CN104332071B - A kind of ring road vehicle imports the safety reminding device and reminding method of major trunk roads - Google Patents
A kind of ring road vehicle imports the safety reminding device and reminding method of major trunk roads Download PDFInfo
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- CN104332071B CN104332071B CN201410620594.6A CN201410620594A CN104332071B CN 104332071 B CN104332071 B CN 104332071B CN 201410620594 A CN201410620594 A CN 201410620594A CN 104332071 B CN104332071 B CN 104332071B
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Abstract
The present invention relates to traffic safety facilities technical field, safety reminding device and reminding method that a kind of ring road vehicle imports major trunk roads are disclosed.The device includes microprocessor, speed and ring road vehicle and the millimetre-wave radar of the distance between radar for detecting ring road vehicle, for showing that ring road vehicle imports the display screen of the security of major trunk roads in real time；The output end of the millimetre-wave radar electrically connects the I/O inputs of microprocessor, and the input of the display screen electrically connects the I/O output ends of microprocessor；The millimetre-wave radar is arranged on ring road and entered on the support that major trunk roads accelerate at the end in section, and the test surface of the millimetre-wave radar is towards accelerating section；The display screen is arranged on the lower section of millimetre-wave radar.The Safety Evaluation Index of selection is the TTC values after addition speed factor.
Description
Technical field
The present invention relates to traffic safety facilities technical field, the safety that more particularly to a kind of ring road vehicle imports major trunk roads is carried
Showing device and reminding method.
Background technology
Ring road is the transition section that vehicle enters high velocity from low regime, when vehicle enters major trunk roads through ring road, driver
It is required for obtaining the transport information at this car rear from rearview mirror or glass for vehicle window, and makes security judgement, it is to avoid is converging
Collided when entering major trunk roads with rear car, the traffic accident such as cause to knock into the back.The existing expressway ramp of China avoid it is such
In the design that traffic accident occurs, in terms of mainly the design length of consideration ring road and driver are to the visuality of front vehicle；
But, China driver driving quality differs at this stage, on the one hand when importing major trunk roads through ring road, after driver seldom notes
Square vehicle, and the acceleration time is too short on ring road, and major trunk roads are just imported when not accelerating to safe speed, causes potential thing
Therefore risk；On the other hand, the intelligent transportation infrastructure imperfection of ring road mouthful, many drivers lack to such situation security
Subjective judgement, or error in judgement is larger, and existing section do not account for importing major trunk roads to vehicle on ring road it is whether safe
Pointed out.This brings great inconvenience to driver safety trip.
The content of the invention
, should it is an object of the invention to provide the safety reminding device and reminding method that a kind of ring road vehicle imports major trunk roads
Suggestion device investment cost is few, be adapted to large-scale promotion, and its reminding method is intelligent, automation, without operating, and reliability
It is high.
To reach above-mentioned technical purpose, the present invention, which is adopted the following technical scheme that, to be achieved.
Scheme one：
A kind of ring road vehicle imports the safety reminding device of major trunk roads, it is characterised in that including microprocessor, for detecting
The speed and ring road vehicle of ring road vehicle and the millimetre-wave radar of the distance between radar, for showing that ring road vehicle is imported in real time
The display screen of the security of major trunk roads；
The output end of the millimetre-wave radar electrically connects the I/O inputs of microprocessor, the input electricity of the display screen
Connect the I/O output ends of microprocessor；
The millimetre-wave radar is arranged on ring road and entered on the support that major trunk roads accelerate at the end in section, the millimeter wave
The test surface of radar towards accelerate section；The display screen is arranged on the lower section of millimetre-wave radar.
The characteristics of this programme and further improvement is that：
The millimetre-wave radar is Delphi ESR millimetre-wave radars.
The display screen is red LED display screen outside P10 rooms of having a showdown.
The microprocessor is ARM9 processors, and concrete model is S3C2410.
Scheme two：
A kind of ring road vehicle imports the safety instruction method of major trunk roads, and major trunk roads are imported based on a kind of above-mentioned ring road vehicle
Safety reminding device, it is characterised in that comprise the following steps：
Step 1: the speed V of this car in acceleration section of the millimetre-wave radar collection in ring road1, Ben Che and millimeter wave thunder
Up to the distance between L1And angle [alpha]1, and the rear car on major trunk roads nearest apart from ring road speed V2, rear car and millimeter wave thunder
Up to the distance between L2And angle [alpha]2, and the data gathered are sent to microprocessor；
Step 2: the data that microprocessor is gathered to millimetre-wave radar are handled, microprocessor sets up rectangular coordinate system,
The axis of abscissas of the rectangular coordinate system is parallel with major trunk roads, and the axis of ordinates and axis of abscissas of the coordinate system are in same level
It is interior, and perpendicular to axis of abscissas；Microprocessor is by the speed V of this car1Decompose and obtained on axis of abscissas in the rectangular coordinate system
Velocity component V1xWith the velocity component V on axis of ordinates1y, microprocessor is by the speed V of rear car2Divide in the rectangular coordinate system
Solution obtains the velocity component V on axis of abscissas2xWith the velocity component V on axis of ordinates2y, then respectively by the speed on axis of abscissas
Degree component, which subtracts each other, obtains V1x-V2xValue, the velocity component on axis of ordinates, which subtracts each other, obtains V1y-V2yValue, finally by V1x-V2x's
Value and V1y-V2yValue synthesis obtain Ben Che and the relative velocity V of rear car；
This car, rear car and millimetre-wave radar constitute a triangle, the angle [alpha] between Ben Che and millimetre-wave radar1With it is rear
Angle [alpha] between car and millimetre-wave radar2Difference be the triangle using millimetre-wave radar as the angle of the interior angle on summit, L1With
L2For the both sides length of side of the interior angle, the distance between Ben Che and rear car L can be tried to achieve according to the cosine law；
If the ratio apart from L and Ben Che and the relative velocity V of rear car of this car with the rear car is TTC values, microprocessor
Calculating obtains TTC values；
Step 3: the speed of this car is divided into by microprocessor：40km/h~80km/h,>Two stages of 80km/h；
Within 40km/h~80km/h stages, when this car with the rear car apart from L be less than or equal to 4m when, judge TTC values,
When TTC values are more than 3, microprocessor judges safety and sends safety signal to display screen, and display screen shows safe printed words, when
When TTC values are less than or equal to 3, microprocessor judges dangerous and sent distress signal to display screen, the dangerous printed words of display screen display；When
This car with the rear car apart from L be more than 4m when, judge TTC values, when TTC values more than 5.5 when, microprocessor judgement safely it is concurrent
Go out safety signal to display screen, display screen shows safe printed words, when TTC values are more than 3 and are less than or equal to 5.5, microprocessor is sentenced
It is disconnected dangerous, and unsafe signal is sent to display screen, display screen shows dangerous printed words, micro- when TTC values are less than or equal to 3
Processor judges dangerous, and sends distress signal to display screen, the dangerous printed words of display screen display；
>In the 80km/h stages, when this car with the rear car apart from L be less than or equal to 5m when, TTC values are judged, when TTC values
During more than 3, microprocessor judges safety and sends safety signal to display screen, and display screen shows safe printed words, when TTC values are less than
During equal to 3, microprocessor judges dangerous and sent distress signal to display screen, the dangerous printed words of display screen display；When Ben Che with after
When the distance between car L is more than 5m, TTC values are judged, when TTC values are more than 5.5, microprocessor judges safety and sends safe letter
Number display screen is given, display screen show safe printed words, when TTC values are more than 3 and when being less than or equal to 5.5, microprocessor judges dangerous,
And unsafe signal is sent to display screen, display screen shows dangerous printed words, and when TTC values are less than or equal to 3, microprocessor judges
Danger, and send distress signal to display screen, the dangerous printed words of display screen display.
The present invention and prior art ratio have advantages below：After the Safety Evaluation Index of selection is addition speed factor
TTC values.The present invention ring road vehicle enter major trunk roads security prompt device mainly using millimetre-wave radar, LED display and
ARM9 processors, can to through ring road enter on the vehicle and major trunk roads nearest from accelerating sections of accelerating sections the speed of vehicle and away from
From being detected, and TTC values are calculated, the vehicle in accelerating sections is evaluated into major trunk roads security, to evaluation
As a result shown in real time on LED display.
Brief description of the drawings
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 imports the scheme of installation of the safety reminding device of major trunk roads for a kind of ring road vehicle of the present invention；
Fig. 2 imports the circuit connection signal block diagram of the safety reminding device of major trunk roads for a kind of ring road vehicle of the present invention；
In figure：1st, millimetre-wave radar；2nd, microprocessor；3rd, display screen；4th, this car；5th, rear car；6th, ring road；7th, road is accelerated
Section.
Embodiment
Reference picture 1, is the scheme of installation that a kind of ring road vehicle of the present invention imports the safety reminding device of major trunk roads；Should
Device includes microprocessor 2, and the speed and Lai Che and the millimetre-wave radar 1 of the distance between radar of car are come for detecting, is used for
Display ring road vehicle imports the display screen 3 of the security of major trunk roads in real time；Millimeter wave thunder 1 reaches to be added installed in ring road into major trunk roads
On support at the end in fast section, the test surface of millimetre-wave radar 1 is towards section is accelerated, to ensure the stability and high efficiency of system,
There should not be any shelter in front of radar, display screen 3 is arranged on the lower section of millimetre-wave radar；The output of millimetre-wave radar 1
The I/O inputs of end electrical connection microprocessor 2, the input of display screen 3 electrically connects the I/O output ends of microprocessor 2.
Wherein, millimetre-wave radar 1 is Delphi ESR millimetre-wave radars, and its effective scope of detection strafes angle up to 175 meters
± 15 ° to ± 45 ° of degree, is entirely capable of satisfaction and is actually needed.
Wherein, display screen 3 is red LED display screen outside P10 rooms of having a showdown.
Wherein, microprocessor 2 is ARM9 processors, and concrete model is S3C2410.
A kind of ring road vehicle imports the safety instruction method of major trunk roads, and major trunk roads are imported based on a kind of above-mentioned ring road vehicle
Safety reminding device, comprises the following steps：
Step 1: the speed V of this car 4 in acceleration section 7 of the collection of millimetre-wave radar 1 in ring road 61, this car 4 and millimeter
The distance between ripple radar L1And angle [alpha]1, and the rear car 5 on major trunk roads nearest apart from ring road 6 speed V2, rear car 5 with
The distance between millimetre-wave radar L2And angle [alpha]2, and the data of the collection are sent to microprocessor.
Step 2: the data that microprocessor 2 is gathered to millimetre-wave radar 1 are handled, microprocessor 2 sets up rectangular co-ordinate
System, the axis of abscissas of the rectangular coordinate system is parallel with major trunk roads, and the axis of ordinates and axis of abscissas of the coordinate system are in same level
In face, and perpendicular to axis of abscissas；Microprocessor 2 is by the speed V of this car 41Decomposed in the rectangular coordinate system and obtain abscissa
Velocity component V on axle1xWith the velocity component V on axis of ordinates1y, microprocessor 2 is by the speed V of rear car 52In the rectangular co-ordinate
The velocity component V obtained on axis of abscissas is decomposed in system2xWith the velocity component V on axis of ordinates2y, then respectively by axis of abscissas
On velocity component subtract each other and obtain V1x-V2xValue, the velocity component on axis of ordinates, which subtracts each other, obtains V1y-V2yValue, finally will
V1x-V2xValue and V1y-V2yValue synthesis obtain this car 4 and the relative velocity V of rear car 5；
This car 4, rear car 5 and millimetre-wave radar 1 constitute a triangle, the angle [alpha] between this car 4 and millimetre-wave radar 11
With the angle [alpha] between rear car 5 and millimetre-wave radar 12Difference be the triangle using millimetre-wave radar as the angle of the interior angle on summit
Degree, L1And L2For the both sides length of side of the interior angle, the distance between this car 4 and rear car 5 L can be tried to achieve according to the cosine law；
If the distance between this car 4 and rear car 5 L and this car 4 and the relative velocity V of rear car 5 ratio are TTC values, micro- place
Reason device, which is calculated, obtains TTC values；
Step 3: the process that acceleration lane vehicle imports major trunk roads is similar to lane-change process, therefore its safety evaluation is borrowed
Widely used TTC (time-to-collision) in the current vehicle-mounted active safety equipment lane-change early warning system of mirror, as
The important indicator of the system safety evaluation.TTC definition is the distance between vehicle on Ben Che and Ben Che rear area targets track
The ratio of relative velocity between two cars, in conventional research, the whether safe threshold value of lane-change is typically weighed using TTC values
Amount, and it can be seen from substantial amounts of train experiment, when the TTC values between two cars are less than 3, now traffic will occur for front truck lane-change
Accident, and when TTC values are more than 5.5, now traffic accident will not typically occur for front truck lane-change, and TTC values are located between the two
When, it is possible to can occur traffic accident, now need to provide warning to driver.Because TTC values are deposited to the prompting of lane-change security
It is smaller in the relative velocity of a leak, i.e. current vehicle and target track front vehicle, and relative distance between two cars also compared with
Hour, the TTC values calculated on the contrary can be very big, for example, front truck is travelled with 85 ㎞/h speed on highway, and it is vertical away from front truck
There is a vehicle to be travelled with 86km/h speed for 3m target track rear to distance, now this is to carry out lane-change to TTC values for 10.8.
The dangerous situation such as it is easy to collide, it is necessary to carry out security prompting to driver.
The speed of this car is divided into by microprocessor：40km/h~80km/h,>Two stages of 80km/h.
Within 40km/h~80km/h stages, when this car with the rear car apart from L be less than or equal to 4m when, judge TTC values,
When TTC values are more than 3, microprocessor judges safety and sends safety signal to display screen, and display screen shows safe printed words, when
When TTC values are less than or equal to 3, microprocessor judges dangerous and sent distress signal to display screen, the dangerous printed words of display screen display；When
This car with the rear car apart from L be more than 4m when, judge TTC values, when TTC values more than 5.5 when, microprocessor judgement safely it is concurrent
Go out safety signal to display screen, display screen shows safe printed words, when TTC values are more than 3 and are less than or equal to 5.5, microprocessor is sentenced
It is disconnected dangerous, and unsafe signal is sent to display screen, display screen shows dangerous printed words, micro- when TTC values are less than or equal to 3
Processor judges dangerous, and sends distress signal to display screen, the dangerous printed words of display screen display.
>In the 80km/h stages, when this car with the rear car apart from L be less than or equal to 5m when, TTC values are judged, when TTC values
During more than 3, microprocessor judges safety and sends safety signal to display screen, and display screen shows safe printed words, when TTC values are less than
During equal to 3, microprocessor judges dangerous and sent distress signal to display screen, the dangerous printed words of display screen display；When Ben Che with after
When the distance between car L is more than 5m, TTC values are judged, when TTC values are more than 5.5, microprocessor judges safety and sends safe letter
Number display screen is given, display screen show safe printed words, when TTC values are more than 3 and when being less than or equal to 5.5, microprocessor judges dangerous,
And unsafe signal is sent to display screen, display screen shows dangerous printed words, and when TTC values are less than or equal to 3, microprocessor judges
Danger, and send distress signal to display screen, the dangerous printed words of display screen display.
The Safety Evaluation Index that the present invention chooses is the TTC values after addition speed factor.The ring road vehicle of the present invention enters
Enter major trunk roads security prompt device and mainly use millimetre-wave radar, LED display and ARM9 processors, can be to entering through ring road
Enter on the vehicle and major trunk roads nearest from accelerating sections of accelerating sections the speed of vehicle and with a distance from detected, and calculate TTC values,
Vehicle in accelerating sections is evaluated into major trunk roads security, the result to evaluation is shown in real time on LED display.
Although embodiment of the present invention is described above in association with accompanying drawing, the invention is not limited in above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment is only schematical, guiding, rather than limitation
Property.One of ordinary skill in the art is not departing from the scope that the claims in the present invention are protected under the enlightenment of specification
In the case of, the form of many kinds can also be made, these belong to the row of protection of the invention.
Claims (1)
1. a kind of ring road vehicle imports the safety instruction method of major trunk roads, the safety instruction of major trunk roads is imported applied to ring road vehicle
Device, the safety reminding device that the ring road vehicle imports major trunk roads includes：Microprocessor, the speed for detecting ring road vehicle
With the millimetre-wave radar of the distance between ring road vehicle and radar and for showing that ring road vehicle imports the peace of major trunk roads in real time
The display screen of full property；The output end of the millimetre-wave radar electrically connects the I/O inputs of microprocessor, the input of the display screen
The I/O output ends of end electrical connection microprocessor；The millimetre-wave radar is arranged on ring road and enters the end that major trunk roads accelerate section
On the support at place, the test surface of the millimetre-wave radar is towards accelerating section；The display screen is arranged on the lower section of millimetre-wave radar；
Characterized in that, the safety instruction method that the ring road vehicle imports major trunk roads comprises the following steps：
Step 1: the speed V of this car in acceleration section of the millimetre-wave radar collection in ring road1, between Ben Che and millimetre-wave radar
Apart from L1And angle [alpha]1, and the rear car on major trunk roads nearest apart from ring road speed V2, between rear car and millimetre-wave radar
Apart from L2And angle [alpha]2, and the data gathered are sent to microprocessor；
Step 2: the data that microprocessor is gathered to millimetre-wave radar are handled, microprocessor sets up rectangular coordinate system, and this is straight
The axis of abscissas of angular coordinate system is parallel with major trunk roads, the axis of ordinates of the coordinate system with axis of abscissas in same level, and
Perpendicular to axis of abscissas；Microprocessor is by the speed V of this car1The speed obtained on axis of abscissas is decomposed in the rectangular coordinate system
Component V1xWith the velocity component V on axis of ordinates1y, microprocessor is by the speed V of rear car2Decompose and obtain in the rectangular coordinate system
Velocity component V on axis of abscissas2xWith the velocity component V on axis of ordinates2y, then respectively by the velocity component on axis of abscissas
Subtract each other and obtain V1x-V2xValue, the velocity component on axis of ordinates, which subtracts each other, obtains V1y-V2yValue, finally by V1x-V2xValue with
V1y-V2yValue synthesis obtain Ben Che and the relative velocity V of rear car；
This car, rear car and millimetre-wave radar constitute a triangle, the angle [alpha] between Ben Che and millimetre-wave radar1With rear car and milli
Angle [alpha] between metre wave radar2Difference be the triangle using millimetre-wave radar as the angle of the interior angle on summit, L1And L2For this
The both sides length of side of interior angle, the distance between Ben Che and rear car L can be tried to achieve according to the cosine law；
If the ratio apart from L and Ben Che and the relative velocity V of rear car of this car with the rear car is TTC values, microprocessor is calculated
Obtain TTC values；
Step 3: the speed of this car is divided into by microprocessor：40km/h~80km/h, two stages of ＞ 80km/h；
Within 40km/h~80km/h stages, when this car with the rear car apart from L be less than or equal to 4m when, judge TTC values, when
When TTC values are more than 3, microprocessor judges safety and sends safety signal to display screen, and display screen shows safe printed words, works as TTC
When value is less than or equal to 3, microprocessor judges dangerous and sent distress signal to display screen, the dangerous printed words of display screen display；When this
Car with the rear car apart from L be more than 4m when, judge TTC values, when TTC values more than 5.5 when, microprocessor judges safety and sent
Safety signal is to display screen, and display screen shows safe printed words, and when TTC values are more than 3 and are less than or equal to 5.5, microprocessor judges
It is dangerous, and unsafe signal is sent to display screen, display screen shows dangerous printed words, when TTC values are less than or equal to 3, micro- place
Manage device and judge dangerous, and send distress signal to display screen, the dangerous printed words of display screen display；
Within the ＞ 80km/h stages, when this car with the rear car apart from L be less than or equal to 5m when, judge TTC values, when TTC values greatly
When 3, microprocessor judges safety and sends safety signal to display screen, and display screen shows safe printed words, when TTC values be less than etc.
When 3, microprocessor judges dangerous and sent distress signal to display screen, the dangerous printed words of display screen display；As Ben Che and rear car
The distance between L be more than 5m when, judge TTC values, when TTC values more than 5.5 when, microprocessor judges safety and sends safety signal
To display screen, display screen shows safe printed words, and when TTC values are more than 3 and are less than or equal to 5.5, microprocessor judges dangerous, and
Unsafe signal is sent to display screen, display screen shows dangerous printed words, when TTC values are less than or equal to 3, microprocessor judges danger
Danger, and send distress signal to display screen, the dangerous printed words of display screen display.
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