CN108399794B - Tunnel driving safety early warning system and method based on vehicle driving state detection - Google Patents
Tunnel driving safety early warning system and method based on vehicle driving state detection Download PDFInfo
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Abstract
The invention relates to a tunnel driving safety early warning system based on vehicle driving state detection, wherein a vehicle position information acquisition subsystem of the system is arranged in a tunnel and is used for acquiring time information of front and rear vehicle traffic at two corresponding detection points; the vehicle state data processing subsystem calculates the speed, speed difference and inter-vehicle distance of the front vehicle and the rear vehicle according to the time information and judges the driving safety degree, and then sends the speed, speed difference, inter-vehicle distance and driving safety degree judgment results of the front vehicle and the rear vehicle to the driving safety early warning subsystem; the driving safety early warning subsystem is used for issuing the speed, the speed difference and the distance between the front vehicle and the rear vehicle and carrying out early warning. The invention can realize the speed safety warning and the distance safety warning of tunnel driving, effectively enhance the acquisition capability of a driver to driving environment information in the tunnel, improve the reliability and the safety of tunnel traffic, and further reduce or even avoid tunnel traffic accidents.
Description
Technical Field
The invention belongs to the technical field of traffic driving safety early warning systems, and relates to a tunnel driving safety early warning system and a tunnel driving safety early warning method.
Background
The current measures related to the promotion of tunnel traffic safety mainly include interval speed measurement, camera violation of regulations photographing and the like. The existing safety guarantee mode has the following defects: whether the speed of the vehicle in the tunnel is overspeed or not cannot be known in time; whether the following distance of the rear vehicle is smaller than the safe vehicle distance or not; whether the relative speed difference between the front vehicle and the rear vehicle is reasonable or not; and safety pre-warning cannot be carried out on the violation vehicles.
Disclosure of Invention
The invention aims to solve the first technical problem of providing a tunnel driving safety early warning system based on vehicle driving state detection, which can measure the driving speed of a vehicle in a tunnel and the distance between a front vehicle and a rear vehicle in real time and can carry out safety early warning on an overspeed driving vehicle and a following vehicle with too small distance between the vehicles.
In order to solve the technical problem, the tunnel driving safety early warning system based on the vehicle driving state detection comprises a vehicle position information acquisition subsystem, a vehicle state data processing subsystem and a driving safety early warning subsystem; the vehicle position information acquisition subsystem is arranged in the tunnel and is used for acquiring the time information of passing of front and rear vehicles at the corresponding two detection points; the vehicle state data processing subsystem calculates the speed, the speed difference and the inter-vehicle distance of the front vehicle and the rear vehicle according to the time information, compares the speed, the speed difference and the inter-vehicle distance with a preset speed limit value and a safety inter-vehicle distance respectively to judge the driving safety degree, and then sends the speed, the speed difference, the inter-vehicle distance and the driving safety degree judgment results of the front vehicle and the rear vehicle to the driving safety early warning subsystem; the driving safety early warning subsystem is used for issuing the speed, the speed difference and the inter-vehicle distance of the front vehicle and the rear vehicle, and early warning is carried out when the front vehicle and the rear vehicle are over-speed, the inter-vehicle distance is too small or the speed difference between the two vehicles is too large; the vehicle position detection sensor comprises a mounting seat and two sensor components; the sensor assembly comprises a sensor module, a T-shaped joint, a connecting rod shaft, a straight gear, a hydraulic control system and a rack piston hydraulic cylinder; the top of the fixed bottom plate tunnel of the mounting seat is fixedly connected, and the hydraulic control system is fixed on the fixed bottom plate; the sensor module is fixedly connected with a connecting rod shaft through a T-shaped byte, and the connecting rod shaft is arranged on a U-shaped base of the mounting seat and is coaxially connected with the straight gear; the straight gear is meshed with a piston rod of a rack piston hydraulic cylinder fixed on the U-shaped base; the hydraulic control system is respectively connected with two oil ports of the rack piston hydraulic cylinder through two oil pipes; the two sensor modules form an included angle of 90 degrees, and the center lines of the two sensor modules are in the same plane.
The vehicle position information acquisition subsystem comprises a vehicle position detection sensor, a filter, an amplifier, an analog-to-digital converter and a single chip microcomputer; the vehicle position detection sensor collects the passing information of the front vehicle and the rear vehicle when passing through the two detection points and transmits the passing information to the single chip microcomputer through the filter, the amplifier and the analog-to-digital converter, and the single chip microcomputer extracts the corresponding time information of the front vehicle and the rear vehicle when passing through the two detection points.
The two sensor modules respectively collect vehicle traffic information of two detection points. The hydraulic control system can be started by the remote control device to realize the oil quantity adjustment in the rack piston hydraulic cylinder, so that the rotation of the straight gear drives the connecting rod shaft to rotate, and the T-shaped joint and the sensor module which are matched with the connecting rod shaft are driven to rotate around the connecting rod shaft when the connecting rod shaft rotates, so that the deviation of detection points of the two sensor modules can be corrected.
The vehicle state data processing subsystem comprises a data receiving module, a data processing module and a wireless data transmitting module; the data receiving module is used for receiving the time information of the front vehicle and the rear vehicle passing through two detection points, which is acquired by the singlechip in the vehicle position information acquisition subsystem; the data processing module calculates the speed, the speed difference and the distance between the front vehicle and the rear vehicle according to the time information, and judges the driving safety degree of the front vehicle and the rear vehicle together with a preset speed limit value and a safety distance; the wireless data transmitting module transmits the speed, the speed difference, the distance between two vehicles and the judgment result of the driving safety degree of the two vehicles to the driving safety early warning subsystem.
The driving safety early warning subsystem consists of a wireless data receiving device and an alarm device; the wireless data receiving device receives the speed, the speed difference and the distance between the front vehicle and the rear vehicle of the vehicle state data processing subsystem and the judgment result of the driving safety degree, and carries out early warning when the front vehicle and the rear vehicle are overspeed, the distance between the front vehicle and the rear vehicle is too small and the speed difference is too large.
The second technical problem to be solved by the present invention is to provide a method for performing an early warning by using the above tunnel driving safety early warning system based on vehicle driving state detection, which comprises the following steps:
step one, aiming at any vehicle position detection sensor in the tunnel, setting the time when the first detection point detects the front vehicle as t1The time when the first detection point can not detect the front vehicle is t1', the time when the preceding vehicle is detected at the second detection point is t2(ii) a Calculating the average speed v of the front vehicle between two detection points according to the formula (1)1；
Wherein s is0Detecting the distance between two detection points of a sensor for detecting the position of the vehicle;
when v is1Greater than a preset speed limit v for the vehicle to travel in the tunnel0If so, judging that the front vehicle is overspeed, and carrying out safety early warning on the driver through a driving safety early warning subsystem;
step two, setting the time of the vehicle position detection sensor for detecting the rear vehicle at the first detection point as t3(ii) a Calculating the length l of the front vehicle according to the formula (2)1；
L1＝v1(t′1-t1) (2)
Step three, if the length l of the front vehicle body is detected1Greater than the set value l of the maximum length of the body of the small automobile0When the front vehicle is judged to be a non-small vehicle, the safety early warning is carried out on the driver of the rear vehicle through the driving safety early warning subsystem, and the driver of the rear vehicle is reminded to keep a safe vehicle distance with the front vehicle; calculating the safe vehicle distance d according to a formula (3);
step four, before calculation according to the formula (4)Inter-vehicle distance s between vehicle and rear vehicle1；
s1＝(t3-t2)v1+s0-l1 (4)
If the distance between the current vehicle and the front vehicle is judged to be smaller than d, performing safety early warning on a rear vehicle driver through a driving safety early warning subsystem to perform safety early warning on the rear vehicle driver;
step five, calculating the speed v of the rear vehicle according to the method the same as the method for calculating the speed of the front vehicle2Then, the vehicle speed difference v between the front and rear vehicles is calculated according to the formula (5)c；
vc＝v2-v1 (5)
If the difference v between the current front and rear vehicle speeds is judgedcAnd the speed is larger than or equal to 20Km/h, and safety early warning is carried out on a rear vehicle driver through the driving safety early warning subsystem.
The invention can measure the speed of the vehicle running in the tunnel at a certain moment, and carry out early warning processing on the driver running at overspeed; the relative speed difference between the front vehicle and the rear vehicle running in the tunnel can be measured, and safety early warning is carried out on the driver with the overlarge relative speed; the following vehicle distance between a vehicle running in the tunnel and a front vehicle can be measured, and safety early warning is carried out on a rear vehicle with an excessively small vehicle distance; the position of the sensor module in the system that collects vehicle position information can be remotely adjusted. The invention can effectively enhance the capability of acquiring the driving environment information in the tunnel by a driver, improve the reliability and the safety of tunnel traffic, and further reduce or even avoid tunnel traffic accidents.
The tunnel driving safety early warning system can realize speed safety warning and distance safety warning of tunnel driving, and the position of the sensor module can be adjusted and calibrated remotely. By utilizing the technology, the capability of acquiring the driving environment information in the tunnel by a driver can be effectively enhanced, the reliability and the safety of tunnel traffic are improved, and further the occurrence of tunnel traffic accidents is reduced or even avoided.
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The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a block diagram of the overall architecture of the present invention;
FIG. 2 is a block diagram of a vehicle position information acquisition subsystem;
FIG. 3 is a schematic diagram of the operation of the vehicle condition data processing subsystem;
FIG. 4 is a three-dimensional schematic view of a vehicle position detection sensor configuration;
FIG. 5 is a logic flow diagram of the overall operation steps of the system.
Detailed Description
As shown in fig. 1, the tunnel driving safety early warning system based on vehicle driving state detection of the present invention includes a vehicle position information acquisition subsystem, a vehicle state data processing subsystem, and a driving safety early warning subsystem.
In practical application, a plurality of vehicle position information acquisition subsystems can be installed in the tunnel. Taking one of the vehicle position information acquisition subsystems as an example, as shown in fig. 2, the vehicle position information acquisition subsystem includes a vehicle position detection sensor, a filter, an amplifier, an analog-to-digital converter and a single chip microcomputer, and the vehicle position detection sensor acquires vehicle passing information at two corresponding detection points; the information is respectively filtered by a filter, an amplifier and an analog-to-digital converter, amplified and converted, and then transmitted to a singlechip, and the time t when the first detection point of the vehicle position detection sensor detects the front vehicle is extracted by the singlechip1Time t when the first detection point cannot detect the preceding vehicle1', time t when the preceding vehicle is detected at the second detection point2And the time t when the rear vehicle is detected at the first detection point3。
As shown in fig. 4, the vehicle position detection sensor includes a sensor mount 1 and two sensor assemblies. Taking one of the sensor modules as an example, the sensor assembly comprises a sensor module 2, a T-shaped joint 31, a connecting rod shaft 32, a straight gear 33, a hydraulic control system 4 and a rack piston hydraulic cylinder 5; a fixed bottom plate 1 of the mounting seat 1 is fixed at the top of the tunnel through four long screws 13, and a hydraulic control system 4 is fixed on the fixed bottom plate 1; the sensor module 2 is fixedly connected with a connecting rod shaft 32 through a T-shaped joint 31, and the connecting rod shaft 32 is arranged on the U-shaped base 12 of the mounting seat 1 and is coaxially connected with a straight gear 33; the straight gear 33 is meshed with a piston rod of a rack piston hydraulic cylinder 5 fixed on the U-shaped base 12; the hydraulic control system 4 is connected with two oil ports of the rack piston hydraulic cylinder 5 through two oil pipes 41 respectively.
The two sensor modules 2 are respectively used for collecting the traffic information when the front vehicle and the rear vehicle pass through the two detection points. The hydraulic control system 4 can be started through a remote control device to realize the oil quantity adjustment in the rack piston hydraulic cylinder 5, then the rotation of the straight gear 33 drives the connecting rod shaft 32 to rotate, and when the connecting rod shaft 32 rotates, the T-shaped joint 31 matched with the connecting rod shaft and the sensor module 2 are driven to rotate around the connecting rod shaft 32, so that the detection point deviation of the two sensor modules 2 can be corrected.
The sensor module 2 may employ a diffuse reflection type photoelectric sensor, a laser transmitter-receiver, or a microwave radar.
The vehicle state data processing subsystem comprises a data receiving module, a data processing module and a wireless data transmitting module; the data receiving module is used for receiving the time information of the vehicle passing through the two detection points, which is acquired by the singlechip in the vehicle position information acquisition subsystem; the data processing module calculates the running speed and the inter-vehicle distance of the vehicle by using a relation model of time, displacement and speed, and judges the driving safety degree by using a preset speed limit value and a safe inter-vehicle distance; and the wireless data transmitting module transmits the vehicle running state information and the safety degree judgment result to the driving safety early warning subsystem.
The driving safety early warning subsystem consists of a wireless data receiving device, sound and light alarm equipment and the like; the wireless data receiving device is used for receiving the vehicle running state information and the safety degree judgment result of the vehicle state data processing subsystem; the warning device is a specific actuator and carries out early warning when the vehicle is in states of overspeed, too small distance, too large speed difference and the like. The specific warning technology can adopt various schemes, namely, the scheme is in data connection with an in-vehicle radio station and carries out early warning by broadcasting early warning contents or beeping sound through voice; the second scheme is that warning lamps with various colors are arranged above the tunnel and different colors of light rays are irradiated in front of the vehicle to perform early warning; and thirdly, mounting a projection device on the side of the tunnel, and projecting the alarm content to a screen in front of the vehicle for early warning.
As shown in fig. 5, the tunnel driving safety early warning method based on vehicle driving state detection of the present invention includes the following steps:
and step one, the vehicle gradually runs into the tunnel from the outside of the tunnel, and the vehicle position information acquisition subsystem and the vehicle state data processing subsystem are started. Taking the first vehicle position information acquisition subsystem as an example, a front vehicle drives to a first detection point and a second detection point of a vehicle position detection sensor which is positioned right above the center line of a lane in a tunnel, and sequentially passes through the two detection points step by step; recording time t when a preceding vehicle is detected at the corresponding first detection point1When the first detection point can not detect the front vehicle (namely when the front vehicle completely passes the detection point), the time t is recorded1'; the time when the preceding vehicle is detected at the second detection point is t2(ii) a Under the condition that the front vehicle runs at a constant speed between two detection points, the average speed v of the front vehicle within the short known distance is calculated according to the formula (1)1Calculating the length l of the front vehicle according to the formula (2)1；
l1＝v1(t′1-t1) (2)
Wherein s is0The distance between two detection points corresponding to the vehicle position detection sensor is obtained;
when v is1Greater than a preset speed limit v set for the vehicle to run in the tunnel0When the vehicle is overspeed, the vehicle is judged, and the safety early warning is carried out on the driver through the driving safety early warning subsystem;
if the length l of the front vehicle body is detected1Greater than the set value l of the maximum length of the body of the small automobile0And if the front vehicle is a non-small vehicle, the driving safety early warning subsystem carries out appropriate safety early warning on the driver of the rear vehicle to remind the driver of the rear vehicle to keep a certain safe vehicle distance from the front vehicle. Theory for keeping front and rear vehiclesCalculating the safe vehicle distance d according to a formula (3);
then the front vehicle is driven out of the detection range of the vehicle position detection sensor; the rear vehicle enters the detection range of the vehicle position detection sensor;
step two, recording time t when the vehicle position detection sensor detects the rear vehicle at the first detection point3(ii) a Calculating the vehicle-to-vehicle distance s between the front vehicle and the rear vehicle according to the formula (4)1；
s1＝(t3-t2)v1+s0-l1 (4)
And if the distance between the rear vehicle and the front vehicle is smaller than d, performing safety early warning on a rear vehicle driver through the driving safety early warning subsystem.
Step three, calculating the speed v of the rear vehicle according to the method same as the method for calculating the speed of the front vehicle2Then, the vehicle speed difference v between the front and rear vehicles is calculated according to the formula (5)c；
vc＝v2-v1 (5)
If the difference v between the current front and rear vehicle speeds is judgedcAnd the speed is larger than or equal to 20Km/h, and safety early warning is carried out on a rear vehicle driver through the driving safety early warning subsystem.
Thus, the traffic safety detection and early warning of a group of front and rear vehicles under the same vehicle position detection sensor are completed. The current car constantly traveles forward, then will pass through second, three vehicle position detection sensor below to form a new set of traffic safety detection and early warning group in the back car, if the vehicle position detection sensor who arranges is enough intensive under reasonable prerequisite, then can regard as the speed of a motor vehicle that can detect the vehicle in real time in the tunnel and the vehicle interval of preceding car, and accomplish to carry out safety precaution to the driver in real time.
When the second vehicle enters the tunnel, the vehicle becomes a rear vehicle of the first vehicle and a front vehicle of the third vehicle, and it is also necessary to detect the time when the second vehicle reaches the first detection point, the time when the second vehicle completely passes the first detection point, and the time when the second vehicle reaches the second detection point. When the vehicle runs in the tunnel and runs out of the tunnel after passing through the positions below the plurality of vehicle position detection sensors, the tunnel safety early warning system completes one working cycle.
According to the classification standard of motor vehicles in China, the maximum length set value l of the body of the small automobile06m (passenger and truck essentially having a 6m boundary); the maximum driving speed in the tunnel is determined by the safety speed specified by the specific tunnel, and the allowable safety driving distance in the tunnel is calculated and determined according to the vehicle speed and the vehicle body length.
The filter and the amplifier of the vehicle position information acquisition subsystem are mainly used for carrying out noise reduction and amplification processing on the measured analog signal, and the filter can effectively filter a frequency point with a specific frequency in a power line or frequencies except the frequency point to obtain a power signal with the specific frequency or eliminate the power signal with the specific frequency; the amplifier can amplify the power of the high-frequency modulated wave signal to meet the requirement of transmitting power, and then radiate the high-frequency modulated wave signal to the space through the antenna, so that a receiver in a certain area can receive a satisfactory signal level and the communication of an adjacent channel is not interfered. The analog-to-digital converter is used for converting an analog signal into an electric signal by a sensor, amplifying the electric signal, sending the electric signal into an AD converter to be converted into a digital quantity, processing the digital quantity by a digital circuit, reducing the digital quantity into an analog quantity by a DA converter, and driving an execution component. The single chip microcomputer is used for extracting effective data required by calculation and judgment from a plurality of data according to a series of programming.
Claims (4)
1. The method for carrying out early warning by adopting the tunnel driving safety early warning system based on the vehicle driving state detection is characterized by comprising the following steps of:
step one, aiming at any vehicle position detection sensor in the tunnel, setting the time when the first detection point detects the front vehicle as t1The time when the first detection point can not detect the front vehicle is t1', the time when the preceding vehicle is detected at the second detection point is t2(ii) a Calculating the average vehicle when the front vehicle is between two detection points according to the formula (1)Velocity v1；
Wherein s is0Detecting the distance between two detection points of a sensor for detecting the position of the vehicle;
when v is1Greater than a preset speed limit v for the vehicle to travel in the tunnel0If so, judging that the front vehicle is overspeed, and carrying out safety early warning on the driver through a driving safety early warning subsystem;
step two, setting the time of the vehicle position detection sensor for detecting the rear vehicle at the first detection point as t3(ii) a Calculating the length l of the front vehicle according to the formula (2)1；
l1＝v1(t′1-t1) (2)
Step three, if the length l of the front vehicle body is detected1Greater than the set value l of the maximum length of the body of the small automobile0When the front vehicle is judged to be a non-small vehicle, the safety early warning is carried out on the driver of the rear vehicle through the driving safety early warning subsystem, and the driver of the rear vehicle is reminded to keep a safe vehicle distance with the front vehicle; calculating the safe vehicle distance d according to a formula (3);
step four, calculating the distance s between the front vehicle and the rear vehicle according to the formula (4)1；
s1＝(t3-t2)v1+s0-l1 (4)
If the distance between the current vehicle and the front vehicle is judged to be smaller than d, performing safety early warning on a rear vehicle driver through a driving safety early warning subsystem to perform safety early warning on the rear vehicle driver;
step five, calculating the speed v of the rear vehicle according to the method the same as the method for calculating the speed of the front vehicle2Then, the vehicle speed difference v between the front and rear vehicles is calculated according to the formula (5)c；
vc＝v2-v1 (5)
If the difference v between the current front and rear vehicle speeds is judgedcIf the speed is larger than or equal to 20Km/h, performing safety early warning on a rear vehicle driver through the driving safety early warning subsystem;
the tunnel driving safety early warning system based on vehicle driving state detection comprises a vehicle position information acquisition subsystem, a vehicle state data processing subsystem and a driving safety early warning subsystem; the vehicle position information acquisition subsystem is arranged in the tunnel and is used for acquiring the time information of passing of front and rear vehicles at the corresponding two detection points; the vehicle state data processing subsystem calculates the speed, the speed difference and the inter-vehicle distance of the front vehicle and the rear vehicle according to the time information, compares the speed, the speed difference and the inter-vehicle distance with a preset speed limit value and a safety inter-vehicle distance respectively to judge the driving safety degree, and then sends the speed, the speed difference, the inter-vehicle distance and the driving safety degree judgment results of the front vehicle and the rear vehicle to the driving safety early warning subsystem; the driving safety early warning subsystem is used for issuing the speed, the speed difference and the inter-vehicle distance of the front vehicle and the rear vehicle, and early warning is carried out when the front vehicle and the rear vehicle are over-speed, the inter-vehicle distance is too small or the speed difference between the two vehicles is too large; the vehicle position detection sensor comprises a mounting seat (1) and two sensor components; the sensor assembly comprises a sensor module (2), a T-shaped joint (31), a connecting rod shaft (32), a straight gear (33), a hydraulic control system (4) and a rack piston hydraulic cylinder (5); the tunnel top of a fixed bottom plate (1) of the mounting seat (1) is fixedly connected, and a hydraulic control system (4) is fixed on the fixed bottom plate (1); the sensor module (2) is fixedly connected with a connecting rod shaft (32) through a T-shaped joint (31), and the connecting rod shaft (32) is arranged on a U-shaped base (12) of the mounting seat (1) and is coaxially connected with a straight gear (33); the straight gear (33) is meshed with a piston rod of a rack piston hydraulic cylinder (5) fixed on the U-shaped base (12); the hydraulic control system (4) is respectively connected with two oil ports of the rack piston hydraulic cylinder (5) through two oil pipes (41); the two sensor modules form an included angle of 90 degrees, and the center lines of the two sensor modules are in the same plane.
2. The method for early warning by adopting the tunnel driving safety early warning system based on the vehicle driving state detection as claimed in claim 1, wherein the vehicle position information acquisition subsystem comprises a vehicle position detection sensor, a filter, an amplifier, an analog-to-digital converter and a single chip microcomputer; the vehicle position detection sensor collects the passing information of the front vehicle and the rear vehicle when passing through the two detection points and transmits the passing information to the single chip microcomputer through the filter, the amplifier and the analog-to-digital converter, and the single chip microcomputer extracts the corresponding time information of the front vehicle and the rear vehicle when passing through the two detection points.
3. The method for early warning by adopting the tunnel driving safety early warning system based on the vehicle driving state detection as claimed in claim 1, wherein the vehicle state data processing subsystem comprises a data receiving module, a data processing module and a wireless data transmitting module; the data receiving module is used for receiving the time information of the front vehicle and the rear vehicle passing through two detection points, which is acquired by the singlechip in the vehicle position information acquisition subsystem; the data processing module calculates the speed, the speed difference and the distance between the front vehicle and the rear vehicle according to the time information, and judges the driving safety degree of the front vehicle and the rear vehicle together with a preset speed limit value and a safety distance; the wireless data transmitting module transmits the speed, the speed difference, the distance between two vehicles and the judgment result of the driving safety degree of the two vehicles to the driving safety early warning subsystem.
4. The method for early warning by adopting the tunnel driving safety early warning system based on the vehicle driving state detection as claimed in claim 1, wherein the driving safety early warning subsystem consists of a wireless data receiving device and an alarm device; the wireless data receiving device receives the speed, the speed difference and the distance between the front vehicle and the rear vehicle of the vehicle state data processing subsystem and the judgment result of the driving safety degree, and carries out early warning when the front vehicle and the rear vehicle are overspeed, the distance between the front vehicle and the rear vehicle is too small and the speed difference is too large.
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