research.
In recent years, the advanced driving of (VIC, Vehicle Infrastructure Cooperation) is cooperateed with based on bus or train route
The appearance of accessory system ADAS (Advanced Driving Assistance Systems), provides to solve the above problems
New technological approaches.As the important branch of the advanced drive assist system of bus or train route cooperating type, this advanced vehicle drive auxiliary
System can be reduced effectively, or even prevent to violate the phenomenon of intersection traffic signal designation, thus be planted so as to reducing or even avoiding
The traffic accident that reason causes, and then improve circulation of traffic.The principle of the system is that onboard system passes through wireless telecommunication system
Intersection traffic control signal information is obtained, the exact position, speed and operator situation in conjunction with vehicle is calculated,
And the Optimum Operation suggestion under current state is provided to driver, give way making a dash across the red light, not by regulation, may the dangerous feelings such as collision
When condition is likely to occur, alert is automatically controlled if necessary to vehicle braking.In addition, system can by car,
Communication between road, predicts the transformation period of upcoming traffic signal lamp, and to driver optimum speed of operation is recommended, and is ensureing peace
On the premise of complete, the parking in intersection is reduced, so as to improve the fluency of driving.
Although above-mentioned technology has certain positive role to preventing intersection traffic accidents, improving the traffic capacity, hand over
Still suffer from many problems at prong not yet to solve.Such as in the case of red light, intersection can usually form queue, when traffic letter
Signal lamp from red light be changed into green light when, the vehicle in queue order starting and will successively pass through intersection, but due to different drivers
Driving efficiency is different, behavioral trait is different, the reaction to preceding vehicle motion state is different, often there is a kind of situation, i.e.,
Preceding vehicle has run out a segment distance, behind vehicle just start starting, or even some driver attentions do not concentrate so that front
Square vehicle has passed through intersection, still not actuated from car, and these situations will have a strong impact on the vehicle pass-through efficiency of intersection.
In this regard, developing into for automatic Pilot technology, wireless communication technique solves the problem there is provided technological means.
The content of the invention
For the problems referred to above, the purpose of the present invention is that the vehicle platoon for waiting red light to intersection provides a kind of starting simultaneously
And quickly through the intersection vehicles fast passing householder method communicated based on bus or train route and device at crossing.
For achieving the above object, the present invention takes technical scheme below：A kind of intersection vehicles based on bus or train route communication are fast
The current householder method of speed, it is comprised the following steps：1) an intersection vehicles fast passing auxiliary dress based on bus or train route communication is set
Put, it includes traffic lights, traffic signal control, traffic signals acquisition module and trackside wireless communication module, each
Car status information acquisition module, in-vehicle wireless communication module and vehicle automatic control module are provided with car；2) traffic letter
The multiphase traffic time allocation information of number acquisition module Real-time Collection traffic lights, while trackside wireless communication module is logical using short-distance radio
Letter, Signal phase timing information is broadcast to into intersection the vehicle platoon for waiting red light；3) driver presses vehicle
Automatic control module button, car status information acquisition module collection own vehicle information, while in-vehicle wireless communication module is sharp
With short-distance wireless communication, the position of vehicle, speed, acceleration information are broadcast to into its in the vehicle platoon of wait red light
Its vehicle, and receive the multiphase traffic time allocation information of traffic lights and position, speed, the acceleration information of other vehicles；4) friendship is worked as
Ventilating signal lamp by red change it is green when, wait red light vehicle platoon in all vehicles in-vehicle wireless communication module receive traffic letter
Number multiphase traffic time allocation information, and send it to vehicle automatic control module, vehicle automatic control module synchronous averaging vehicle immediately；
5) the vehicle automatic control module for waiting all vehicles in the vehicle platoon of red light is obtained using car status information acquisition module
The speed from car, acceleration and the range information to front truck for taking, and the vehicle team obtained by in-vehicle wireless communication module
The speed of the front truck in row, acceleration information, and throttle and automatically controlling for braking are carried out, speed control is realized, keep safety
Vehicle headway, forms cruise queue, quickly through intersection；6) when vehicle is behind intersection, driver presses and automatically controls
Modules button, terminates to automatically control, and recovers normal driver's control.
The automatic control module button is a button, clicks startup vehicle automatic control program, then is clicked, and is tied
Beam vehicle is automatically controlled, and recovers driver's control.
A kind of intersection vehicles fast passing servicing unit communicated based on bus or train route of the inventive method is realized, its feature exists
In：It includes being arranged on the traffic lights of intersection, is arranged on a traffic signal control, the traffic of the arbitrary trackside in intersection
Signal acquisition module and trackside wireless communication module, car status information acquisition module, the vehicle-mounted nothing being arranged on each car
Line communication module and vehicle automatic control module；The traffic lights are connected with the traffic signal control, the traffic
Signal controller is connected with the traffic signals acquisition module, and the trackside wireless communication module gathers mould with the traffic signals
Block is connected；The car status information acquisition module includes that vehicle GPS module, vehicle speed sensor, vehicle acceleration are passed
Sensor and trailer-mounted radar；The in-vehicle wireless communication module connects with car status information acquisition module and vehicle automatic control module
Connect, the vehicle automatic control module is integrated with Throttle Opening Control module and brake control module, the Throttle Opening Control module connection
Former car electronic accelerator system, constitutes throttle control system；The brake control module connection electronic vacuum booster and former car system
Dynamic system, constitutes braking control system.
The trackside wireless communication module and in-vehicle wireless communication module, using the wireless security unit of DENSO companies
(Wireless Safety Unit, WSU), using dedicated short-range communication (Dedicated Short-Range
Communication, DSRC) communicated.
Vehicle-mounted automatic control module, using 8 single-chip microcomputer MC9S08DZ16 of Freescale as microprocessor.
Due to taking above technical scheme, it has advantages below to the present invention：1st, it is of the invention because vehicle enters intersection
When waiting red light, driver can start auto control system in vehicles, make from waiting during red light in stopping in whole
Breath state, the situation of change of red light is monitored without concentrating one's energy all the time, therefore the present invention effectively alleviates driver and waiting
Treat nervous, impatient, tired state and the mood during red light.2nd, the present invention is based on short range wireless communications technology, in red light
When being changed into green light, all vehicles waited in the vehicle platoon of red light can be in the control of respective auto control system in vehicles
Under, while start and order is by intersection, so as to overcome prior art in not enough concentrated due to some driver's energy or
Technical capability is limited, and the vehicle start speed for causing is slow, and distance differs between each car affects the problems such as passing through speed.3rd, the present invention
Because based on the bus or train route communication technology, vehicle can exactly learn Signal phase timing information and front vehicle speed, acceleration
And range information, therefore cruise queue sequence passes through expected from being formed when by intersection, it will be apparent that shorten vehicle
The distance between, path space is saved, improve the traffic efficiency of intersection.Present invention can be widely used to various intersections
During the intelligent traffic administration system of mouth.
Description of the drawings
Fig. 1 is application scenarios schematic diagram of the present invention
Fig. 2 is that present system constitutes schematic diagram
Fig. 3 is that wagon control mode of the present invention switches schematic diagram
Fig. 4 is the current aided process flow sheet schematic diagram of the present invention
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
As shown in figure 1, apparatus of the present invention include being arranged on the traffic lights 1 of intersection, the arbitrary road in intersection is arranged on
One traffic signal control 2 of side, traffic signals acquisition module 3 and trackside wireless communication module 4, are arranged on each car
Car status information acquisition module 5, in-vehicle wireless communication module 6 and vehicle automatic control module 7.
As shown in Figure 1 and Figure 2, traffic lights 1 of the invention are connected with traffic signal control 2, are each friendship of intersection
Ventilating signal lamp 1 carries out multiphase traffic time allocation.Traffic signal control 2 is connected with traffic signals acquisition module 3, traffic signals acquisition module
The 3 current phase places and the phase place residual time length that traffic lights 1 are obtained by traffic signal control 2.Trackside radio communication mold
Block 4 is connected with traffic signals acquisition module 3, by the Signal phase timing information for collecting with the side of wireless short range communication
Formula, each vehicle being sent in the vehicle platoon of waiting red light, to realize that bus or train route communicates.
As shown in Figure 2 and Figure 3, car status information acquisition module 5 of the invention includes the position for obtaining vehicle
Put, speed, acceleration and vehicle GPS module, vehicle speed sensor, the vehicle acceleration sensor to information such as leading vehicle distances
And trailer-mounted radar.In-vehicle wireless communication module 6 is connected with car status information acquisition module 5 and vehicle automatic control module 7, will
The position of the vehicle that car status information acquisition module 5 is collected, speed, acceleration information are sent to the vehicle team for waiting red light
Other vehicles in row, realize truck traffic；Simultaneously in-vehicle wireless communication module 6 also receive the position of other vehicles, speed, plus
Velocity information, and the Signal phase timing information that trackside wireless communication module 4 sends, and send it to vehicle and control automatically
Molding block 7.Vehicle automatic control module 7 is made up of integrated manipulator, and it is integrated with Throttle Opening Control module 71 and braking control simultaneously
Molding block 72, Throttle Opening Control module 71 connects former car electronic accelerator system, constitutes throttle control system；Brake control module 72 connects
Electronic vacuum booster and former car brakes are connect, braking control system is constituted.Driver can be with free switching wagon control side
Formula.When driver's control model is switched to, driver's normal driving, vehicle normally starts.Automatically control when vehicle is switched to
During pattern, vehicle automatic control module 7 will with reference to car's location, speed, acceleration, to information such as leading vehicle distances, and other
Position, speed, the acceleration information of vehicle (mainly front truck), and Signal phase timing information, by Throttle Opening Control mould
Block 71 and brake control module 72, realize the control to throttle and braking, and then realize to the control from car speed, and and front truck
Keep the vehicle headway of safety.
Above-mentioned trackside wireless communication module 4 and in-vehicle wireless communication module 6, can adopt the wireless security of DENSO companies
Unit (Wireless Safety Unit, WSU), using dedicated short-range communication (Dedicated Short-Range
Communication, DSRC) communicated.Vehicle-mounted automatic control module 7, can adopt 8 single-chip microcomputers of Freescale
MC9S08DZ16 completes communication, signals collecting, logical calculated and controlled quentity controlled variable output task as microprocessor.
As shown in figure 4, the inventive method is comprised the following steps：
1) the multiphase traffic time allocation information of traffic signals acquisition module Real-time Collection traffic lights, while trackside radio communication mold
Block utilizes short-distance wireless communication, and Signal phase timing information is broadcast to into intersection the vehicle platoon for waiting red light；
2) driver presses vehicle automatic control module button, car status information acquisition module collection vehicle letter
Breath, while in-vehicle wireless communication module utilizes short-distance wireless communication, by the position of vehicle, speed, acceleration information broadcast
To other vehicles in the vehicle platoon for waiting red light, and receive the multiphase traffic time allocation information of traffic lights and the position of other vehicles
Put, speed, acceleration information；
3) when traffic lights are green by red change, the in-vehicle wireless communication of all vehicles in the vehicle platoon of red light is waited
Module receives Signal phase timing information, and sends it to vehicle automatic control module, vehicle automatic control module with
That is synchronous averaging vehicle；
4) the vehicle automatic control module for waiting all vehicles in the vehicle platoon of red light is adopted using car status information
The speed from car, acceleration and the range information to front truck that collection module is obtained, and obtained by in-vehicle wireless communication module
Vehicle platoon in front truck speed, acceleration information, and carry out throttle and braking automatically control, realize speed control,
Safe vehicle headway is kept, cruise queue is formed, quickly through intersection；
5) when vehicle is behind intersection, driver presses automatic control module button, terminates to automatically control, and recovers normal
Driver control.
The beneficial effect of the inventive method is mainly reflected in each vehicle in diminution vehicle start time, transit time and queue
Between spacing distance, make a concrete analysis of it is as follows：
Assume Vehicle length d0, two car headstock distance l during parking0, number of vehicles is n in queue.By Vehicle Starting Process etc.
Imitate as elder generation from speed as 0 with acceleration a0Accelerate to v0, after process at the uniform velocity.First car is from seeing signal lamp greening to startup
Time delay be Δ t1, it is Δ t that rear car sees that front truck starts the time delay restarted2.Then from signal lamp greening, to last
One car needs the time to be by stop line：
Queue length l is：
L=(n-1) (l0+v0Δt2)+d0
Under normal circumstances, Δ t is taken1=1s, Δ t2=2s, l0=6m, d0=4m, a0=1m/s2,v0=10m/s.Then may be used
：
td=2.6n+3.8 (s)
L=26n-22 (m)
After using the present invention, can substantially reduce time delay is allowed to close to 0, i.e. Δ t1'=0s, Δ t2'=0s,
Then now：
td'=0.6n+4.8 (s)
L '=6n-2 (m)
The corresponding saving time is：
Δtd=td-td'=2n-1 (s)
Saving queue space is：
Δ l=l-l '=20n-20 (m)
When number of vehicles n is larger, saves the time and saving space will be considerable.
The various embodiments described above are merely to illustrate the present invention, wherein each part composition and operating procedure etc. all can be to have become
Change, every equivalents carried out on the basis of technical solution of the present invention and improvement, should not exclude the guarantor in the present invention
Outside shield scope.
Claims (5)
1. it is a kind of based on bus or train route communicate intersection vehicles fast passing householder method, it is characterised in that the method include it is following
Step：
1) an intersection vehicles fast passing servicing unit based on bus or train route communication is set, and it includes traffic lights, traffic letter
Number controller, traffic signals acquisition module and trackside wireless communication module, are provided with car status information and adopt on each car
Collection module, in-vehicle wireless communication module and vehicle automatic control module；
2) the multiphase traffic time allocation information of traffic signals acquisition module Real-time Collection traffic lights, while trackside wireless communication module is sharp
With short-distance wireless communication, Signal phase timing information is broadcast to into intersection the vehicle platoon for waiting red light；
3) driver presses vehicle automatic control module button, and vehicle information states acquisition module gathers own vehicle information, together
When in-vehicle wireless communication module utilize short-distance wireless communication, the position of vehicle, speed, acceleration information are broadcast to into wait
Other vehicles in the vehicle platoon of red light, and receive the multiphase traffic time allocation information of traffic lights and position, the speed of other vehicles
Degree, acceleration information；
4) when traffic lights are green by red change, the in-vehicle wireless communication module of all vehicles in the vehicle platoon of red light is waited
Signal phase timing information is received, and sends it to vehicle automatic control module, vehicle automatic control module is same immediately
Step starts vehicle；
5) the vehicle automatic control module for waiting all vehicles in the vehicle platoon of red light gathers mould using vehicle information states
The speed from car, acceleration and the range information to front truck that block is obtained, and the car obtained by in-vehicle wireless communication module
Speed, the acceleration information of the front truck in queue, and automatically controlling for throttle and braking is carried out, speed control is realized, keep
Safe vehicle headway, forms cruise queue, quickly through intersection；
6) when vehicle is behind intersection, driver presses automatic control module button, terminates to automatically control, and recovery is normally driven
The person's of sailing control.
2. a kind of intersection vehicles fast passing householder method communicated based on bus or train route as claimed in claim 1, its feature is existed
In：The automatic control module button is a button, clicks startup vehicle automatic control program, then is clicked, and terminates car
Automatically control, recover driver's control.
3. a kind of intersection vehicles fast passing auxiliary dress communicated based on bus or train route of method as claimed in claim 1 or 2 is realized
Put, it is characterised in that：It includes being arranged on the traffic lights of intersection, is arranged on a traffic signals of the arbitrary trackside in intersection
Controller, traffic signals acquisition module and trackside wireless communication module, the car status information collection being arranged on each car
Module, in-vehicle wireless communication module and vehicle automatic control module；The traffic lights connect with the traffic signal control
Connect, the traffic signal control is connected with the traffic signals acquisition module, the trackside wireless communication module and the friendship
Messenger acquisition module is connected；
The car status information acquisition module include vehicle GPS module, vehicle speed sensor, vehicle acceleration sensor and
Trailer-mounted radar；The in-vehicle wireless communication module is connected with car status information acquisition module and vehicle automatic control module, institute
State vehicle automatic control module and be integrated with Throttle Opening Control module and brake control module, the Throttle Opening Control module connection original car electricity
Seed oil door system, constitutes throttle control system；The brake control module connection electronic vacuum booster and former car brakes,
Composition braking control system.
4. a kind of intersection vehicles fast passing servicing unit communicated based on bus or train route as claimed in claim 3, its feature is existed
In：The trackside wireless communication module and in-vehicle wireless communication module, using the wireless security unit of DENSO companies
(Wireless Safety Unit, WSU), using dedicated short-range communication (Dedicated Short-
RangeCommunication, DSRC) communicated.
5. as described in claim 3 or 4 it is a kind of based on bus or train route communicate intersection vehicles fast passing servicing unit, its feature
It is：The vehicle-mounted automatic control module is using 8 single-chip microcomputer MC9S08DZ16 of Freescale as microprocessor.
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