CN109584571A - Intersection pre-warning and control method and system and sensing device used - Google Patents
Intersection pre-warning and control method and system and sensing device used Download PDFInfo
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- CN109584571A CN109584571A CN201910037890.6A CN201910037890A CN109584571A CN 109584571 A CN109584571 A CN 109584571A CN 201910037890 A CN201910037890 A CN 201910037890A CN 109584571 A CN109584571 A CN 109584571A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The present invention provides a kind of intersection pre-warning and control method and system comprising: the picture frame and radar signal that include in the road video data of each entrance of intersection are detected, the road information of each entrance is obtained；The road information includes motive objects identification information, Lane detection information, vehicle turn signal identification information, vehicle position information and vehicle speed information, and wherein motive objects include vehicle, pedestrian and non motorized vehicle；The road information is subjected to calculation processing, obtains the driving information of motive objects, driving information includes driving path and travel speed；According to the driving information of motive objects, judge whether there is conflict between motive objects, issues and alarm to motive objects if having conflict.The present invention can do entry/exit conflicts anticipation and early warning in advance, improve the safety at intersection.
Description
Technical field
The present invention relates to a kind of field of intelligent transportation technology, more particularly to a kind of intersection pre-warning and control method and
System and sensing device used.
Background technique
With the continuous improvement of rapid development of economy and living standard, the ownership of motor vehicle increases sharply, wherein especially
Limited urban road network is constantly poured in based on private car, brings huge pressure to urban road network, especially
It is to bring many problems to the road grade crossing in urban road network.Road grade crossing be two or two with
On road intersection, be vehicle and only way which must be passed that pedestrian collects, turns to and evacuates, be the throat of urban road network, because
This, the congestion and conflict for reducing intersection are to promote the important means of the safety and efficiency of urban road network.
With the rise of intelligent transportation, by the perception to the vehicle flowrate in urban road network, to realize to road
The control of the vehicle flowrate of each wagon flow direction (direction to the car) in intersection, for example implement to prohibit Zuo Guanli in intersection, it can be with
The effective vehicle that improves in the congestion of intersection, can also reduce intersection all directions turn left traveling wagon flow with
The traveling conflict of reversed straight traffic, reduces traffic accident.
But other are compared in intersection, wagon flow is complicated, and having motor vehicles, pedestrian, non power driven vehicle includes electric vehicle
And bicycle；These mixed flows constitute the most polynary in the world intertexture and intersection, and signal timing is unreasonable, manages
Measure is not perfect, and the awareness of safety of driver and pedestrian lacks etc., and the accident for causing intersection emerges one after another, to family,
Society brings the heavy losses on many emotions and substance.
Therefore, it is necessary to a kind of early warning and control system for intersection safety.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of intersection early warning controls
Method and system and sensing device used, it is safe without safe early warning, easily appearance for solving intersection in the prior art
The problem of accident.
In order to achieve the above objects and other related objects, the present invention provides a kind of intersection pre-warning and control method,
It include: that the picture frame for including and radar signal are detected and located in the road video data to each entrance of intersection
Reason, obtains the road information of each entrance；The road information includes motive objects identification information, Lane detection information, vehicle
Turn signal identification information, vehicle position information and vehicle speed information, wherein motive objects include vehicle, pedestrian and non motorized vehicle；
The road information is subjected to calculation processing, obtains the driving information of motive objects, driving information includes driving path and traveling speed
Degree；According to the driving information of motive objects, judge whether there is conflict between motive objects, issues and alarm to motive objects if having conflict.
Preferably, the detailed process for judging whether to have conflict between motive objects are as follows: if the motive objects are vehicle, root
The specific driving information that vehicle is calculated according to the road information obtains the driving path and travel speed of vehicle, specific to travel
Information includes distance of the vehicle away from entrance driveway stop line, the speed close to entrance driveway and imminent direction information；According to
The driving path of vehicle obtains all vehicles for entering identical lane or entering in intersection, according to all vehicles
Travel speed and walking direction vehicle conflict with whether having between vehicle, issue deceleration alarm to vehicle if having conflict.
Preferably, the detailed process for judging whether to have conflict between motive objects are as follows: if one of them described motive objects is
Vehicle, another described motive objects are pedestrian or non-motor vehicle, and the specific traveling road of vehicle is calculated according to the road information
Diameter and travel speed obtain pedestrian and non-position and progress path through motor-car, by the advance of the specific driving path, people of vehicle
The progress path of path and non-motor vehicle is fitted, and judges whether there is punching between vehicle and non-motor vehicle or vehicle and pedestrian
It is prominent, early warning is issued to vehicle, non-motor vehicle and pedestrian if having conflict.
Preferably, if having conflict, control command is issued to the vehicle while issuing early warning, makes vehicle automatic brake
Vehicle.
Preferably, the acquisition process of the specific driving path of the vehicle are as follows: in the intersection for having signal lamp, obtain
The instruction of current signal light, and vehicle place lane line is obtained according to Lane detection information and vehicle position information, with this
Determine the specific driving path of vehicle.
Preferably, the acquisition process of the specific driving path of the vehicle are as follows: in the intersection of no signal lamp, according to
Lane line where Lane detection information, vehicle turn signal identification information and vehicle position information obtain vehicle, determines vehicle with this
Specific driving path.
The present invention provides a kind of intersection pre-alarming control system comprising:
Sensory perceptual system, the corresponding each import for entering intersection are arranged, and sensory perceptual system includes detecting corresponding entrance
The camera and radar of road information；The road information includes motive objects identification information, Lane detection information, Vehicular turn
Lamp identification information, vehicle position information and vehicle speed information；
Control system, including controller；
Trackside warning system, the alarm unit of the road two sides including being placed in each import；
The sensory perceptual system, alarm unit are connected with controller, and master controller receives sensory perceptual system road detected
Information calculates according to road information and judges whether there is conflict between motive objects, issues corresponding alarm unit if having conflict
Alarm.
It preferably, further include the car-mounted terminal being placed on each automobile, car-mounted terminal is connected with the control system, works as institute
When stating one of motive objects in conflict as vehicle, control system makes the car-mounted terminal on corresponding vehicle issue deceleration alarm.
Preferably, the car-mounted terminal is connected with the controller of automobile, while car-mounted terminal issues early warning, Xiang Suoshu
The controller of automobile issues control command, makes vehicle self-actuating brake.
The present invention also provides a kind of intersection pre-alarming control systems comprising:
Sensory perceptual system, the corresponding each import for entering intersection are arranged, and sensory perceptual system includes detecting corresponding entrance
The camera and radar of road information；The road information includes motive objects identification information, Lane detection information, Vehicular turn
Lamp identification information, vehicle position information and vehicle speed information；
Control system, including controller；
Car-mounted terminal is placed on each automobile；The car-mounted terminal is connected with controller, and controller receives sensory perceptual system institute
The road information of detection judges whether there is conflict between motive objects according to road information, if there is conflict and when the shifting in the conflict
When one of animal is vehicle, controller makes the car-mounted terminal on corresponding vehicle issue deceleration alarm.
The present invention also provides a kind of sensing devices of intersection early warning control comprising data processing unit and
Sensory package, the sensory package include the camera for obtaining road video data and the radar for obtaining radar signal data；
The data processing unit obtains the road of entrance letter for being handled road video data and radar signal data
Breath, the road information includes motive objects identification information, Lane detection information, vehicle turn signal identification information, vehicle location
Information and vehicle speed information.
Preferably, further include storage unit for storing the road video data and radar signal data.
As described above, intersection pre-warning and control method of the invention and system and sensing device used, have with
Down the utility model has the advantages that being judged at the intersection using the road information for obtaining each entrance at intersection in real time with this
Whether there is conflict, make anticipation and early warning in advance, improves the safety at intersection.
Detailed description of the invention
Fig. 1 is shown as intersection pre-warning and control method flow chart of the invention.
Fig. 2 is shown as intersection pre-alarming control system block diagram of the invention.
Fig. 3 is shown as the schematic diagram of the intersection driving direction equipped with signal lamp.
Fig. 4 is shown as the schematic diagram of the intersection driving direction of no signal lamp.
Component label instructions
1 sensory perceptual system
11 cameras
12 radars
2 controllers
3 car-mounted terminals
4 trackside warning systems
5 alarm units
6 imports
7 vehicles
81 non-motorized lanes
82 lanes
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It please refers to Fig.1 to Fig.4.It should be clear that structure, ratio, size etc. depicted in this specification institute attached drawing, only to
Cooperate the revealed content of specification, so that those skilled in the art understands and reads, being not intended to limit the invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influencing the effect of present invention can be generated and the purpose that can reach, it should all still fall in disclosed skill
In the range of art content can cover.Meanwhile in this specification it is cited as "upper", "lower", "left", "right", " centre " and
The term of " one " etc. is merely convenient to being illustrated for narration, rather than to limit the scope of the invention, relativeness
It is altered or modified, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the present invention.
As shown in Figure 1, the present invention provides a kind of intersection pre-warning and control method comprising:
The picture frame and radar signal that include in the road video data of each entrance of intersection are detected
And processing, it is mainly MMW RADAR SIGNAL USING for radar signal in the present embodiment, obtains the road information of each entrance；It is described
Road information includes motive objects identification information, Lane detection information, vehicle turn signal identification information, vehicle position information and vehicle
Velocity information, wherein motive objects include vehicle, pedestrian and non motorized vehicle；
The road information is subjected to calculation processing, obtains the driving information of motive objects, driving information includes driving path
And travel speed；According to the driving information of motive objects, judge whether there is conflict between motive objects, is issued if having conflict to motive objects
Alarm.
The present invention calculates the traveling letter for obtaining motive objects by the road information of each entrance of acquisition intersection
Breath, according to the driving information, that is, driving path and travel speed of motive objects, judges whether there is conflict between motive objects, if there is conflict can
It gives warning in advance, avoids collision, improve the passage safety of intersection.
Intersection described in the present embodiment refers to that two or two or more roads are crossed to form in the same plane
Intersection.For example, what crossroad or three roads that two road common in reality are crossed to form were crossed to form
The junction of three roads.
As shown in Figure 3, above-mentioned each import 6 refers to that each road enters the road junction of road intersection.Such as 3 institute of attached drawing
There are four imports 6 for the crossroad tool shown, are respectively as follows: eastern import, southing mouth, western import, northing mouth.
Above-mentioned road video data and radar signal, for characterizing through above-mentioned intersection or road will be passed through
The road information of intersection, i.e. vehicle-related information, people and non-motor vehicle relevant information and vehicle, people and non-motor vehicle are total
With the related driving information formed；Refer specifically to: motive objects identification information and vehicle position information, i.e., judgement is people, non-motor vehicle
Or vehicle, and determine its position；Lane detection information, the motor vehicle stop line including runway and intersection,
I.e. for judging vehicle, people and non-motor vehicle place lane, such as right-turn lane, straight trip channel, left turn lane and non-motor vehicle
Road and crossing；Vehicle turn signal identification information, i.e., whether acquisition vehicle opens turn signal, and what is opened is right turn lamp
Or left steering lamp；Vehicle speed information judges the travel speed of current vehicle.In practical applications, above-mentioned road video
Data and MMW RADAR SIGNAL USING are adopted by the sensory perceptual system of the compositions such as the camera and the radar that are mounted on the intersection
Collection obtains.
The picture frame and radar signal for including in the road video data to each entrance of intersection carry out
Detection, obtains the road information of each entrance of the intersection, realizes in the following way:
Motor vehicle, non-motor vehicle and the identification of pedestrian: mainly being identified by camera, and method mainly has based on spy
The methods of sign, template matching, Multi-sensor Fusion.
Lane detection: by camera be based on characteristic recognition method, mainly in conjunction with road image some features (such as
Color characteristic, shade of gray feature etc.), road boundary, Lane Mark and vehicle stop line are identified from the image of acquisition.
Mainly there are Gaussian Blur algorithm, Canny edge detection algorithm, neural network algorithm, clustering algorithm etc.
Vehicle turn signal identification；It is identified by camera based on feature.
The sensor blending algorithm includes the fusion of hardware and the fusion of data, i.e. the architectural framework of sensor fusion is adopted
With distribution, mainly have on the blending algorithm of data: bayesian criterion method, Kalman filtering method, fuzzy set theory method, artificial mind
Through network technique etc..
If the motive objects are vehicle in the present embodiment, i.e., the judgement that conflicts between vehicle and vehicle are as follows: according to described
Road information calculates the specific driving information of vehicle, obtains the driving path and travel speed of vehicle, specifically travels packet
Distance of the vehicle away from entrance driveway stop line, the speed close to entrance driveway, imminent direction information are included, turning path turns to
Possible speed or instantaneous velocity；It is obtained according to the driving path of vehicle and enters identical lane or to enter in intersection
Whether all vehicles conflict with having between vehicle according to the travel speed of all vehicles and walking direction vehicle, if there is conflict
Then deceleration alarm is issued to vehicle.
I.e. according to above-mentioned road information find out two (or more) from different directions but want to enter into identical lane or
To enter different lanes and generate the vehicle that intersects and therefore may collide；Using the distance and speed data between vehicle, and
Use the turning track and speed data of vehicle at the road junction being stored in advance in control system, control system energy
Predict any possible collision.After judging vehicle that these will be collided, control system will warn wherein a vehicle subtract
Speed.
If the motive objects of one of them in the present embodiment are vehicle, another motive objects is pedestrian or non-motor vehicle, root
The specific driving path and travel speed of vehicle are calculated according to the road information, obtain the position of pedestrian and non-through motor-car with before
The specific driving path, the progress path of people and the progress path of non-motor vehicle of vehicle are fitted, judge vehicle by inbound path
Whether have between non-motor vehicle or vehicle and pedestrian and conflict, is issued in advance if having conflict to vehicle, non-motor vehicle and pedestrian
It is alert.
In the present embodiment when judgement has conflict, the first stage passes through the vehicle-mounted end on the alarm unit and vehicle at crossing
End carries out receiving information and early warning, and the vehicular traffic of all directions is made to have the enough reaction time to avoid by warning way
Collision carries out early warning to non-motor vehicle and pedestrian by the roadside unit at crossing, increases safety；Second stage, in the same of early warning
When, control signal is issued by the car-mounted terminal on opposed vehicle, issues the controller of vehicle itself in case of emergency certainly
The signal of dynamic brake, to prevent collision vehicles or pedestrians, non-motor vehicle.
Whether the acquisition process of the specific driving path of above-mentioned vehicle has signal lamp for intersection, using not
Same judgment method:
As shown in Figure 3, in the intersection for having signal lamp, the instruction of current signal light is obtained, and according to lane line
Identification information and vehicle position information obtain 7 place lane line of vehicle, and the specific driving path of vehicle 7 is determined with this.Shown in Fig. 3
Signal lamp for east side in East and West direction be it is green, i.e., in west side import 6 in vehicle can exercise, such as the vehicle on Through Lane
7 can keep straight on eastwards, and the vehicle 7 on left turn lane can turn to the left, and the vehicle on right-turn lane can turn right, at this time
Producible conflict point (see the logos point in Fig. 3) can obtain according to judgement is calculated.
Specifically: before entering intersection, vehicle 7 carries out the selection of entrance driveway according to the graticule in lane, passes through
The instruction of signal lamp such as is started, is travelled, is turned left, kept straight on or is turned right the Path selections.Sensory perceptual system is by vehicle 7 in lane
Positioning in line determines the Path selection of vehicle 7 and the relevant parameters such as speed for calculating vehicle 7.On this path, judge
Whether have corresponding vehicle, non-motor vehicle and pedestrian will by and be likely to occur collision.Once can be sent out on this path
Raw conflict, carries out deceleration early warning to corresponding vehicle.
As shown in Figure 4, there is vehicle 7, Er Feiji in the lane 82 at the intersection of no signal lamp, each import 6
There may be pedestrian and non motorized vehicle in motor-car road 81, due to not having signal lamp instruction, the vehicle 7 of all directions is only simply according to master
Road car right-of-way is higher than time road car right-of-way and passes through.The different type conflict point that intersection generates (refers specifically in Fig. 4
The joint of each lines with the arrow) will increase sharply, i.e., between vehicle and vehicle, between vehicle and pedestrian, vehicle and non-motor vehicle
Between and pedestrian and non-motor vehicle between conflict, conflict point and calculation amount are multiplied.
Lane line (i.e. determine in lane by vehicle where obtaining vehicle according to Lane detection information and vehicle position information
Position), determine the specific driving path of vehicle, and the relevant parameters such as speed for calculating vehicle.Herein on specific driving path,
Judge whether there is corresponding vehicle, non-motor vehicle and pedestrian will by and be likely to occur collision.Once specific traveling herein
It can be clashed on path, deceleration early warning is carried out to corresponding vehicle.
The specific driving path of vehicle, the progress path of people and the non-progress path through motor-car are fitted.If encountering
When special car passes through, such as fire fighting truck, ambulance, police car etc. have right-of-way, capable of emitting in such a scenario to allow other
The warning of vehicle deceleration.
The present invention provides a kind of intersection pre-alarming control system, can realize above-mentioned intersection early warning controlling party
Method comprising: as shown in Fig. 2 and Fig. 3,
Sensory perceptual system 1, the corresponding each import 6 for entering intersection are arranged, are arranged at each import 6 in the present embodiment
One sensory perceptual system 1, sensory perceptual system 1 include the camera 11 and radar 12 for detecting road information at corresponding import 6；The road
Information includes motive objects identification information, Lane detection information, vehicle turn signal identification information, vehicle position information and vehicle speed
Information is spent, motive objects include vehicle, pedestrian and non motorized vehicle；
Control system, including controller 2；
Trackside warning system 4, the alarm unit 5 of the road two sides including being placed in each import 6；
The alarm unit 5 is connected with controller 2, and controller 2 receives the road information detected of sensory perceptual system 1, according to
Road information judges whether there is conflict between motive objects, and corresponding alarm unit is made to issue alarm if having conflict.
Intersection pre-alarming control system of the invention, can acquire the road information of each import, to road information into
Row calculation processing obtains the driving information of motive objects, and driving information includes driving path and travel speed, judges motive objects with this
Between whether have conflict, if having conflict if by alarm unit to motive objects issue alarm, improve the safety of intersection.
Sensory perceptual system 1 in the present embodiment is the sensing device being arranged at corresponding each import 6, generally comprises connected number
According to processing unit and sensory package, sensory package includes obtaining the camera 11 of road video data and obtaining radar to believe
The radar 12 of number；Data processing unit is for handling to obtain import road video data and radar signal data
The road information at place, the road information include motive objects identification information, Lane detection information, vehicle turn signal identification letter
Breath, vehicle position information and vehicle speed information.It may also include for storing the road video data and radar signal data
Storage unit.Sensing device is connected by communication with the controller 2 in above-mentioned control system.
Car-mounted terminal 3, car-mounted terminal 3 and 2 phase of controller can be also set in the present embodiment on each automobile (i.e. vehicle 7)
Even, when one of the motive objects in the conflict are vehicle 7, controller 2 makes the car-mounted terminal on corresponding vehicle 7 issue police of slowing down
Report.While car-mounted terminal issues early warning, also control command can be issued to the controller of the automobile, make 7 automatic brake of vehicle
Vehicle.
Sensory perceptual system in the present embodiment, alarm unit, car-mounted terminal and control system communication modes can are as follows: use DSRC
(dedicated short-distance radio information transmission mode).Based on 802.11P standard, may be implemented in the domain of specific cell (usually tens of
Rice) identification and two-way communication to the motive objects under high-speed motion, real-time Transmission image, voice-and-data information, by vehicle and
Road organic linking.Its advantage is that mature, reliable, low time delay and highest safety guarantee standard.
Sensory perceptual system in the present embodiment can be realized by the existing monitoring of intersection and camera system, can will be monitored
And the road video data and radar signal of each entrance of camera system acquisition are transferred directly to above-mentioned control system, pass through
Controller is detected and is calculated to the picture frame and MMW RADAR SIGNAL USING that include in road video data.
A kind of another embodiment of intersection pre-alarming control system, the present embodiment is essentially identical with above-described embodiment,
The difference is that: only setting car-mounted terminal 3, no trackside warning system 4, car-mounted terminal are connected with master controller 2, master controller
2 receive the road informations detected of sensory perceptual system 1, judge whether there is conflict between motive objects according to road information, if having conflict and
When one of the motive objects in the conflict are vehicle 7, control system makes the car-mounted terminal on corresponding vehicle 7 issue police of slowing down
Report.The present embodiment avoids vehicle from colliding with vehicle, vehicle and pedestrian, vehicle and non-motor vehicle；Also improve intersection
The safety of mouth.
In conclusion intersection pre-warning and control method of the invention and system, it is intended to be detected by sensory perceptual system
The movement of pedestrian and vehicle avoid the life that collides and save.It mainly includes the sensors such as camera, radar and inside
The sensory perceptual system of controller composition, car-mounted terminal and trackside warning system.Above-mentioned sensory perceptual system, police are installed at intersection
Show unit etc., obtains pedestrian and non motorized vehicle by the vehicle at the crossing and in a certain range.Work as automobile, pedestrian and non-
When motor vehicle drives into the region, sensory perceptual system carries out perception detection, continuous to issue road information and calculate vehicle away from import
Distance and they close to import speed, and from vehicle or exercise lane obtain imminent direction information.These information
It will be all sent in total controller from camera, radar.This total controller will execute calculating, between 1, vehicle and vehicle: finding out
Two (or more) from different directions but want to enter into identical lane or to carry out intersecting and therefore may collide
Automobile；Using the distance and speed data of automobile, and use the general turning track line of automobile at the intersection of preparatory feed-in
Data, total controller can predict any possible collision.After judging automobile that these will be collided, controller will
Wherein a vehicle slows down for warning；2, between vehicle and pedestrian, non-motor vehicle: measuring position and the anterior approach of pedestrian and non-motor vehicle
A possibility that diameter is fitted with the driving path of vehicle, and anticipation collides, and proposed in advance in vehicle termination and trackside
It is alert.So the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (12)
1. a kind of intersection pre-warning and control method characterized by comprising
The picture frame and radar signal that include in the road video data of each entrance of intersection are detected and located
Reason, obtains the road information of each entrance；The road information includes motive objects identification information, Lane detection information, vehicle
Turn signal identification information, vehicle position information and vehicle speed information, wherein motive objects include vehicle, pedestrian and non motorized vehicle；
The road information is subjected to calculation processing, obtains the driving information of motive objects, driving information includes driving path and row
Sail speed；
According to the driving information of motive objects, judge whether there is conflict between motive objects, issues and alarm to motive objects if having conflict.
2. intersection pre-warning and control method according to claim 1, it is characterised in that: be between the judgement motive objects
The no detailed process for having conflict are as follows: if the motive objects are vehicle, the particular row of vehicle is calculated according to the road information
Sail information, obtain the driving path and travel speed of vehicle, it is specific travel information include distance of the vehicle away from entrance driveway stop line,
Speed and imminent direction information close to entrance driveway；It is obtained according to the driving path of vehicle and enters identical lane or want
Into all vehicles in intersection, it is according between the travel speed and walking direction vehicle and vehicle of all vehicles
It is no to have conflict, deceleration alarm is issued to vehicle if having conflict.
3. intersection pre-warning and control method according to claim 1, it is characterised in that: be between the judgement motive objects
The no detailed process for having conflict are as follows: if one of them described motive objects is vehicle, another described motive objects is pedestrian or non-machine
Motor-car calculates the specific driving path and travel speed of vehicle according to the road information, obtains pedestrian and non-through motor-car
The specific driving path, the progress path of people and the progress path of non-motor vehicle of vehicle are fitted by position and progress path,
Judge whether to have between vehicle and non-motor vehicle or vehicle and pedestrian and conflict, to vehicle, non-motor vehicle and pedestrian if having conflict
Issue early warning.
4. intersection pre-warning and control method according to claim 2 or 3, it is characterised in that: if having conflict, sending out
Control command is issued to the vehicle while early warning out, makes vehicle self-actuating brake.
5. intersection pre-warning and control method according to claim 3, it is characterised in that: the specific traveling of the vehicle
The acquisition process in path are as follows: in the intersection for having signal lamp, obtain the instruction of current signal light, and known according to lane line
Lane line where other information and vehicle position information obtain vehicle, the specific driving path of vehicle is determined with this.
6. intersection pre-warning and control method according to claim 3, it is characterised in that: the specific traveling of the vehicle
The acquisition process in path are as follows: in the intersection of no signal lamp, according to Lane detection information, vehicle turn signal identification information
Lane line where obtaining vehicle with vehicle position information, the specific driving path of vehicle is determined with this.
7. a kind of intersection pre-alarming control system characterized by comprising
Sensory perceptual system, the corresponding each import for entering intersection are arranged, and sensory perceptual system includes detecting corresponding entrance road
The camera and radar of information；The road information includes motive objects identification information, Lane detection information, vehicle turn signal knowledge
Other information, vehicle position information and vehicle speed information；
Control system, including controller；
Trackside warning system, the alarm unit of the road two sides including being placed in each import；
The sensory perceptual system, alarm unit are connected with controller, and controller receives sensory perceptual system road information detected, root
It is calculated according to road information and judges whether there is conflict between motive objects, corresponding alarm unit is made to issue alarm if having conflict.
8. intersection pre-alarming control system according to claim 7, it is characterised in that: further include being placed in each automobile
On car-mounted terminal, car-mounted terminal is connected with the control system, when one of the motive objects in the conflict are vehicle, control
System makes the car-mounted terminal on corresponding vehicle issue deceleration alarm.
9. intersection pre-alarming control system according to claim 8, it is characterised in that: the car-mounted terminal and automobile
Controller be connected, while car-mounted terminal issues early warning, the controller of Xiang Suoshu automobile issues control command, make vehicle from
Dynamic brake.
10. a kind of intersection pre-alarming control system characterized by comprising
Sensory perceptual system, the corresponding each import for entering intersection are arranged, and sensory perceptual system includes detecting corresponding entrance road
The camera and radar of information；The road information includes motive objects identification information, Lane detection information, vehicle turn signal knowledge
Other information, vehicle position information and vehicle speed information；
Control system, including controller；
Car-mounted terminal is placed on each automobile；
The car-mounted terminal is connected with controller, and controller receives sensory perceptual system road information detected, according to road information
It calculates and judges whether there is conflict between motive objects, if there is conflict and when one of the motive objects in the conflict are vehicle, master control
Device processed makes the car-mounted terminal on corresponding vehicle issue deceleration alarm.
11. a kind of sensing device of intersection early warning control, which is characterized in that including data processing unit and sensing
Component, the sensory package include the camera for obtaining road video data and the radar for obtaining radar signal data；It is described
Data processing unit is for handling road video data and radar signal data to obtain the road information of entrance, institute
State road information include motive objects identification information, Lane detection information, vehicle turn signal identification information, vehicle position information and
Vehicle speed information.
12. the sensing device of intersection early warning control according to claim 11, it is characterised in that: further include using
In the storage unit for storing the road video data and radar signal data.
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