CN113723699A - Safety vehicle speed correction control early warning method and system for severe weather highway - Google Patents
Safety vehicle speed correction control early warning method and system for severe weather highway Download PDFInfo
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Abstract
The invention discloses a safety vehicle speed correction, control and early warning method and system for a severe weather expressway, and belongs to the field of intelligent traffic. Fitting is carried out according to the speed limit and the vehicle distance required by relevant regulations, based on a fitted road traffic safety speed limit equation, corresponding continuous safety speed limit values under the conditions of low visibility in severe weather, wet and slippery road, strong wind and the like are calculated, and then the maximum limit safety vehicle speed for avoiding collision accidents is calculated; the habitual safe vehicle speed control law of a driver under severe weather conditions is counted through road traffic macroscopic data, and the scene correction of safe vehicle speed control is carried out on the target vehicle driver on road sections under different road conditions in severe weather environments in real time. On the basis of relevant laws and regulations, the safe vehicle speed correction control strategy is optimized and determined by combining with the common driving behavior habit with statistical significance, real-time and timely early warning is achieved, overusing is avoided through reasonable selection of correction degree, and the system viscosity widely applied to social drivers and passengers is achieved.
Description
Technical Field
The invention relates to a method for correcting and controlling a dynamic scene of a safe speed of a highway under the conditions of low visibility of traffic on a road in severe weather, slippery road, strong wind and the like, and a method and a system for early warning the traffic risk of the highway and a confluence area, belonging to the field of intelligent traffic.
Background
The low visibility of bad weather road traffic such as group fog and fog, haze, rainfall, snowfall, hail, sand storm can constitute navigating mate visual range obstacle, the field of vision is restricted, roadside traffic warning sign (typely) and road surface marking (digital data) are difficult to see clearly, including the unreasonable meeting "passing by one" effect under vehicle high speed state and other car shelters from of position density such as sign (including LED information board) marking, the reaction time of navigating mate is prolonged when meeting emergency in road the place ahead relatively normal road visibility, very easily take place malignant traffic accident. Data are published according to the 6 th stage of 2018, China Highway; the low visibility of road traffic is less than 200 m, and the number of traffic deaths accounts for 59.43% of the total number of deaths caused by road traffic accidents; taking the highway along the river in Jiangsu as an example, 2097 total traffic accidents happen in 2020, and the percentage of the highway diversion point accidents is 19.12 percent and the percentage of the highway confluence point accidents is 21.41 percent due to the influence of low visibility of the road and visual range visual angle obstruction at night, and the total percentage is 40.52 percent. For a long time, due to the lack of continuous, accurate and effective digital monitoring means for sudden fog along the road and low visibility in severe weather, real-time accompanying real-time and timely reminding service cannot be provided for public trip according to law, almost all drivers control (self-thought) safe vehicle speed and vehicle distance according to respective driving habits, the safety can not be executed according to the regulations of road traffic safety law on low visibility in severe weather and speed limit, and the safety can not be operated according to a theoretically calculated limit safety vehicle distance control method, so that serious traffic safety accident potential hazards are formed, and the potential bottle neck that the establishment of a smart road and vehicle road cooperative ecological first road is difficult to exceed is formed.
The reduction of road traffic visibility under the condition of rain and snow is often ignored, and in fact, even if the rain and snow are small, the windscreen wiper movement interferes the drivers to identify the lane marking outline or car outline in front of the road, so that all drivers are conscious of reducing the speed of the vehicle. Detecting and counting according to the radar total data of a certain section of the eastern Jiangsu highway: during the rain and snow falling process, the average speed of the road vehicles is obviously reduced, the average speed of light rain and light snow is generally reduced by 5-10 km/h compared with normal weather, and the average speed of heavy rain and heavy snow is generally reduced by 20-40 km/h. Some drivers can generate a fear psychology to the uncertain crisis (safety risk) of ice and snow weather, and generally can realize consciousness and reduce the speed of the vehicle. The driver with good driving skill, driving experience and caution can effectively prevent accidents; accidents are likely to occur in drivers with weak driving skills, inexperience or inattention and psychological stress.
Although people know that the friction force of wet and wet road surfaces and ice and snow smooth road surfaces is much smaller than that of dry road surfaces after rain and snow, the people cannot voluntarily control the safe vehicle speed of the wet and slippery road surface scene to drive (the reduction is not obvious according to the statistical discovery of detection data) after the visibility of road traffic is recovered during actual driving, and are often used to control the vehicle speed to move forwards according to the dry road surfaces, and traffic accidents are easy to happen instead. Therefore, the traffic safety risk of the highway, particularly the junction area of the main road and the ramp, is dynamically monitored and evaluated in real time, the driver in a driving state is reminded in the whole process to control the safe speed, the safety traffic risk can be obviously reduced, and traffic accidents are actively prevented. According to the data survey of the large sample data of the vehicle distance control behavior habit of the automobile driving in severe weather, particularly in the low visibility environment, of a certain section of the highway in east China of Jiangsu: when the visibility is lower than four hundred meters at night, most drivers still keep running at an average speed of about 82km/h without decelerating, and the speed is reduced by only 3-5 km/h on average compared with the normal visibility.
The influence of strong wind on driving safety is often ignored by people. The wind directions acting on the automobile comprise three types of downwind, upwind and lateral wind, which have different degrees of influence on the traffic safety of the automobile, wherein the most important influence on the driving safety of the automobile is the strong lateral wind. The vehicle on the highway has the characteristics of high speed, high traffic volume, high closure of the highway and the like, so that a general driver has excessively slow response capability or inaccurate response action in strong wind weather, the driver can only be alerted if the vehicle has a drift feeling in the strong wind environment, and the driver can also be alarmed if heavy rain or snow blows, so that the mental emotion is unstable, the attention range is narrowed, the driver is easy to be nervous, the action is uncoordinated, even the wrong operation action and the like occur, and traffic accidents are caused. If the wind force is too large, the brake effect feeling deviation is large, and the vehicle is easy to rear-end, sideslip or rollover. The side strong wind has great influence on the driving safety of vehicles running on a highway, particularly buses running on a bridge, dangerous chemical vehicles and trucks on a road, a driver often neglects the safety speed control in the side strong wind environment, and needs to calculate the safety speed according to different grades and directions of the side strong wind and remind and early warn in real time.
The experimental research at home and abroad shows that: when the lateral wind speed is small (below 6 grades), the automobile generally has no obvious sideslip under the action of lateral force on a straight road section, and the influence on the driving safety is small. When the lateral wind speed is higher than 6 grades, the influence of lateral force and yaw force on the driving safety of the automobile is more and more obvious along with the increase of the speed or wind power of the automobile, the driving safety stability and the psychological mood are influenced under the comprehensive actions of the gravity, the power, the supporting force, the friction force, the upward force, the lateral pressure force, the upwind resistance and the like of the automobile influenced by the wind power, and the driving safety risk is obviously increased if the automobile runs on snow blowing, heavy rain, sand storm weather and a bridge section passing through the strong wind interference. The car has small lateral area and low gravity center, and has good running stability in a crosswind environment. The large-sized vehicle is easy to have serious traffic accidents of sideslip and side turning, rear-end collision and lane change to interfere the running of other lane vehicles when the large-sized vehicle is subjected to braking operation due to large lateral area and high gravity center and meets severe critical conditions of strong wind, rain, snow, dust and bridge road sections.
According to experimental data research and discovery of scenes of traffic flow road sections of eastern Jiangsu expressway: on one hand, each driver has a habitually dominant and more self-confident 'safe driving behavior rule', and almost all drivers have bad vehicle speed and vehicle distance control habit which can induce accidents to different degrees under the severe weather environment, but lack accompanying type differential real-time effective safe vehicle speed (or vehicle distance) correction scene intervention in the whole course of different road sections; on the other hand, the existing safe vehicle speed and distance algorithm and early warning control mode, or based on the regulation threshold or the limit control (emergency brake) experimental value, often causes the phenomenon of overusing or general noncompliance of the lawless people. This is the main reason why traffic accidents are more likely to occur on bad weather road traffic. Therefore, the invention mainly aims to calculate the driving safety speed under low visibility of road traffic in real time, calculate the corresponding safe speed control values of different road surface wet skid degrees and lateral strong wind in different grade directions in real time, realize dynamic early warning of drivers in the whole road section to correct bad safe speed control habits, select a correction threshold value beneficial to good driving behavior habits, implement a grading early warning mode and effectively prevent traffic accidents. The method is characterized in that a driver has difference in perception and judgment of the vehicle speed and the vehicle distance when driving and following dynamically at a high speed in a complex environment, so that a safe vehicle speed correction control rule suitable for all drivers does not exist, and only a correction method suitable for most drivers to accept is selected.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention aims to provide a method for correcting and controlling the safe vehicle speed of the expressway in severe weather, and a method and a system for early warning the traffic risk of the expressway and the confluence area based on the correction and control of the safe vehicle speed.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme:
a method for correcting and controlling safe vehicle speed on a severe weather expressway is characterized in that when the visibility of road traffic is below 200 m or when the road has a strong wind weather of more than 6 grades, the method calculates the corrected and controlled safe vehicle speed and makes correction according to different road surface conditions;
the method for calculating the correction handle control safe vehicle speed when the road traffic visibility is below 200 m comprises the following steps:
calculating the safety speed limit under the current road traffic visibility according to the fitted road traffic low visibility safety speed limit equation
(ii) a The road traffic low visibility safety speed limit equation is obtained by fitting corresponding speed limits and vehicle distance thresholds of road traffic low visibility in different severe weather specified by laws and regulations;
calculating the maximum safe speed for avoiding collision according to the emergency braking response time, the braking deceleration, the current road traffic visibility and the vehicle length
；
According to the formula
Calculating, correcting and controlling safe vehicle speed
(ii) a Wherein
Is a selected proportional value;
the method for calculating the corrected handle control safe vehicle speed when the road appears in the gale weather of more than 6 grades comprises the following steps:
calculating and correcting the safe speed of the vehicle controlled by the handlebar according to the driving behavior habits of different road sections under the wind speed, the wind direction and the current high wind level
；
For the appointed bridge section, according to the fitted correction equation of safe vehicle speed of vehicle running under the condition of lateral strong wind of the road, calculating the correction control safe vehicle speed under different strong wind grades
(ii) a The safe vehicle speed correction equation is obtained by fitting speed limits corresponding to different gale grades specified by law and regulation according to experimental data;
the method for correcting the correction handle control safe vehicle speed according to different road surface types comprises the following steps: setting different road surface braking coefficients according to the wet and slippery degrees of different road surface types, correcting the calculated correction handle control safety vehicle speed through the road surface braking coefficients, and obtaining the final correction handle control safety vehicle speed of the expressway in severe weather
。
Further, still include: when the road has no strong wind of more than 6 grades and the visibility is more than 200 meters, if the highway section or the bridge deck lane has accumulated snow or is frozen, fitting an ice and snow safety speed limit equation according to the requirements of laws and regulations, and calculating
(ii) a The ice and snow safety speed limit equation is obtained according to the speed limit threshold value of the corresponding snow ice road surface or bridge floor and the ice and snow wet-skid temperature coefficient
And fitting to obtain the safe speed limit of the ice and snow on the low-temperature road section on the ground surface.
Further, the low visibility safety speed limit equation of road traffic is expressed as:
Further, the maximum safe speed limit for avoiding a collision is calculated according to the following formula:
wherein the content of the first and second substances,
in order to decelerate the brake, the brake is stopped,
in order to provide an emergency brake response time,
in order to provide visibility for the road traffic,
the length of the vehicle is the length of the vehicle,Lthe safe distance between the two vehicles when the two vehicles are parked statically.
Further, the proportional value is determined according to the following method
: the speed distribution of the vehicles under different visibility is counted by adjusting the proportion value
Making the vehicle speed data in the set proportion range be at the safe vehicle speed or below; in that
When the calculated value exceeds the legal speed limit, the value is taken as the legal speed limit; when the road traffic visibility is below 30 m
。
Further, the road traffic visibility is counted according to the distance of 30-50 meters, 51-100 meters and 101-200 meters respectively to obtain habitually controlled vehicle speed meeting set conditions in low visibility, the habitually controlled vehicle speed is calculated according to the road traffic visibility of 200 meters, 100 meters and 50 meters respectively, and the proportional values of different road traffic visibility are determined respectively
。
Further, the fitted correction equation of the safe vehicle speed of the automobile running under the lateral strong wind condition of the road is expressed as follows:
Further, according to the driving behavior habits of different road sections under the wind speed, the wind direction and the current high wind level, the formula for calculating, correcting and controlling the safe vehicle speed is as follows:
wherein the content of the first and second substances,
according to the p percentile of the vehicle speed distribution under the condition that the vehicles on all the sections of the expressway are smooth under the current high wind level, the vehicle speed in the set proportion range is enabled to be below the habitual vehicle speed by adjusting the p value,
as the current wind speed, the wind speed,
for correcting wind directionA positive coefficient.
Further, the larger the road surface slippery degree is, the smaller the corrected correction control safety vehicle speed is; the formula for controlling the safe vehicle speed by correcting and correcting the road surface braking coefficient is as follows:
wherein the content of the first and second substances,
is composed of
Or
，
The road surface brake coefficient.
Further, the speed limit threshold value and the ice and snow wet-skid temperature coefficient of the snow-covered ice pavement (bridge deck) are corresponding to the requirements of national and local road traffic safety regulations
Fitting an ice and snow safety speed-limiting equation of a bridge, an interchange, a wind gap, a shady road and other ground surface low-temperature road sections, wherein the equation is expressed as follows:
in order to facilitate the conversion of the road surface temperature,
. Wherein when
Time of flighttGet 0 when
Taking a negative integer.
A whole-course traffic risk early warning method for a severe weather expressway comprises the following steps:
when the road traffic visibility is below 200 m or the road has a strong wind weather of more than 6 grades, the correction handle controls the safe speed
Substituting the equation to obtain the safe distance:
and carrying out safety speed and safety distance reminding on the passing vehicle according to the calculation result of the formula.
Will be provided with
Substituting the equation for the parking apparent distance:
wherein the content of the first and second substances,
is the running speed of the vehicle. And calculating the parking sight distance of the passing vehicle according to the formula, and reminding the vehicle with the parking sight distance smaller than the safe vehicle distance.
And further, when snow or ice is accumulated on the road surface, carrying out graded early warning according to the surface environment temperature, and carrying out speed limit reminding on the ice and snow road surface.
A traffic risk early warning method for a highway convergence zone comprises the following steps:
when the road traffic visibility is below 200 m or the road has a strong wind weather of more than 6 grades, the correction handle controls the safe speed
Substitution securityEquation of vehicle distance
Calculating to obtain the safe distance between vehicles
And the safe speed and the safe distance of the main road or the ramp vehicle with a set distance before entering the confluence area are reminded;
according to the parking apparent distance equation
Calculating the parking sight distance of the vehicles on the main road or the ramp, and if the parking sight distance of the vehicles on the main road or the ramp is found to be smaller than the safe vehicle distance, reminding the corresponding vehicles; wherein
Is the running speed of the vehicle.
Further, when the real-time monitored road traffic visibility is greater than 200 meters and the wind power level is less than 6 levels, one or more of the following early warning modes are carried out:
when the vehicles enter the ramp, the main road or ramp vehicles which enter the confluence area by a set distance are reminded;
when the accelerating lane and the outer lane of the main road in the confluence area have the violation of the badge to stop and no vehicle enters the ramp, reminding the main road with a set distance before entering the confluence area;
when a low-speed vehicle or a large-sized vehicle from a ramp is arranged on an acceleration lane of the confluence area and a vehicle enters a main road or a ramp on one side of the main road or the ramp, the main road or the ramp vehicle with a set distance before entering the confluence area is reminded;
when illegal parking, low-speed vehicles and large-scale vehicles are not found, whether collision risks exist in a confluence area or not by a main road and a ramp vehicle is calculated, and the specific method comprises the following steps: calculating the time when the two vehicles of the main road vehicle A and the ramp vehicle B reach the tail end of the no-convergence zone
And
(ii) a In that
In time, the speed reduction is reminded to the vehicles on the main road and the ramp; in that
If the distance between the two vehicles is smaller than the safe distance, a prompt is sent to the ramp vehicle; in that
The distance between two vehicles and the safe distance are calculated and compared, and if the distance between two vehicles is smaller than the safe distance, a prompt is sent to the main road vehicle;
when the average speed of more than three continuous vehicles is greater than a set threshold value or the average stopping sight distance is smaller than the set threshold value outside the main road, reminding the ramp vehicles which enter the confluence area by a set distance;
when the road surface is slippery, snowy or icy, the safe speed of the main road or ramp vehicle is calculated according to the following formula
And remind the driver:
wherein
The actual distance between the current vehicle and the front vehicle.
Based on the same inventive concept, the invention provides a computer system, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the severe weather expressway safety vehicle speed correction control method, or the severe weather expressway traffic risk early warning method, or the expressway confluence area traffic risk early warning method when being loaded to the processor.
Has the advantages that: according to the safety speed and distance threshold value of the road country and local traffic safety regulation related to the bad weather low visibility regulation, and the road ice, snow, wet skid and the control requirement under the strong wind environment, a road traffic safety speed limit fitting equation is obtained through calculation, and the continuous safety speed limit (function) value corresponding to the bad weather low visibility, the road wet skid, the strong wind and other conditions is calculated through an adjoint formula of a target vehicle positioning in the whole process based on the fitted road traffic safety speed limit equation; calculating the maximum limit safe speed for avoiding collision accidents according to comprehensive factors such as handling reaction actions when a driver encounters a road sudden danger and low visibility of road traffic; the method comprises the steps of counting habitual safe vehicle speed control rules of drivers under severe weather conditions through road traffic macroscopic data, selecting a proper proportion value as a correction value of bad safe vehicle speed control habits determined between a dynamic driving vehicle safety speed limit and a maximum safe vehicle speed, correcting scenes of safe vehicle speed control of target drivers under severe weather conditions in real time, and carrying out graded early warning of traffic risks of severe weather expressways and traffic areas of the expressway in severe weather in real time and at proper time for all drivers. On the basis of national and local road traffic safety regulations, the invention optimizes and determines a safe vehicle speed correction control strategy by combining with human (statistically significant) common driving behavior habits, achieves real-time and timely early warning, avoids overusing through reasonable selection of correction degree, and has system viscosity widely applied to social drivers and passengers. Because the energy and the braking efficiency of the high-speed vehicle in collision are both in the square relation of the vehicle speed, no traffic accident or large collision accident can occur without the vehicle speed or the relative vehicle speed out of control.
Compared with the prior art, the invention has the following advantages: 1. the invention considers various bad weather factors, and includes safety risk identification and early warning measures corresponding to low visibility of road traffic, different road conditions and normal conditions. 2. On the basis of a road traffic safety law, the adaptive speed limit and distance standard of most people is formulated according to the common driving behaviors of people, so that the excessive overuse is avoided, and the adverse effect is obtained. 3. Based on the method, various early warning modes can be adopted, the early warning time is short, and real-time and timely early warning can be realized.
Drawings
Fig. 1 is a flow chart of a safety vehicle speed correction control method for a severe weather expressway according to an embodiment of the invention.
Fig. 2 is a schematic layout diagram (side view) of the equipment in the highway confluence area in the embodiment of the invention.
Fig. 3 is a schematic layout diagram (top view) of the highway confluence device in the embodiment of the invention.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the embodiment of the invention discloses a safe vehicle speed correction control method for a severe weather expressway, which mainly relates to safe vehicle speed correction control in windy weather with road traffic visibility below 200 meters and above 6 grades, and when the road traffic visibility is below 200 meters or in windy weather above 6 grades, the safe vehicle speed of the correction control is calculated and corrected according to different road surface types.
Specifically, when the road traffic visibility is below 200 meters, the method for calculating the correction handle control safe vehicle speed comprises the following steps:
firstly, calculating the safety speed limit under the current road traffic low visibility environment according to the fitted road traffic low visibility safety speed limit equation
。
In the step, a road traffic low visibility safety speed limit equation is fitted according to the corresponding speed limit and the safety vehicle distance threshold when the traffic low visibility of the road in severe weather required by the national and local road traffic safety regulations is less than 200, 100, 50 and 30 meters. The fitted road traffic low visibility safety speed limit equation (function) is expressed as:
real-time road traffic visibility of the invention
The distance calculation method and the distance calculation device can be obtained by an AI video monitoring module of the radar all-in-one machine through calculation according to road images collected in real time, and refer to CN 111932560B-a method and a device for calculating the distance of the road traffic low visibility video images. In the low visibility environment of road traffic, the driver promptly brakes in case of finding the critical situation.
Then, according to the emergency braking reaction time, the braking deceleration, the current road traffic visibility and the vehicle length, the maximum safe vehicle speed of the road traffic with low visibility for avoiding collision is calculated
。
Wherein the emergency braking reaction time of the driving of the automobile
Take 1.5s, brake deceleration
Taking 6m/s of trolley according to vehicle type2The cart takes 4m/s2，
The length of the vehicle is the length of the vehicle,Lthe safe distance is 5 m when two vehicles are parked statically.
Finally, calculating the low visibility correction handle control safe vehicle speed
It is a safety speed limit
And the maximum safe vehicle speed
Intermediate (II)kPosition (
）：
Selecting a proportion value according to the statistical speed distribution of vehicles under low visibility of traffic on different road sections
So that
The vehicle speed data satisfying about p% or less on the straight road section can be at the safe vehicle speed or below. p according to the speed limit regulation of the road traffic safety regulation, the driving behavior habit of people is combined (the habitually controlled vehicle speed when the low visibility is counted)
) The safety vehicle speed expected value is determined by proper correction, and the first p value (correction degree) can be taken to avoid overusing the positive law and the public phenomenon
(to constantly prevent and reduce the traffic accident goal and adjust properly). According to statistics, the traffic accident occurrence rate of drivers is about 0.083% from the occurrence of the traffic accident 378781 in 2019 in China (the drivers do not drive the drivers in a neglected mode). Strong demonstration of the driving behavior of the driverThe safety and stability of probability statistics significance, the driving behavior is mainly governed by the subconscious of the driver and forms a program habit for a long time. Assuming that 85% of drivers in the road traffic flow control speed behavior and corresponding vehicle distance statistical data have a remarkable driver safety stability rule, the model can be used as an important model of safe driving habits (threshold values such as safe vehicle speed control) and can perform syndrome correction on other bad driving behaviors to form a good habit; effect measurement is carried out through relevant road characteristic parameters, the safety vehicle speed threshold value of the handlebar is continuously adjusted and optimized, and the driving behavior habit is continuously close to the optimum through periodic cycle and repeated training.
When in use
When the distance is less than 200, 100 and 50 meters, 85 percent of road sections are detected and counted
Are respectively less than
Calculating
：
According to the road detection data, the following are found: the road conditions are different, and different detection road sections are different
Is to show that
When the distance is less than 200, 100 and 50 meters, 85 percent of road sections are detected and counted
Are respectively less than different
Value, solved according to the above formulakValue substitution into upper low visibility handle control calculation formula
；
When in use
When the rising time is more than 200 m,k=0.5；
when in use
When the water content is reduced to below 30 m,k=0；
when in use
When the temperature of the water is higher than the set temperature,
become
Wherein
120km/h for small cars and 100km/h for large cars.
On the road sections of bridges, overpasses, tunnels, bends, ramps, ramp junctions and the like
When the water content is reduced to below 200 m,k=0；
when in use
The speed is reduced to below 200 m, and the target vehicle speed is found
When the driver needs to be reminded of decelerating urgently and advised to follow
Value control safe vehicle speed running (when the vehicle speed reaches the maximum safe vehicle speed calculated according to emergency braking deceleration under low visibility environment
Rear-end collision is easily caused at the time of the value).
When the road is in windy weather of more than 6 grades, the method for calculating the correction handle control safe vehicle speed comprises the following steps:
when the general road section has the gale weather of more than 6 grades, the correction handle control safe vehicle speed under the gale weather is calculated according to the wind speed, the wind direction and the driving behavior habits of different road sections under the current gale grade
。
Wherein the content of the first and second substances,
according to the p percentile of the vehicle speed distribution under the condition of low vehicle flow (smooth driving) of each section of the expressway under the current high wind level. p according to the speed limit regulation of the road traffic safety law, the driving behavior habit of people is combined, the safety speed expectation value is properly corrected and determined, and in order to avoid the phenomenon of overusing the positive law and avoiding people being blamed, the p value can be taken for the first time
(to constantly prevent and reduce the traffic accident goal and adjust properly).
Is the current wind speed. Wind direction correction factor
The values of (A) are as follows:
particularly, for some specified bridge sections, such as Yangtze river bridges and extra large bridge sections (long extra large bridges for short), when the weather of strong wind above 6 grades occurs, according to the fitted correction equation of the safe vehicle speed during the vehicle running under the condition of lateral strong wind of the road, the correction control safe vehicle speed under different strong wind grades is calculated
。
In this step, the safe vehicle speed correction equation is obtained by fitting the corresponding speed limits according to experimental data with reference to the strong wind grades 6, 8, 9 and 10 specified in "highway traffic control working standard under severe weather conditions in Jiangsu province":
wherein the content of the first and second substances,
the current road section wind power level.
Finally, for
Or
We need to make corrections again according to different road surface types (normal/wet/snow/ice). Calculating to obtain the final corrected safe speed according to the current road condition
。
Wherein the content of the first and second substances,
is composed of
Or
，
The road traffic safety is greatly influenced by the road surface braking efficiency coefficient, namely the influence of the road surface slippery degree on the braking efficiency. According to the statistics of the single vehicle accidents of six highways in a certain province in the western part of China: the number of casualty accidents of the single vehicle caused by the single vehicle on the wet road surface and the ice and snow road surface respectively accounts for 46.46 percent and 33.85 percent of the total number of accidents of the single vehicle on the road surface, and the deviation of the safe vehicle speed controlled on the ice and snow road surface is overlarge mainly because drivers are not careful when driving on the wet road surface rather than on the bad road surfaces such as water flood, water accumulation, pit and roadblocks.
The values are as follows:
monitoring the degree of ice and snow covered roads according to AI videos, and carrying out graded risk control according to the requirements of national and local road traffic safety regulations: controlling the road sections to prohibit the dangerous goods transport vehicles from passing when snow is accumulated on lanes of the highway section (bridge floor) and is not frozen, prohibiting the large buses and the dangerous goods transport vehicles from passing when snow is accumulated on the lanes and is frozen locally, and prohibiting various vehicles from passing when large surface areas of the lanes are frozen;
for other vehicles allowed to pass, the ground surface temperature is different due to the characteristics of bridges, overpasses, ground pavements and terrain positions (wind openings, shady backs and the like), and the accumulated snow and the accumulated ice correspond to each other
The value is further optimized and corrected according to the speed limit threshold value of the corresponding snow ice road surface (bridge floor) and the ice and snow wet-skid temperature systemNumber of
Fitting an ice and snow safety speed-limiting equation of a bridge, an interchange, a wind gap, a shady road and other ground surface low-temperature road sections, wherein the equation is expressed as follows:
assuming the surface environment temperature t (DEG C) in rainy and snowy weather, when
When the rain falls and the snow is usually wet snow, the rain and the snow are usually in a mixed water state; when t = -1 ℃, ice can accumulate on roads such as bridges, overpasses, air ports and shady roads; ice can accumulate in large sections when t is less than minus 2-6 ℃. Taking t =0, -1, -4 ℃ corresponding to the road ice and snow wet-skid temperature coefficient
Speed limit threshold values of 0, 1 and 2 are corresponding to ice and snow weather, namely speed limit threshold values of 80, 40 and 20 (km/s fitting bridge, overpass, air port, shady and other road sections are used for controlling safe vehicle speed
The correction relation equation of (1). In order to facilitate the conversion of the road surface temperature,
. Wherein, when t =0-4 ℃, it is 0, when
Taking a negative integer.
On the basis of the correction handle control method for the safe vehicle speed of the severe weather expressway, the early warning method for the traffic risk of the severe weather expressway, disclosed by another embodiment of the invention, can correct the handle control safe vehicle speed when the road traffic has low visibility or the high wind level exceeds 6 levels
Substituting the safety distance into a safety distance equation to obtain the safety distance
Carrying out safety speed and safety distance reminding on the passing vehicles; and calculating the parking sight distance of the passing vehicle according to the parking sight distance equation
To, for
> 
The vehicle of (2) to remind.
Specifically, the safe vehicle distance and the parking sight distance equation both consider the road surface brake coefficients of different road surface conditions:
wherein
Is the traveling speed of the target vehicle,
get the habitual (comfortable) braking deceleration of the target vehicle
=2 m/s2Driver reaction time
=1.5s。
And for the condition that the ice and snow are formed on the road surface, calculating the speed limit of the ice and snow road surface according to the surface environment temperature t (DEG C). And can be classified into three risk level early warnings:
a) when the surface ambient temperature
When the unit section is at low risk
b) When the surface ambient temperature
When the unit section is in danger of stroke
c) When the surface ambient temperature
When the unit section is at high risk
Specifically, the ice and snow road surface speed limit is calculated by the following formula:
wherein the content of the first and second substances,
. When in use
When t is 0, when
Taking a negative integer.
On the basis of the safety vehicle speed correction control method for the expressway in severe weather, the all-weather expressway confluence area traffic risk early warning method disclosed by the other embodiment of the invention calculates the low visibility of road traffic, whether the accelerating lane or the outer lane of the main road has the violation parking and low-speed vehicle or not by AI video analysis and radar monitoring. Through AI video analysis, real-time calculation visibility monitoring value
And recording and monitoring the road surface in real timeAnd if the snow is wet and slippery, the snow is accumulated, and the ice is frozen. And monitoring in real time or acquiring and recording wind power and wind direction from a meteorological department. The average speed or the average stopping sight distance of three continuous vehicles on the lane outside the main road is monitored by a radar (the stopping sight distance is the shortest driving distance required by a driver to stop the vehicle safely before habitually braking the vehicle to an obstacle from seeing the outline of the obstacle in front when the vehicle runs). Calculating the speed, model and parking sight distance of all the vehicles coming from the main road and the ramp
And a safe vehicle distance
。
Specifically, the merge area traffic risk early warning rule includes:
1. when AI video analysis results
And starting an early warning mode I when the weather is less than 200 meters or windy weather more than 6 grades appears.
a) For a vehicle equipped with a dual-time positioning vehicle-mounted terminal or a mobile phone APP (in the embodiment of the invention, dual-time means real-time and timely, and generally means software and hardware for implementing the scheme of the invention), the vehicle is prompted by voice 500 meters before entering a confluence area, and the vehicle is informed of a safe vehicle speed (namely the correction handle control safe vehicle speed) and a safe vehicle distance which are required to be kept after the vehicle is corrected according to the road condition under the current road low visibility or current wind power level.
b) If radar monitoring finds that more than 1 (including 1) automobile exists on main road or ramp
And the coming vehicle in the main road or the ramp is reminded by voice to control the safe vehicle speed and the vehicle distance to drive according to the calculated correction handle.
c) And (4) prompting by an information board: "road traffic visibility xx m/gale xx grade, please keep vehicle speed xx, observe, drive cautiously".
2. When the road traffic visibility is greater than 200 meters and no strong wind of more than 6 grades exists, if AI video analysis finds that the accelerating lane of the confluence area and the lane outside the main road have a violation of seals for parking, low-speed vehicles or large-scale vehicles, and the radar detects that vehicles enter the ramp, the early warning mode II is immediately started.
a) For main road and ramp coming vehicles configured with dual-time positioning vehicle-mounted terminals or mobile phones APP, before the main road comes vehicles 500 meters ahead, ramp coming vehicles 100 meters ahead, and the same below) the main road and ramp coming vehicles are informed by voice: ' there is a road block in the merging area in front, there is a vehicle on the ramp, please drive cautiously! ".
b) And (4) prompting by an information board: ' there is a road block in the merging area in front, there is a vehicle on the ramp, please drive cautiously! "
3. And when the road traffic visibility is greater than 200 meters and no strong wind of more than 6 grades exists, if the AI video analysis finds that the accelerating lane of the confluence area and the lane outside the main road have the violation of the badge to stop, the radar does not detect that vehicles enter the ramp, and the early warning mode III is started.
a) For a main road coming vehicle using a dual-time positioning vehicle-mounted terminal or a mobile phone APP, before the main road coming vehicle enters a confluence area, informing the main road coming vehicle that: "forward confluence area, please carefully drive! "
b) And (4) prompting by an information board: "forward confluence area, please carefully drive! "
4. When the road traffic visibility is greater than 200 meters and no strong wind of more than 6 grades exists, if AI video analysis finds that the acceleration lane of the confluence area has low-speed vehicles or large-scale vehicles from the ramp, and the radar detects that vehicles enter the main road or the ramp on one side, the early warning mode is started.
a) For a vehicle using a dual-time positioning vehicle-mounted terminal or a mobile phone APP, before the vehicle enters a confluence area from a main road/ramp, the vehicle is informed by voice: "ramp with low speed vehicle and please carefully drive! "
b) The information board prompts the main road/ramp: "ramp with low speed vehicle and please carefully drive! "
5. And when the road traffic visibility is greater than 200 meters and no strong wind of more than 6 grades exists, if AI video analysis does not find the parking of an accelerating road, a low-speed vehicle and a large-sized vehicle, calculating whether the collision risk exists in a confluence area by the coming vehicles of the main road and the ramp, and starting an early warning mode five.
Will each beAnd comparing the dynamic data of the coming vehicle of the lane outside the main road with the dynamic data of the vehicle on the ramp. As shown in FIGS. 2 and 3, A and B are respectively the outside road and the ramp, and the speed is respectively
And
the distance between the two vehicles and the radar is S1And S2. Wherein, the B vehicle is parallel to the main road direction
The component velocity perpendicular to the main path direction is
. The main road and the ramp form an included angle of
. The speed of the B vehicle is actually parallel to the ramp direction
Comprises the following steps:
SAand SBRespectively, the distance that two vehicles continue to travel at a constant speed and respectively continue to travel after passing through a radar in a large scene is assumed to be A, B. The time when the two vehicles reach the end of the no-entry zone is calculated at A, B,
、
respectively the time when the radar captured A, B cars,
entry of the length of the entry line is prohibited for the confluence region.
According to
、
Can be divided into three cases
a) When in use
In time, the red early warning is carried out to remind the main road and the ramp vehicles of reducing the speed
b) When in use
When the vehicle is a rear vehicle, the vehicle is a front vehicle. And calculating and comparing the distance between the two vehicles and the safe distance between the two vehicles. The safe distance between the front vehicle and the rear vehicle is calculated, the sight of the driver of the front vehicle is better than that of the driver of the rear vehicle, the driver of the front vehicle is consciously decelerated by emergency braking under the condition of emergency,
take 6m/s2The following vehicles often have no sense of urgency and generally do not have sudden braking,
take 2m/s2。
、
The vehicle length. And L is the safe distance when the two vehicles are parked statically. Brake response time of A vehicle
Take 1.5 s.
If at this time
If the vehicle is safe, otherwise, the vehicle enters yellow early warning, and a warning of 'taking care of the vehicle in the main road and please slow down and walk' is sent to the ramp vehicle.
c) When in use
When B is the rear vehicle, A is the front vehicle. And calculating and comparing the relationship between the distance between the two vehicles and the safe distance.
If at this time
If the vehicle is safe, otherwise, an orange slow flashing early warning is carried out, and a warning that the vehicle is slow before taking care and slow down is sent to the main road vehicle.
6. When the road traffic visibility is greater than 200 meters and no strong wind of more than 6 grades exists, when the average speed of more than three continuous (including three) vehicles outside the main road is greater than a certain threshold value or the average stopping sight distance is smaller than a certain threshold value, the early warning mode VI is started.
a) For a vehicle using a dual-time positioning vehicle-mounted terminal or a mobile phone APP, the vehicle is informed 100m before entering a confluence area from a ramp: "main road speed is fast, please carefully observe and converge".
b) The information board prompts the ramp: "main road speed is fast, please carefully observe and converge".
7. And when the road traffic visibility is greater than 200 meters and no strong wind of more than 6 grades exists, if the road traffic visibility is detected to be slippery, snowy or icy through AI video analysis, the early warning mode seven is started.
a) And for the coming vehicle on the main road or the ramp, if the traffic flow is more than 2, calculating the safe speed to be kept according to the current distance between the current vehicle and the front and rear vehicles.
Wherein
The actual distance between the current vehicle and the preceding vehicle is 1.5s for the reaction time, and 6m/s for the braking deceleration trolley2The cart takes 4m/s2。
b) For the vehicle using the dual-time positioning vehicle-mounted terminal or the mobile phone APP, the vehicle is informed of the safe speed and is driven cautiously.
c) And (4) prompting by an information board: "wet/snow/ice road, please slow down and walk carefully".
In summary, the early warning strategy and the early warning method in the highway merging area traffic risk disclosed by the embodiment of the invention are as follows, and the early warning mode can be selected or combined according to requirements in specific implementation.
The first case: the visibility of road traffic in severe weather such as fog, haze, rainfall, snowfall, hailstones, sand storm and the like is below 200 m or the wind power level is above 6
The first mode is as follows: when the parking sight distance of the vehicle on the main road or the ramp is smaller than the safe vehicle distance calculated according to the correction handle control safe vehicle speed, high-risk (red or orange flash) early warning (reminding by an information board, an induction lamp, a vehicle-mounted terminal or a mobile phone APP) and real-time correction handle control safe vehicle speed reminding (reminding by the information board, the vehicle-mounted terminal or the mobile phone APP) are sent to the coming vehicle on the main road or the ramp. Note: under the environment of low speed and low visibility of vehicles, the monitoring effect of the radar or the camera is poor, so that red early warning is given no matter whether vehicles exist in a main road or a ramp.
The second case: when the road traffic visibility is more than 200 m and the wind power level is less than 6
And a second mode: AI video identification confluence district acceleration lane or main road outside lane have the chapter of breaking parking, low-speed car or large automobile, have the ramp vehicle to get into and be forced to merge into the main road in advance very probably this moment, send high risk (red or orange quickflashing) early warning to main road and ramp incoming traffic (information board, induction lamp, on-vehicle terminal or cell-phone APP remind).
And a third mode: AI video identification confluence district acceleration lane or main road outside lane have the chapter of breaking the parking, and no vehicle gets into on the ramp this moment, sends well risk (orange slow flash) early warning (information board, induction lamp, vehicle-mounted terminal or cell-phone APP warning) to the main road incoming vehicle.
And a fourth mode: when a low-speed vehicle or a large-scale vehicle from a ramp is in an accelerating lane of a confluence area through radar detection estimation or AI video recognition, a middle risk (orange slow flash) early warning (reminding by an information board, an induction lamp, a vehicle-mounted terminal or a mobile phone APP) is sent to a main road vehicle or a ramp vehicle.
And a fifth mode: the acceleration lane in the junction area has no vehicle, the radar monitors and calculates that vehicles in the lane outside the main road and vehicles in the ramp road keep the respective motion states unchanged, possibly resulting in collision in the junction area, and sends out intermediate risk (orange slow flash) early warning (reminding by an information board, an induction lamp, a vehicle-mounted terminal or a mobile phone APP) and real-time correction safety vehicle speed reminding (the information board, the vehicle-mounted terminal or the mobile phone APP) to vehicles coming from the main road or the ramp road.
Mode six: when the radar detection section of the lane outside the main road detects that the average speed of more than three continuous (including three) vehicles is greater than a certain threshold value or the average stopping sight distance is smaller than a certain threshold value, a middle risk (orange slow flashing) early warning (reminding by an information board, an induction lamp, a vehicle-mounted terminal or a mobile phone APP) is sent to the vehicles coming from the ramp.
The third situation: the road traffic visibility is more than 200 m, the wind power level is less than 6, and the road surface is slippery after rain and when ice and snow are accumulated
Mode seven: and calculating the recommended safe speed (vehicle distance) when the road surface is wet and slippery after rain and the road area is iced and snow in real time, and sending a corrected safe speed (vehicle distance) prompt (an information board, a vehicle-mounted terminal or a mobile phone APP prompt) to all vehicles entering the merging area.
A fourth scenario: the visibility of road traffic is more than 200 meters, the wind power level is less than 6, and when the accelerating lane and the outer lane of the main road in the confluence area have no illegal parking and the main road or the ramp has no incoming traffic
And a mode eight: when the accelerating lane and the lane outside the main road of the confluence area do not stop against regulations and the main road or the ramp does not come, the main road and the ramp do not give an early warning (blue risk).
Based on the same inventive concept, the embodiment of the invention discloses a computer system, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the above-mentioned bad weather expressway safety vehicle speed correction control method, or bad weather expressway traffic risk early warning method, or expressway merging area traffic risk early warning method when being loaded to the processor.
Claims (15)
1. A safe vehicle speed correction control method for a severe weather expressway is characterized in that when the road traffic visibility is below 200 m or when a road passes through a strong wind weather of more than 6 grades, the method calculates the correction control safe vehicle speed and makes correction according to the wet and slippery degree of different road surfaces;
the method for calculating the correction handle control safe vehicle speed when the road traffic visibility is below 200 m comprises the following steps:
calculating the safety speed limit under the current road traffic visibility according to the fitted road traffic low visibility safety speed limit equation
(ii) a The road traffic low visibility safety speed limit equation is obtained by fitting corresponding speed limits and vehicle distance thresholds of road traffic low visibility in different severe weather specified by laws and regulations;
calculating the maximum safe speed for avoiding collision according to the emergency braking response time, the braking deceleration, the current road traffic visibility and the vehicle length
；
According to the formula
Calculating, correcting and controlling safe vehicle speed
(ii) a Wherein
Is a selected proportional value;
the method for calculating the corrected handle control safe vehicle speed when the road appears in the gale weather of more than 6 grades comprises the following steps:
calculating and correcting the safe speed of the vehicle controlled by the handlebar according to the driving behavior habits of different road sections under the wind speed, the wind direction and the current high wind level
；
For the appointed bridge section, according to the fitted correction equation of safe vehicle speed of vehicle running under the condition of lateral strong wind of the road, calculating the correction control safe vehicle speed under different strong wind grades
(ii) a The safe vehicle speed correction equation is obtained by fitting speed limits corresponding to different gale grades specified by law and regulation according to experimental data;
the method for correcting the correction handle control safe vehicle speed according to different road surface types comprises the following steps: setting different road surface braking coefficients according to the wet and slippery degrees of different road surface types, correcting the calculated correction handle control safety vehicle speed through the road surface braking coefficients, and obtaining the final correction handle control safety vehicle speed of the expressway in severe weather
。
2. The severe weather highway safety vehicle speed correction handlebar control method according to claim 1, further comprising: when the road has no strong wind of more than 6 grades and the visibility is more than 200 meters, if the highway section or the bridge deck lane has accumulated snow or is frozen, fitting an ice and snow safety speed limit equation according to the requirements of laws and regulations, and calculating
(ii) a The ice and snow safety speed limit equation is obtained according to the speed limit threshold value of the corresponding snow ice road surface or bridge floor and the ice and snow wet-skid temperature coefficient
And fitting to obtain the safe speed limit of the ice and snow on the low-temperature road section on the ground surface.
3. The severe weather highway safety vehicle speed correction steering method according to claim 1, wherein the road traffic low visibility safety speed limit equation is expressed as:
4. The severe weather highway safe vehicle speed correcting handlebar control method according to claim 1, wherein the maximum safe speed limit for avoiding collision is calculated according to the following formula:
wherein the content of the first and second substances,
in order to decelerate the brake, the brake is stopped,
in order to provide an emergency brake response time,
for road traffic visibility，
The length of the vehicle is the length of the vehicle,Lthe safe distance between the two vehicles when the two vehicles are parked statically.
5. The severe weather highway safety vehicle speed correction steering method according to claim 1, wherein the proportional value is determined according to the following method
: the speed distribution of the vehicles under different visibility is counted by adjusting the proportion value
Making the vehicle speed data in the set proportion range be at the safe vehicle speed or below; in that
When the calculated value exceeds the legal speed limit, the value is taken as the legal speed limit; when the road traffic visibility is below 30 m
。
6. The method as claimed in claim 5, wherein the road traffic visibility is counted respectively according to 30-50 m, 51-100 m and 101-200 m to obtain habitually controlled vehicle speed meeting set conditions at low visibility, and the habitually controlled vehicle speed is calculated respectively according to the road traffic visibility of 200, 100 and 50 m to respectively determine the proportional values of different road traffic visibility
。
7. The severe weather highway safe vehicle speed correction steering method according to claim 1, wherein the fitted road side direction strong wind condition vehicle driving safe vehicle speed correction equation is expressed as:
8. The method for correcting and controlling the safe vehicle speed on the severe weather expressway according to claim 1, wherein the formula for calculating the corrected and controlled safe vehicle speed according to the driving behavior habits of different road sections under the wind speed, the wind direction and the current high wind level is as follows:
wherein the content of the first and second substances,
according to the p percentile of the vehicle speed distribution under the condition that the vehicles on all the sections of the expressway are smooth under the current high wind level, the vehicle speed in the set proportion range is enabled to be below the habitual vehicle speed by adjusting the p value,
as the current wind speed, the wind speed,
is a wind direction correction factor.
9. The method for correcting and controlling the safe vehicle speed on the severe weather expressway according to claim 1, wherein the larger the degree of road surface wet skid is, the smaller the corrected correction handle controls the safe vehicle speed; the formula for controlling the safe vehicle speed by correcting and correcting the road surface braking coefficient is as follows:
wherein the content of the first and second substances,
is composed of
Or
，
The road surface brake coefficient.
10. The severe weather highway safe vehicle speed correcting and controlling method according to claim 1, wherein the formula of the fitted ice and snow safety speed limit equation is as follows:
wherein the content of the first and second substances,
，
the temperature is indicated.
11. A severe weather expressway traffic risk early warning method is characterized by comprising the following steps:
when the road traffic visibility is below 200 meters or the road has strong wind weather of more than 6 grades, the correction handle obtained by the method for correcting and controlling the safe vehicle speed of the severe-weather expressway according to claim 1 is used for controlling the safe vehicle speed
Substituting into the equation of safe vehicle distance
Calculating to obtain the safe distance between vehicles
Carrying out safety speed and safety distance reminding on the passing vehicles; wherein
In order to decelerate the brake, the brake is stopped,
in order to provide an emergency brake response time,
the length of the vehicle is the length of the vehicle,Lis a safe distance when the two vehicles are parked statically,
the road surface braking coefficient is larger than the braking coefficient of a normal road surface by 1 on wet, slippery, snowy and icy road surfaces;
according to the parking apparent distance equation
Calculating the parking sight distance of the passing vehicle, and reminding the vehicle with the parking sight distance smaller than the safe vehicle distance; wherein
Is the running speed of the vehicle.
12. The severe weather expressway traffic risk early warning method according to claim 11, further comprising performing grading early warning according to the surface environment temperature when snow or ice is accumulated on the road surface, and performing speed limit reminding on the ice and snow road surface:
wherein the content of the first and second substances,
，
the temperature is indicated.
13. A traffic risk early warning method in a highway confluence area is characterized by comprising the following steps:
the safety vehicle speed correction control method for the severe weather expressway according to claim 1, wherein the safety vehicle speed correction control method is used when the road traffic visibility is below 200 meters or the road is in windy weather of more than 6 grades
Substituting into the equation of safe vehicle distance
Calculating to obtain the safe distance between vehicles
And the safe speed and the safe distance of the main road or the ramp vehicle with a set distance before entering the confluence area are reminded; wherein
In order to decelerate the brake, the brake is stopped,
in order to provide an emergency brake response time,
the length of the vehicle is the length of the vehicle,Lis a two-wheeled vehicleThe safe distance when the automobile is parked in a static state,
the road surface braking coefficient is larger than the braking coefficient of a normal road surface by 1 on wet, slippery, snowy and icy road surfaces;
according to the parking apparent distance equation
Calculating the parking sight distance of the vehicles on the main road or the ramp, and if the parking sight distance of the vehicles on the main road or the ramp is found to be smaller than the safe vehicle distance, reminding the corresponding vehicles; wherein
Is the running speed of the vehicle.
14. The early warning method for traffic risk in the highway confluence area according to claim 13, further comprising: when the road traffic visibility monitored in real time is greater than 200 meters and the wind power level is less than 6 grades, one or more of the following early warning modes are carried out:
when the vehicles enter the ramp, the main road or ramp vehicles which enter the confluence area by a set distance are reminded;
when the accelerating lane and the outer lane of the main road in the confluence area have the violation of the badge to stop and no vehicle enters the ramp, reminding the main road with a set distance before entering the confluence area;
when a low-speed vehicle or a large-sized vehicle from a ramp is arranged on an acceleration lane of the confluence area and a vehicle enters a main road or a ramp on one side of the main road or the ramp, the main road or the ramp vehicle with a set distance before entering the confluence area is reminded;
when illegal parking, low-speed vehicles and large-scale vehicles are not found, whether collision risks exist in a confluence area or not by a main road and a ramp vehicle is calculated, and the specific method comprises the following steps: calculating the time when the two vehicles of the main road vehicle A and the ramp vehicle B reach the tail end of the no-convergence zone
And
(ii) a In that
In time, the speed reduction is reminded to the vehicles on the main road and the ramp; in that
If the distance between the two vehicles is smaller than the safe distance, a prompt is sent to the ramp vehicle; in that
If the distance between the two vehicles is smaller than the safe distance, a prompt is sent to the main road vehicle;
when the average speed of more than three continuous vehicles is greater than a set threshold value or the average stopping sight distance is smaller than the set threshold value outside the main road, reminding the ramp vehicles which enter the confluence area by a set distance;
when the road surface is slippery, snowy or icy, the safe speed of the main road or ramp vehicle is calculated according to the following formula
And reminding:
wherein
The actual distance between the current vehicle and the front vehicle.
15. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program realizes the method according to any of claims 1-14 when loaded into the processor.
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| CN114187752A (en) * | 2022-02-14 | 2022-03-15 | 西南交通大学 | Early warning system and method for dangerous chemical vehicle in cross-sea bridge transportation |
| CN114613130A (en) * | 2022-02-18 | 2022-06-10 | 北京理工大学 | Driving credibility analysis method in traffic and delivery system |
| CN114863698A (en) * | 2022-05-12 | 2022-08-05 | 交通运输部公路科学研究所 | Active collision accident prevention and control system and method based on vehicle-road cooperation |
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| CN114103936A (en) * | 2022-01-25 | 2022-03-01 | 湖南大学 | Vehicle driving safety prediction method and system under complex wind environment |
| CN114187752A (en) * | 2022-02-14 | 2022-03-15 | 西南交通大学 | Early warning system and method for dangerous chemical vehicle in cross-sea bridge transportation |
| CN114187752B (en) * | 2022-02-14 | 2022-04-15 | 西南交通大学 | Early warning system and method for dangerous chemical vehicle in cross-sea bridge transportation |
| CN114613130A (en) * | 2022-02-18 | 2022-06-10 | 北京理工大学 | Driving credibility analysis method in traffic and delivery system |
| CN114863698A (en) * | 2022-05-12 | 2022-08-05 | 交通运输部公路科学研究所 | Active collision accident prevention and control system and method based on vehicle-road cooperation |
| CN114863698B (en) * | 2022-05-12 | 2023-11-17 | 交通运输部公路科学研究所 | Active collision accident prevention and control system and method based on vehicle-road cooperation |
| CN115359649A (en) * | 2022-07-04 | 2022-11-18 | 长安大学 | Visibility recognition-based dynamic speed limiting system and method for road section prone to fog |
| CN115359649B (en) * | 2022-07-04 | 2023-07-04 | 长安大学 | Visibility recognition-based dynamic speed limiting system and method for easily-clustered fog road sections |
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