CN111815949B - Branch vehicle afflux early warning system for main road traffic vehicles - Google Patents
Branch vehicle afflux early warning system for main road traffic vehicles Download PDFInfo
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- CN111815949B CN111815949B CN202010563167.4A CN202010563167A CN111815949B CN 111815949 B CN111815949 B CN 111815949B CN 202010563167 A CN202010563167 A CN 202010563167A CN 111815949 B CN111815949 B CN 111815949B
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- E01F9/608—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings for guiding, warning or controlling traffic, e.g. delineator posts or milestones
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention relates to a branch vehicle afflux early warning system facing to a main road vehicle, which comprises a branch vehicle detection system used for detecting the occurrence information of the branch vehicle through a two-dimensional laser radar detection device and a main road intelligent early warning mark used for prompting a main road traveling vehicle through a detection result, wherein the branch vehicle detection system is arranged at the edge of a branch road and is 30-50 meters away from a branch road junction, the two-dimensional laser radar detection device is vertically downward and is installed facing to a road, the main road intelligent early warning mark is arranged on the main road, and is arranged facing to the main road vehicle direction at a position 5-10 meters away from the branch road junction, and the branch vehicle detection system is communicated with the main road intelligent early warning mark in real time through wired and wireless transmission modes. Compared with the prior art, the invention has the advantages of stable, accurate, efficient and all-weather detection and the like.
Description
Technical Field
The invention relates to the technical field of road traffic early warning, in particular to a branch road vehicle immission early warning system for vehicles coming from and going to a main road.
Background
The ultrahigh population density and the increasing automobile holding capacity of domestic cities contribute to higher trunk network density in urban road construction. In the planning and construction process of the domestic regional city, a plurality of main road-branch intersection ports which are not controlled by signals are formed. Because the main road is designed to have a high speed, and no reasonable and effective traffic control means are provided at the intersection, the intersection has great potential safety hazards, and particularly, when a branch vehicle suddenly runs out, traffic accidents are very easy to happen (as shown in figure 1). In addition, under the conditions of night, fog, heavy rain and the like, the visibility of the driving environment is poor, the visibility is reduced, and particularly, the main road and the branch road have large light and shade difference, so that a driver in the main road ignores to merge into a vehicle, and if the speed of the vehicle is high, the driver does not react timely, and traffic accidents are easy to happen. Therefore, in order to reduce the risk of traffic accidents in relevant areas, development of relevant all-weather, precision-guaranteed, sensitive and stable intelligent traffic solutions is urgently needed.
At present, in developed countries such as Europe and America, the safety problem of main road branch intersection generally adopts a stop board arranged at a branch road as a traffic control means, so as to clarify the road priority of vehicles on the main road, and simultaneously, relevant risk management and control are carried out through strict violation punishment. Aiming at the domestic situation, the quality of the driver is difficult to guarantee at the present stage, the violation situation is common, in addition, the violation shooting difficulty is very high for the situation, and meanwhile, the manual law enforcement has very high requirements on police strength, so that the foreign experience is difficult to be used for reference, and an effective solution is difficult to be found.
At present, early warning is mostly carried out through ramp vehicle convergence prompting and pedestrian crossing detection-prompting systems, however, aiming at the condition that branch road traffic flows converge, when a vehicle is about to converge, if relevant conditions cannot be detected, negligence of a driver on a main road is easily caused, and further accidents are caused. The related detection means which can be adopted by the ramp vehicle convergence prompting and pedestrian crossing detection-prompting system mainly comprises coil, geomagnetic, infrared induction, ultrasonic radar and video detection technologies. These detection means have their own limitations: 1) The coil detection technology has been gradually replaced by other technologies due to its various defects such as high susceptibility to damage and high maintenance cost. 2) The geomagnetic detection technology is used for detecting by utilizing the principle that a magnetic field of an object above is cut to generate disturbance, and because a branch road is narrow and two lanes are close to each other, the detection process is greatly interfered by vehicles entering the branch road from a main road, so that frequent misdetection and misinformation are caused, and the reliability of the warning function is greatly reduced. (3) The error of infrared induction is large, the detection range is difficult to control, and false detection and even missing detection are easy to occur; and it is also not suitable for branch vehicle detection. (4) Ultrasonic radars allow accurate detection, but are relatively costly and therefore less popular in such less typical traffic environments. 5) The video detection technology is widely applied to an intelligent traffic system, but the video detection technology is difficult to guarantee high-precision all-weather detection (especially under the environment with poor light conditions). In addition, because the information of the image processing means is huge, in order to improve the calculation rate, the related high-precision video detection technology often needs expensive hardware requirements. In short, the above detection means have their respective limitations for the situation of the branch traffic inflow.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a branch vehicle afflux early warning system facing to vehicles coming from and going to a main road.
The purpose of the invention can be realized by the following technical scheme:
a branch vehicle influx early warning system for vehicles coming from and going to a main road, comprising:
the branch vehicle detection system is used for detecting the occurrence information of the branch vehicle through two-dimensional laser radar detection equipment;
and the main road intelligent early warning mark is used for prompting vehicles on the main road to travel according to the detection result.
The branch vehicle detection system is arranged at the edge of a branch, is 30-50 meters away from a branch intersection, is installed facing a road with the two-dimensional laser radar detection equipment facing downwards, and is communicated with the intelligent early warning sign of the main road in real time in a wired and wireless transmission mode.
The branch vehicle detection system specifically further comprises:
the data processing module is used for temporarily storing and processing the information acquired by the two-dimensional laser radar detection equipment, accurately acquiring the occurrence condition of the vehicles passing through the cross section and running out of the branch in real time, and transmitting signals to the data sending module;
the data sending module is used for simultaneously outputting the signal to the intelligent early warning sign of the main road through RS485 and LoRa in real time to output the vehicle lane information;
and the power supply control module is used for connecting commercial power by using the power supply adapter, converting the commercial power into a 12-24V working voltage power supply and supplying power to the branch vehicle detection system.
Further, the work flow of the branch vehicle detection system is as follows:
1) The two-dimensional laser radar detection equipment collects lane information in real time, processes the lane information through the data processing module and judges whether a vehicle appears in a lane or not;
2) For the condition that the vehicle is detected, the detection result is used as data output of a branch detection system, and signals are continuously transmitted to the intelligent early warning mark of the main road through an RS485 wired transmission means; meanwhile, the detection signal is continuously transmitted to the intelligent early warning mark of the main trunk via the LoRa port.
The intelligent early warning sign of the main road is arranged on the main road, and is arranged in the direction of the main road at a distance of 5-10 meters from the branch road junction. The intelligent early warning sign of the trunk road comprises:
the data receiving module is used for receiving lane vehicle information transmitted by RS485 and LoRa simultaneously, and the module selects the information received by RS485 under the condition that an RS485 signal is not interrupted, inputs the information into the control processing module, and automatically selects data acquired by a LoRa port under the condition that the RS485 signal is interrupted;
the control processing module is used for acquiring branch vehicle information to judge whether vehicles appear on a branch road and activating an early warning prompting sign by using the acquired branch vehicle appearance information;
the early warning prompting sign is used for flashing lights to prompt the main road to drive vehicles after being activated;
the power supply control module is used for being connected with commercial power through a power supply adapter, converting the commercial power into a 12-24V working voltage power supply and supplying power for the intelligent early warning mark of the main road;
and the remote data transmission module is used for transmitting the information read by the control processing module to the relevant department of equipment management.
Preferably, the remote data transmission module adopts a GSM module, a 3G module or a 4G module.
When the control processing module of the intelligent early warning mark of the main trunk judges that data loss occurs when data is read, namely RS485 transmission is interrupted, and the time of data generated at the RS485 data transmission end is actually continuous and exceeds 1 minute, the intelligent early warning mark of the main trunk is immediately switched into data obtained by an LoRa port, and data loss information is transmitted to a department related to equipment management through a remote data transmission module so as to remind and repair in time.
The system of the invention adopts two-dimensional laser radar detection equipment to detect the occurrence information of the branch vehicles, and comprises the following specific steps:
s1, regarding the detection range of two-dimensional laser radar detection equipment as a row of 1 multiplied by N detection elements, arranging the detection elements corresponding to a road surface after the two-dimensional laser radar detection equipment is installed, enabling each detection element to correspond to one detection area downwards, enabling N detection areas to be continuous, enabling each detection element to detect the distance between one detection head and the corresponding detection area, and enabling the output of detection of the two-dimensional laser radar detection equipment to be a list [ D ] composed of distances 1 ,D 2 ,…,D N ]；
S2, setting the detection range of the two-dimensional laser radar detection equipment according to the lane position:
after the two-dimensional laser radar detection equipment is installed, checking is carried out, the detection elements p to q corresponding to the area where an installer stands at the edge position of the target lane are taken as the reference, the area between the detection elements p to q is the detection range to be set, and after the detection range is set, the signals of the detection elements p, 8230and q in the range are only processed in the next step.
S3, setting an initial distance of the position of the two-dimensional laser radar detection equipment, and taking the initial distance as a detection reference:
[p,…,q]the detection unit is placed for a period of time under the condition that no vehicle passes; then [ p, \ 8230;, q ] in the vehicle-free state]Stable distance reading [ D ] corresponding to detection element p-0 ,…,D q-0 ]Namely, the initial distance in the vehicle-free state is used as a detection reference for judging whether a vehicle passes through the detection range.
S4, real-time detection, namely obtaining a vehicle detection result according to a detection reference:
simplifying the detection result according to the initial distance of detection, assuming that k is [ p, \8230;, q]Detecting one of the detection units, if the detection process D k >D k-1 And +0.3 meters, if the object is judged to be detected, the output is 1, a detection range corresponding to one two-dimensional laser radar detection device is captured, and whether at least 5 continuous detection elements are activated or not is used as a vehicle import judgment basis.
Compared with the prior art, the invention has the following advantages:
1) Aiming at the potential safety hazard caused by sudden merging of vehicles out of a branch road due to lack of effective control measures of the branch road, the system disclosed by the invention utilizes a high-precision laser radar detection technology, solves the problem of detection errors of other detection technologies such as geomagnetism, video, coils and the like, can stably, accurately, efficiently and all-weather detect the conditions of the vehicles in the branch road, further timely and effectively early warning and prompting the vehicles in a main road, and greatly reduces the accident risk;
2) The invention is based on the laser radar technology to detect the occurrence of the vehicle, and the accurate stability of the laser radar technology ensures that the whole set of solution can accurately work under various light and environmental conditions, thereby avoiding potential risks caused by detection errors when other detection means are used;
3) The invention simultaneously uses RS485 and LoRa information transmission modes, mainly uses RS485 and assists with LoRa, can ensure the stability of signal transmission in the running process of the system, and avoids a series of consequences caused by interruption of the signal transmission process, such as wrong report of a warning board, acquisition of wrong information by a driver, accident risk caused by merging into the leakage side of a vehicle, weakening of effect caused by inaccuracy of the warning board and the like; meanwhile, by using the technology of the Internet of things, relevant information can be transmitted in time when RS485 is interrupted, so that efficient system maintenance is realized;
4) The detection range of the two-dimensional laser radar detection equipment is set, the vehicle state passing through the detection range in real time is detected, the initial distance of the vehicle-free state is used as a detection reference, the detection principle is simple, the calculation amount is small, the high requirement on the calculation rate of a high-definition video detection technology is avoided while the precision is ensured, and the hardware cost is reduced while the hardware stability is ensured;
5) The branch vehicle detection system can detect vehicles 30-50 meters away from the branch road junction in advance for 5 seconds, and guarantee sufficient reserved time to prompt vehicles on the main road.
Drawings
FIG. 1 is a schematic view of traffic safety conditions at a branch junction of an urban main road;
FIG. 2 is a schematic view of the basic construction of the system of the present invention;
FIG. 3 is a schematic diagram of the basic structure of the system of the present invention;
FIG. 4 is a schematic diagram of an early warning process of the system of the present invention;
FIG. 5 is a schematic view of 2D-LiDAR detection.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The invention relates to a branch road vehicle immission early warning system facing to vehicles coming from and going to a main road, which comprises the following two parts as shown in figure 3:
(A) A branch vehicle detection section for detecting occurrence information of a branch vehicle;
as shown in fig. 2, the branch vehicle detection part is arranged at the edge of the branch and 30-50 meters away from the branch intersection (about 5 seconds ahead to detect the vehicle and guarantee sufficient time to prompt the main road vehicle). The branch road vehicle detection part is provided with an inverted L-shaped rod body and a two-dimensional laser radar arranged on the rod body, the two-dimensional laser radar equipment is vertically arranged downwards and is installed facing the road (the specific height is determined according to the functional parameters of the adopted laser radar equipment, such as the detection angle), and the branch road vehicle detection part is shown in figure 5.
(B) The intelligent early warning sign of the main road is used for prompting vehicles on the main road.
As shown in fig. 2, the intelligent early warning sign is erected on the main road and is 5-10 meters away from the branch road junction. The warning sign is arranged facing the direction of the main road, as shown in fig. 2.
The concrete structure of the branch vehicle import early warning system for the vehicles coming from and going to the main road is shown in the attached figure 4. Figure 5 shows a flow chart of the overall system operation.
The branch vehicle detection section of the system of the present invention includes:
the device comprises two-dimensional laser radar (2D-LiDAR) detection equipment, a data processing module, a data sending module and a power supply control module. The two-dimensional laser radar (2D-LiDAR) detection equipment, the data processing module and the data sending module are connected in sequence. Specifically, the method comprises the following steps:
the 2D-LiDAR detection equipment is arranged at a branch and used for continuously and all-weather collecting the information of the covered road section.
And the data processing module is used for temporarily storing and analyzing the information acquired by the 2D LiDAR, accurately acquiring the occurrence condition of the vehicles passing through the cross section and running out of the branch in real time, and transmitting the signals to the data transmitting module.
And the data sending module is used for simultaneously sending signals through RS485 (wired) and LoRa (wireless), and outputting vehicle lane information (with or without a vehicle) to the intelligent early warning mark of the main road in real time.
And the power supply control module is used for connecting commercial power by using the power supply adapter, converting the commercial power into a 12-24V working voltage power supply and supplying power to the branch vehicle detection part.
The working process of the detection part mainly comprises the following two steps:
the first step is a detection process, wherein in the process, the 2D-LiDAR detector carries out real-time detection on the lane road surface, the distance reading of each detection element is obtained, and the distance reading is analyzed through the data processing module to judge whether the lane detects the vehicle.
The second step is data transmission, the vehicle appearance condition (0/1 signal, no 0, yes 1) is used as data output of the branch detection part, and the signal is continuously transmitted to the main road intelligent early warning sign through an RS485 wired transmission means. Meanwhile, for ensuring the stability of signal transmission, the detection signal is continuously transmitted to the intelligent early warning sign of the trunk road through an LoRa port.
The intelligent early warning sign of the main road of the system comprises:
the data receiving module is used for receiving the RS485 and LoRa signals simultaneously, selecting the information received by the RS485 under the condition that the RS485 signals are not interrupted, inputting the information into the control processing module, and automatically selecting the data acquired by the LoRa port once the RS485 breaks down.
And the control processing module is used for acquiring branch vehicle information, and activating the early warning prompting sign once the condition that the branch vehicle appears (has the vehicle) is acquired.
The early warning prompting sign is activated, when the sign is activated, the flashing light prompts vehicles running on the main road, and vehicles in the front branch road enter the early warning prompting sign and need to be carefully driven.
And the power supply control module is used for connecting commercial power through a power supply adapter, converting the commercial power into a 12-24V working voltage power supply and supplying power for the intelligent early warning sign of the main road.
And the remote data transmission module is used for transmitting the information read by the control processing module to relevant departments of equipment management to remind the departments of maintaining in time.
As shown in fig. 5, the working process of the intelligent early warning sign of the main road specifically includes two steps:
in the first step, the data receiving module simultaneously receives signals received from the branch detection part through two ports of RS485 and LoRa. Due to the stability and the anti-interference performance of RS485 transmission, the information of the RS485 port is mainly read and used in the working process of the control processing module. If the RS485 transmission is interrupted (signals are not received continuously), the system is switched into data obtained by the LoRa port immediately, and errors are reported to a management department through remote communication modules such as GSM/3G/4G and the like, so that the maintenance is reminded in time. The system switches ports by setting control codes, and reads LoRa port data.
And the second step, the vehicle occurrence condition information acquired by the branch detection part is transmitted to the control processing module of the intelligent early warning sign of the main road, when the control processing module detects that vehicles appear on the branch road (the signal output is 1), the early warning prompting sign is activated, the notice board starts flashing to warn the coming vehicles on the main road, and the vehicles are about to enter the branch road. After a sustained period of time (e.g., 10 seconds), the sign stops flashing the light.
In conclusion, the system adopts the RS485 and the LoRa transmission protocol, and reports the data transmission mode of the transmission problem in time through the remote communication transmission mode, so as to ensure the information reliability in the transmission process of the system and the timely repair of the transmission problem. The main components and working steps mainly comprise:
step one, the signal that the detection end (branch road vehicle detection part in this patent) gathered is by RS485 data transmission end (wired) and loRa data transmission end (wireless), with information transmission to signal user end (be main road intelligence early warning mark part in this patent).
And step two, the user end reads the data obtained through the RS485 data port, and once the data is lost when the control processor module corresponding to the user end reads the data, the data obtained through the LoRa port is automatically read.
And step three, if the actual time of the data generated at the RS485 port is more than 1 minute, transmitting the information to a master control, namely a related department of equipment management, through a remote data transmission module (GSM/3G/4G) arranged at a using end to remind the master control of timely repairing the data.
The system of the invention continuously and all-weather collects the information of the covered road section based on two-dimensional laser radar (2D-LiDAR) detection equipment according to the specific principle that:
A2D-LiDAR may be understood as a row of 1N detector elements that are mounted against the road surface, each detector element facing down a block of detection area, the N detection areas being contiguous (N depending on the LiDAR equipment selected), as shown in FIG. 5. Each testThe detector detects the distance of a detection head from the relevant detection area, so the output of 2D-LiDAR detection is a list of distances [ D 1 ,D 2 ,…,D N ]。
The whole detection process of the system mainly comprises the following steps, wherein the first step is a system initialization step, and the last step is a conventional detection mode after the system runs:
s1, setting a detection range according to the lane position.
Typically, the 2D-LiDAR detection covers a range that is larger than the target lane area. After the installation is finished, simple verification is carried out, and the detection element corresponding to the area where the installer stands at the edge position of the target lane is taken as the standard, wherein the area is the detection range to be set. Assuming that the detection elements from p to q are corresponding, the detection element corresponding to the target lane is the [ p, \8230;, q ] detection element. After the detection range is set, the data processing module is reasonably arranged to analyze the [ p, \8230;, q ] detection element signals only.
And S2, setting an initial distance as a detection reference.
After the detection boundary is confirmed and the detection range is defined, [ p, \8230 ], [ q ] is defined]The detection unit is placed for 1 minute (according to the setting of the 2D-LiDAR detection equipment) under the condition that no vehicle passes through, and the error generated in the preheating process when the system is started is avoided. Thereafter, in the non-vehicle state [ p, \8230;, q]Stable distance reading [ D ] corresponding to detection element p-0 ,…,D q-0 ]That is, the initial distance of the vehicle-free state detected by the detector is the detection reference, and when the distance detected is smaller than the initial distance, the data processing module judges that an object passes through, so as to judge whether a vehicle passes through the detection range (output "1" means that the vehicle passes through).
And S3, carrying out real-time detection to obtain a detection result.
After the detection reference is set, the vehicle detection can be carried out. Thanks to the independence of the 2D-LiDAR detection meta-detection process and the continuity of the detection area, it is possible to distinguish the classification of road users passing by their coverage area by a very simple method. To simplify the calculation process, the invention is based onThe initial distance is detected to simplify the detection result, and k is assumed to be p, 8230; q]Detecting one of the detection units, if the detection process D k >D k-1 +0.3 m, it is determined that an object is detected, and the output is 1 (X) k = 1), so that during detection, the detection area is a list of 0,1 [ D ] p ,…,D q ]。
The main judgment basis of detection is as follows: people and bicycles are relatively narrow and they often activate (X) when passing through a detection zone k = 1) is small, even if pedestrians pass through at the same time, gaps between them will cause discontinuity of activated detector elements; on the contrary, for the vehicle, the appearance cross section is continuous and wide, and the number of activated detection elements is obviously more than that of people and bicycles. If the vehicle activates at least R continuous detecting elements in the detecting process of the detector, whether more than (R-1) continuous detecting elements are activated is taken as a judgment basis.
For example, since people and bicycles are relatively narrow, if they pass through, they only affect one to two detecting elements, and cars are relatively wide, and if they are the smallest, they also affect 6 consecutive detecting elements, and at this time, it is enough to set the condition that more than 5 consecutive detecting elements are activated as the determination condition to determine whether the object to be detected is a car. The verification proves that the accuracy of the detection result obtained by the scheme reaches more than 99.9%.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A branch vehicle convergence early warning system facing to a main road vehicle is characterized by comprising a branch vehicle detection system and a main road intelligent early warning mark, wherein the branch vehicle detection system is used for detecting information of the branch vehicle through a two-dimensional laser radar detection device, the main road intelligent early warning mark is used for prompting a main road traveling vehicle through a detection result, the branch vehicle detection system is arranged at the edge of a branch road and is 30-50 meters away from a branch road junction, the two-dimensional laser radar detection device is vertically downward and is installed facing to a road, the main road intelligent early warning mark is arranged on the main road, and is 5-10 meters away from the branch road junction and is arranged facing to the main road vehicle direction, and the branch vehicle detection system is communicated with the main road intelligent early warning mark in real time through wired and wireless transmission modes;
the branch vehicle detection system further comprises:
the data processing module is used for temporarily storing and processing the information acquired by the two-dimensional laser radar detection equipment, accurately acquiring the occurrence condition of the vehicles passing through the cross section and running out of the branch in real time, and transmitting signals to the data sending module;
the data sending module is used for simultaneously outputting the signal to the intelligent early warning sign of the main road through RS485 and LoRa in real time to output the lane information of the vehicle;
the power supply control module is used for connecting commercial power by using a power supply adapter, converting the commercial power into a 12-24V working voltage power supply and supplying power to the branch vehicle detection system;
the intelligent early warning sign of the main road comprises:
the data receiving module is used for receiving lane vehicle information transmitted by RS485 and LoRa simultaneously, and the module selects the information received by RS485 under the condition that an RS485 signal is not interrupted, inputs the information into the control processing module, and automatically selects data acquired by a LoRa port under the condition that the RS485 signal is interrupted;
the control processing module is used for acquiring branch vehicle information to judge whether vehicles appear on a branch road and activating an early warning prompting sign by using the acquired branch vehicle appearance information;
the early warning prompting sign is used for flashing lights to prompt the main road to drive vehicles after being activated;
the power supply control module is used for connecting commercial power through a power adapter, converting the commercial power into a 12-24V working voltage power supply and supplying power for the intelligent early warning sign of the trunk;
the remote data transmission module is used for transmitting the information read by the control processing module to a relevant department of equipment management;
the specific steps of detecting the occurrence information of the branch vehicles by adopting the two-dimensional laser radar detection equipment comprise:
1) The detection range of the two-dimensional laser radar detection equipment is regarded as a row of 1 multiplied by N detection elements, the detection elements are arranged corresponding to a road surface after being installed, each detection element corresponds to one detection area downwards, N detection areas are continuous, each detection element detects the distance between one detection head and the relevant detection area, namely the output of the detection of the two-dimensional laser radar detection equipment is a list [ D ] composed of distances 1 ,D 2 ,…,D N ]；
2) Setting a detection range of two-dimensional laser radar detection equipment according to the lane position;
3) Setting an initial distance of a position where two-dimensional laser radar detection equipment is located, and taking the initial distance as a detection reference;
4) And detecting in real time, and acquiring a vehicle detection result according to the detection reference.
2. The branch vehicle afflux early warning system facing to the main road vehicle as claimed in claim 1, wherein the work flow of the branch vehicle detecting system is:
a) The two-dimensional laser radar detection equipment collects lane information in real time, processes the lane information through the data processing module and judges whether a vehicle appears in a lane or not;
b) For the condition that the vehicle is detected, the detection result is used as data output of a branch detection system, and signals are continuously transmitted to the intelligent early warning mark of the main road through an RS485 wired transmission means; meanwhile, the detection signal is continuously transmitted to the intelligent early warning mark of the main trunk via the LoRa port.
3. The branch vehicle afflux early warning system facing to the main road vehicle as claimed in claim 1, wherein when the control processing module of the main road intelligent early warning sign reads data, it is determined that data loss occurs, that is, RS485 transmission is interrupted, and the data generated at the RS485 data transmission end is really continuous for more than 1 minute, the main road intelligent early warning sign is immediately switched to the data obtained at the LoRa port, and the data loss information is transmitted to the relevant department of equipment management through the remote data transmission module to remind and repair in time.
4. The branch vehicle import early warning system for the vehicles coming from and going to the main road according to claim 1, wherein the specific contents of step 2) are as follows:
after the two-dimensional laser radar detection equipment is installed, verification is carried out, detection elements p to q corresponding to the area where an installer stands at the edge position of the target lane are taken as the standard, the area between the detection elements p and q is the detection range to be set, and after the detection range is set, only signals of the detection elements p, 8230, q in the range are processed in the next step.
5. The branch vehicle import early warning system for the vehicles coming from and going to the main road according to claim 4, wherein the specific content of step 3) is:
[p,…,q]the detection element is placed for a period of time under the condition that no vehicle passes; then [ p, \8230; q ] in the non-vehicle state is processed]Stable distance reading [ D ] corresponding to detection element p-0 ,…,D q-0 ]Namely, the initial distance in the vehicle-free state is used as a detection reference for judging whether a vehicle passes through the detection range.
6. The branch vehicle import early warning system for the vehicles coming from and going to the main road according to claim 5, wherein the specific content of step 4) is as follows:
simplifying the detection result according to the initial distance of detection, assuming that k is [ p, \8230;, q]Detecting one of the detection units, if the detection process D k >D k-1 And +0.3 meters, if the object is determined to be detected, the output is 1, the detection range corresponding to one two-dimensional laser radar detection device is captured, and whether at least 5 continuous detection elements are activated or not is used as a vehicle convergence determination basis.
7. The branch vehicle afflux early warning system for vehicles going to and coming from main road according to claim 1, wherein the remote data transmission module adopts GSM module, 3G module or 4G module.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020102228821 | 2020-03-26 | ||
| CN202010222882 | 2020-03-26 |
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| Publication Number | Publication Date |
|---|---|
| CN111815949A CN111815949A (en) | 2020-10-23 |
| CN111815949B true CN111815949B (en) | 2022-10-21 |
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