CN102157072B - Inducing device and inducing method of vehicle confluence at intersection based on vehicle and road crossing - Google Patents
Inducing device and inducing method of vehicle confluence at intersection based on vehicle and road crossing Download PDFInfo
- Publication number
- CN102157072B CN102157072B CN 201110077332 CN201110077332A CN102157072B CN 102157072 B CN102157072 B CN 102157072B CN 201110077332 CN201110077332 CN 201110077332 CN 201110077332 A CN201110077332 A CN 201110077332A CN 102157072 B CN102157072 B CN 102157072B
- Authority
- CN
- China
- Prior art keywords
- ring road
- expressway
- trunk roads
- major trunk
- intersection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention provides an inducing device and an inducing method of vehicle confluence at an intersection based on vehicle and road collaboration. The device consists of a video detector set, a roadbed computer module, a wireless router, a ring road side traffic information prompting screen and a traffic inducing band, wherein the video detector set is used for sending real-time collected video data of the vehicles on a high speed arterial road to the roadbed computer module; and the roadbed computer module is used for processing the video data to generate a control signal; and the control signal is sent to the ring road side traffic information prompting screen by the wireless router to respectively display and convert the modes of an LED lamp. The inducing method comprises the following steps of: obtaining the real-time speeds and real-time distances of the moving vehicles by processing the traffic video flow of the vehicles on the high speed arterial road; and generating the control signal, wherein the control signal is displayed by the traffic information prompting screen and is used for controlling the mode conversion of the LED lamps of the traffic inducing band. The invention is capable of effectively avoiding the traffic accidents on the intersection of the ring road and the high speed arterial road.
Description
Technical field
The present invention relates to the traffic signals safety control technology in the intelligent transportation system, relate in particular to a kind of based on bus or train route collaborative crossing vehicle interflow apparatus for deivation and abductive approach thereof.
Background technology
Along with the high speed development of China's city material progress, the vehicle flowrate average level of expressway major trunk roads and Entrance ramp has had larger rising, and traffic above-ground pressure increases to some extent.The intersection of expressway around city road major trunk roads and ring road is the place that potential moving vehicle conflicts, traffic safety hidden danger is quite large, it is the location that frequent accidents occurs, the odjective cause of its existence: be near the restriction of the geographical conditions the crossing on the one hand, the restriction of geometric layout of highway layout and the restriction of means of transportation condition on the other hand, drive towards the intersection from ring road and prepare the vehicle that the driver who imports the expressway major trunk roads can't see high-speed motion on the major trunk roads of expressway, can't carry out rational speed of a motor vehicle control, the psychological pressure of driving is larger.The at present more domestic comparatively effectively control method of Entrance ramp signal, what only provide is with the restricting signal of traffic lights flicker form, can only wake the consciousness of driver's regulation speed up, and can not avoid the artificially error of subjective control rate; And, in the ring road up train, although driver's regulation speed consciously all under normal circumstances still exists very large autonomous driving to import the psychological pressure of expressway major trunk roads.
Summary of the invention
The objective of the invention is the deficiency for the traffic signals control that solves present domestic expressway major trunk roads and ring road crossing intersection part, propose a kind of based on bus or train route collaborative crossing vehicle interflow apparatus for deivation and abductive approach thereof, effectively avoided vehicle to import the expressway major trunk roads in crossing intersection part generation traffic conflict from ring road, eliminated or greatly reduce the driver is imported the expressway major trunk roads by ring road driving psychological pressure.
A kind of vehicle interflow, crossing apparatus for deivation of working in coordination with based on bus or train route comprises video detector group, ring road trackside traffic information promoting screen, ring road trackside traffic guidance band, roadbed computer module and wireless router; Described video detector group comprises four video detectors, and described roadbed computer module comprises microcontroller, video frequency collection card and communication module; Described video detector group is arranged in the right, upstream trackside of expressway major trunk roads, described ring road trackside traffic information promoting screen is arranged in the trackside place, the right that is imported the intersection of expressway major trunk roads by ring road, prompting screen is towards ring road, described ring road trackside traffic guidance band is arranged by the LED screen and is consisted of, be arranged in ring road left side trackside, described wireless router is laid in the ring road trackside, and is in the same side with ring road trackside traffic guidance band; Each video detector all is connected with the roadbed computer module by Shielded Twisted Pair, and the roadbed computer module connects a wireless router by netting twine, connects by netting twine between the wireless router; Each LED screen of described ring road trackside traffic information promoting screen and ring road trackside traffic guidance band is with a wireless controlled fabrication.
The video image of the interior vehicle of the surveyed area in each video detector Real-time Collection high speed backbone road also sends to the roadbed computer module, video frequency collection card in the roadbed computer module carries out analog to digital conversion to video data, obtain the video data of digital format, and send the video data that obtains in the roadbed computer module microcontroller; Microcontroller is processed the video data of receiving in real time, obtain the real-time speed of moving vehicle and moving vehicle imports the intersection of expressway major trunk roads apart from ring road real-time distance, and according to the real-time speed that obtains and in real time distance generate control signal and send communication module in the roadbed computer module to, communication module sends to wireless router with control signal, wireless router sends to ring road trackside traffic information promoting screen and ring road trackside traffic guidance band by wireless transmission method with control signal, ring road trackside traffic information promoting screen shows in real time the dynamic position of all moving vehicles in the major trunk roads surveyed area of expressway, upstream, intersection according to control signal and at the speed limit of ring road up train, the LED screen of ring road trackside traffic guidance band carries out the pattern conversion of flashing according to control signal.
A kind of based on bus or train route collaborative crossing vehicle interflow apparatus for deivation and abductive approach thereof, specifically may further comprise the steps:
Step 1, from the intersection that ring road imports the expressway major trunk roads, trackside is evenly arranged four video detectors on the right, upstream of expressway major trunk roads, the video image of the vehicle in the surveyed area of four video detector Real-time Collection expressway major trunk roads, and send the video image that gathers to the roadbed computer module;
Video frequency collection card in step 2, the roadbed computer module carries out analog to digital conversion to the video image of receiving, and send the video data of the digital format that is converted to in the roadbed computer module microcontroller, microcontroller is processed the video data of receiving in real time, obtain the real-time speed of acquisition moving vehicle and moving vehicle imports the intersection of expressway major trunk roads apart from ring road real-time distance, and the generation control signal, the communication module in the roadbed computer module sends the control signal that generates to wireless router;
Described control signal comprises: signal a, show in real time that with the form of pattern animation the relative ring road of all moving vehicles in the major trunk roads surveyed area of expressway imports the signal of dynamic position of the intersection of expressway major trunk roads; Signal b, at the speed limit V of ring road up train
LimitKm/hour; Import the intersection of expressway major trunk roads apart from being apart from ring road on signal c, the control ring road trackside traffic guidance band
The signal of the flashing pattern conversion of two LED screens that the LED screen of rice and the left and right sides thereof are adjacent, distance
Determined by following formula:
Wherein n is natural number, and i represents on the major trunk roads of expressway, imports i moving vehicle of the intersection of expressway major trunk roads apart from ring road,
Represent this i moving vehicle to the dynamic distance value of the intersection of ring road remittance expressway major trunk roads, the unit dimension is rice,
The real-time speed that represents this i moving vehicle, unit dimension are meter per second;
Step 3, wireless router send to ring road trackside traffic information promoting screen and ring road trackside traffic guidance band with control signal by wireless transmission method, and described ring road trackside traffic guidance band is arranged by k LED screen and consisted of,
L is a nondimensional numerical value and L 〉=5V
Limit
Step 4, ring road trackside traffic information promoting shield after incidental controlled in wireless clamping receives control signal, with signal a and signal b in ring road trackside traffic information promoting screen display out, the LED of ring road trackside traffic guidance band shields after incidental controlled in wireless clamping receives control signal, and corresponding LED screen forms the prewarning unit luminous pattern conversion of line flicker of going forward side by side according to signal c;
The first half interface of ring road trackside traffic information promoting screen shows the dynamic position of all moving vehicles in the major trunk roads surveyed area of expressway in real time to the ring road driver with the form of pattern animation according to the information a in the control signal, pattern animation body matter comprises: the track of the expressway major trunk roads surveyed area that expression is static and the signal pattern of intersection, in order to the some grid pattern of real-time expression corresponding to the dynamic change of moving vehicle position in the major trunk roads surveyed area of expressway; The latter half interface of ring road trackside traffic information promoting screen shows running information: speed limit V according to the information b in the control signal
LimitKm/h;
When the LED screen of ring road trackside traffic guidance band does not have moving vehicle in the surveyed area of expressway major trunk roads, all LED screen is in the luminance that green light is sent in take frequency as 3HZ flicker, when in the surveyed area of expressway major trunk roads moving vehicle being arranged, the intersection apart from ring road remittance expressway major trunk roads on the ring road trackside traffic guidance band is
The luminance that two adjacent LED screens of the LED screen of rice and the left and right sides thereof send green light by glimmering take frequency as 3HZ is converted to the luminance of sending red light with frequency 5HZ flicker, and residue LED screen remains the luminance that green light is sent in the 3HZ flicker;
Step 5, the driver of ring road up train, the running information that shows according to ring road trackside traffic information promoting screen display keeps vehicle velocity V
LimitKm/hour, send in the corresponding ramp segment of green glow at the LED of ring road trackside traffic guidance band screen and to drive a vehicle.
Advantage of the present invention and good effect are: (1) equipment and abductive approach of inducing of the present invention, only need the speed of vehicle and the dynamic distance of vehicle and intersection are done real-time detection and calculated judgement, it is little to have calculated amount, and hardware is easy to realize, portable strong advantage; (2) equipment and the abductive approach of inducing of the present invention utilizes the traffic information promoting screen display to show the some grid pattern animation that the dynamic position of all moving vehicles in the major trunk roads surveyed area of expression expressway, upstream, intersection changes, arranging of traffic information promoting screen is humanized, and the transport information of expressway major trunk roads can be provided to the driver accurately; (3) driver follows the running information restricted speed of ring road trackside traffic information promoting screen prompting, on the traffic guidance band, travel in the signal band of LED screen flicker green light, it no longer needs the subjective decision regulation speed, on the one hand, this mode can greatly reduce or eliminate the driver and independently drive a vehicle and import faulty drive and the psychological pressure of expressway major trunk roads, on the other hand, can effectively reduce the violent conflict between ring road and expressway major trunk roads vehicle, thus the generation that avoids traffic accident.
Description of drawings
Fig. 1 is the modular structure synoptic diagram of apparatus for deivation of the present invention;
Fig. 2 is the synoptic diagram of apparatus for deivation application scenarios in the embodiment of the invention;
Fig. 3 is the synoptic diagram that sets up that ring road trackside traffic information promoting shields in the embodiment of the invention;
Fig. 4 is the interface layout synoptic diagram of ring road trackside traffic information promoting screen of the present invention;
Fig. 5 is the traffic guidance band synoptic diagram that LED screen of the present invention consists of;
Fig. 6 is the whole flow chart of steps that vehicle of the present invention imports abductive approach.
Wherein:
The traffic of 100-video detector group 200-ring road trackside traffic letter 300-ring road trackside lures 400-roadbed computer mould
Breath prompting screen conduction band piece
401-microcontroller 402-video frequency collection card 403-communication module 500-wireless router
101-the first video detector 102-the second video detector 103-the 3rd video detector 104-the 4th video detector
501-the first wireless router 502-the second wireless router
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
As shown in Figure 1, vehicle interflow, crossing apparatus for deivation of working in coordination with based on bus or train route of the present invention comprises: video detector group 100, ring road trackside traffic information promoting screen 200, ring road trackside traffic guidance band 300, roadbed computer module 400 and wireless router 500.The single chip microcontroller 401 of described roadbed computer module 400 take model as MSP430F149 is core, also comprises video frequency collection card 402 and communication module 403.Video detector group 100 is used for surveying the traffic parameter of the vehicle on the high speed backbone road, the Real-time Collection video data sends roadbed computer module 400 to, roadbed computer module 400 processing video data, generation is to the control signal of the screen of the LED on ring road trackside traffic information promoting screen 200 and the ring road trackside traffic guidance band 300, and the control signal of correspondence is sent to ring road trackside traffic information promoting screen 200 and ring road trackside traffic guidance band 300 by wireless router 500.
Described video detector group 100 is positioned at the expressway major trunk roads, comprises four video detectors: the first video detector 101, the second video detector 102, the 3rd video detector 103 and the 4th video detector 104.As shown in Figure 2, four video detectors are arranged in upstream the right trackside of expressway major trunk roads, arrange one every 100m, will be from intersection that ring road imports the expressway major trunk roads to the regional extent of major trunk roads upstream, expressway 400m as surveyed area.Video detector 101,102,103,104 is for detection of the moving vehicle in the major trunk roads surveyed area of expressway, the frame rate of its Real-time Collection traffic video image is 30 frame per seconds (Frames Per Second, be called for short fps), and a video image that gathers sends back roadbed computer module 400 by the Shielded Twisted Pair that is embedded in ring road trackside and expressway major trunk roads trackside.
The described roadbed computer module 400 main video flow processing technical finesse video images that adopt between adaptive differential background and difference frame, the moving vehicle of tracking in major trunk roads monitored area, expressway, and the real-time speed of Real-time Obtaining moving vehicle and moving vehicle import the real-time distance of the intersection of expressway major trunk roads apart from ring road, and the dynamic position of moving vehicle is mapped to corresponding position on ring road trackside traffic information promoting screen traffic synoptic diagram.Video frequency collection card 402 in the roadbed computer module 400 is by the video detector 101 on Shielded Twisted Pair and the expressway major trunk roads trackside, 102,103,104 are connected, the video image of video detector collection is simulated data, video frequency collection card 402 real-time receiver, video images also carry out analog to digital conversion to video image, obtain the video data of digital format, send the microcontroller in the roadbed computer module to, microcontroller 401 calculates the real-time speed of acquisition moving vehicle and moving vehicle imports the intersection of expressway major trunk roads apart from ring road real-time distance according to video data.I the car that imports the intersection of expressway major trunk roads apart from ring road in the surveyed area of expressway major trunk roads to the dynamic distance value of intersection is
The unit dimension is rice (m), and the real-time speed of this i moving vehicle is
, the unit dimension is: meter per second (m/s), and i=1,2,3 ... n, n are natural number.The video data of the digital format that microcontroller 401 bases obtain is in real time by the video flow processing technology between adaptive differential background and difference frame, the real-time distance of the moving vehicle that obtains and real-time speed generate the control signal to ring road trackside traffic information promoting screen 200 and ring road trackside traffic guidance band 300, and control information is sent to communication module 403.Described control signal comprises: signal a, show in real time the signal of the dynamic position of all the relative intersections of moving vehicle in the major trunk roads surveyed area of expressway with the form of pattern animation; Signal b, at the speed limit V of ring road up train
LimitKm/hour (km/h); Signal c, be controlled on the traffic guidance band of ring road trackside and apart from ring road and major trunk roads intersection, expressway distance be
The adjacent LED screen of LED screen and the left and right sides thereof the signal that carries out the conversion of blinking light pattern, refer to control corresponding LED screen in the embodiment of the invention and be transformed into pattern with 5HZ flash red light signal from the pattern with 3HZ flicker green light signal, wherein
The unit dimension be: rice (m), i=1,2,3 ... n, n are natural number.Communication module 403 sends to wireless router 500 with control signal.
Described microcontroller 401 obtains according to the video data of digital format
With
Main obtain by existing method: at first, utilize the adaptive differential background method to carry out vehicle detection, the method that video data is carried out the difference background can detect motion and static vehicle, moving region in the video data can be with being partitioned into moving target and static target between difference background and difference frame, the noise that then utilizes median filtering algorithm to carry out video data is eliminated, and the edge that uses Sobel Operator (Sobel operator) to carry out video data strengthens the pre-service of the video data of finishing dealing with; Then, utilizing multi-person decision making formulation technology (MPDM) to carry out the vehicle driving path obtains, utilize simultaneously the hysteresis quality of moving vehicle its motion within the unit interval of video data interframe namely in video data moving target little at the unit interval intrinsic displacement, the characteristics such as speed is approximate, cluster result between the adjacent video Frame is mated, thereby obtain the track of moving vehicle, according to the moving track calculation acquisition of vehicle
At last, calculate the shift value of moving vehicle reality according to the mapping relations between the plane of delineation in the driving length in path and actual track geometrical plane and the video data, just obtained again the road speed of the reality of moving vehicle with the actual displacement value of moving vehicle divided by cycle of video detector detection video
The speed limit V of described ring road up train
LimitConcrete traffic scene according to the ring road that uses apparatus of the present invention and method sets, and its span under normal circumstances is 40～60.Described distance
Obtain according to following formula:
LED screen on the ring road trackside traffic guidance band 300 carries out the change of light-emitting mode according to this caution distance, generates the position that n organizes the caution cell position of real-time dynamic change.
Described wireless router 500 is laid in the ring road trackside, and is in the same side with ring road trackside traffic guidance band that LED screen consists of.Wireless router 500 arranges suitable quantity according to traffic scene, so that consist of the wireless network of a local between the LED screen 500 on the traffic guidance band of the traffic information promoting of wireless router 500 and roadbed computer module 400, ring road trackside screen 200, ring road trackside.Connect with netting twine by LAN interface between the wireless router 500, a wireless router 500 wherein is connected with roadbed computer module 400, then will send to from the control signal that roadbed computer module 400 receives the traffic information promoting screen 200 of other wireless routers 500 and ring road trackside, the traffic guidance band 300 of ring road trackside.As shown in Figure 2, two wireless routers 500 have been laid in the embodiment of the invention, 100 meters of the wireless signal covering radiuss of each wireless router 500 transmission.The first wireless router 501 and roadbed computer module 400 are connected by netting twine, then be connected with the second wireless router 502 by netting twine, the first wireless router 501 and the second wireless router 502 send to the traffic information promoting screen 200 of ring road trackside and the traffic guidance band 300 of ring road trackside with control signal.
Described ring road trackside traffic information promoting screen 200 is laid in the trackside place, the right that is imported the intersection of expressway major trunk roads by ring road, and it receives the control signal that is transmitted by wireless router 500 with a wireless controlled fabrication, and prompting screen faces ring road.As shown in Figure 3, the LED display of the wide 160cm of long 256cm that ring road trackside traffic information promoting in embodiment of the invention screen 200 is comprised of 10240 LED lamp points is located at the place high apart from ground 6m with the steelframe suspension frame, and display panel is to ring road.As shown in Figure 4, the interface of trackside traffic information promoting screen 200 is divided into the first half interface and the latter half interface.Traffic information promoting shields 200 the first half interfaces show all moving vehicles in the major trunk roads surveyed area of expressway, upstream, intersection in real time to the ring road driver with the form of pattern animation according to the information a in the control signal dynamic position.Shown pattern animation is made of the dot matrix of the LED lamp that sends red light in the embodiment of the invention, pattern animation body matter comprises: the track of the expressway major trunk roads surveyed area that expression is static and the signal pattern of intersection, and in order to the some grid pattern of real-time expression corresponding to the dynamic change of moving vehicle position in the major trunk roads surveyed area of expressway.Traffic information promoting shields 200 the latter half interfaces and shows running information according to the information b in the control signal: " speed limit V
LimitKm/h ".Shown running information word segment " speed limit " is made of the dot matrix of the LED lamp that sends red light in the embodiment of the invention, shown running information numerical value and the part " V of unit
LimitKm/h " consisted of by the dot matrix of the LED lamp that sends sodium yellow, in addition, the whole content of running information is surrounded by the flowing water rectangular shaped rim that the dot matrix by the LED lamp that sends green glow consists of.
The traffic guidance band 300 of described ring road trackside is arranged by k LED screen and is consisted of, is arranged on the trackside of the ring road left side,
Wherein [] for rounding symbol, L is a nondimensional numerical value, and because the minimum speed of a motor vehicle of driving on the expressway major trunk roads of China is 80km/h, and the road speed standard of ring road at 40km/h in the scope of 60km/h, then
Speed limit in the ring road up train in the embodiment of the invention is 50km/h, then L 〉=250 herein.The occurrence of L is rationally set according to the traffic scene of using.Each LED screen is with a wireless controlled fabrication with reception of wireless signals function, is used for receiving the control signal that the wireless router 500 of ring road trackside sends.As shown in Figure 5, in the embodiment of the invention, interval 3m between the LED screen, the crossing that imports the expressway major trunk roads from ring road begins spread configuration on the trackside of the ring road left side, the main body of each LED screen be that the lamp of the rectangular lattice of the long 64cm that is comprised of 256 LED lamp points and wide 16cm shields, be erected at trackside guard rail top with vertical steelframe, apart from floor level 1.5m place, and be positioned at from the intersection of ring road and expressway major trunk roads to the surveyed area at a distance of this section ring road of intersection Lm.
Ring road trackside traffic guidance band 300 has moving vehicle and does not have and carries out flashing under these two kinds of situations of moving vehicle in the major trunk roads surveyed area of expressway, the pattern of its flashing has two kinds: pattern one, do not have moving vehicle in the 400m of expressway major trunk roads surveyed area, then each the LED screen on the traffic guidance band of ring road trackside is take frequency as the 3HZ flashing, and photochromic is green; Pattern two, in the 400m of expressway major trunk roads surveyed area, moving vehicle is arranged, then on the traffic guidance band of ring road trackside with the distance of intersection be
LED screen with and the adjacent LED screen in the left and right sides, synchronously switch to the luminance of sending red light with the 5HZ flicker by pattern one immediately, i=1,2,3 ... n, n are natural number, i represents to import apart from ring road on the major trunk roads of expressway i moving vehicle of the intersection of expressway major trunk roads, these three LED with 5HZ flash red light shield the common caution unit that consist of, and meanwhile, other LED that do not belong on the caution cell position shield the still state of Holdover mode one light-emitting flash.
As shown in Figure 2,4 video detectors 101,102,103,104 that are arranged in expressway major trunk roads upstream trackside and interval 100m carry out testing.On the major trunk roads of expressway, there is not moving vehicle, roadbed computer module 400 obtains in the surveyed area of expressway major trunk roads the information without car from the video data that 4 video detectors return, then roadbed computer module 400 is to the control signal of the wireless router 500 transmission generations of connected ring road trackside, these control signals are transmitted at the traffic information promoting screen 200 at ring road trackside place and the LED on the ring road trackside traffic guidance band with communication by each wireless router 500 shields in the 300 incidental wireless controlled fabrications, control ring road trackside traffic information promoting shields the traffic conditions that 200 the first half display interfaces show that expressway major trunk roads surveyed area is interior, the latter half interface display running information: " speed limit V
LimitKm/h "; In addition, each the LED screen on the control signal control ring road trackside traffic guidance band 300 is with pattern one work, that is each LED screen sends green light signal with the 3HZ frequency scintillation.When there being moving vehicle to enter surveyed area, for example vehicle shown in Fig. 2 11 and 12 enters surveyed area, then video detector 101,102,103,104 detects vehicle 11,12 in real time, and video data sent back roadbed computer module 400, roadbed computer module 400 is processed and is obtained moving vehicles respectively apart from the real-time distance value of intersection
With
Also detect in real time simultaneously their speed
With
, generate vehicle is imported safely the expressway major trunk roads by ring road control signal: control ring road trackside traffic information promoting shields 200 the first half interfaces show the dynamic position of all the relative intersections of moving vehicle in the major trunk roads surveyed area of expressway in real time with the form of pattern animation signal; Control trackside traffic information promoting shields 200 the latter half interfaces and shows in real time running information: " speed limit V
LimitKm/h " signal; Two groups of LED screen displays on the control ring road trackside traffic guidance band 300 are shown early warning, as shown in Figure 2, apart from ring road and major trunk roads crossing, expressway distance are
With
2 LED screen, with and the adjacent LED in left and right sides screen synchronously switch to the pattern of sending red light with the 5HZ flicker by the pattern with 3HZ flicker green glow immediately, the LED of flicker green light shields the zone that forms the green glow segmentation on the ring road trackside traffic guidance band 300 at this moment, and the LED of three adjacent flicker ruddiness screen consists of one group of prewarning unit, Fig. 2 is two groups of prewarning unit on the ring road trackside traffic guidance band 300, along with
Dynamic change, the position of two groups of prewarning unit also can be along with dynamic change.Vehicle 21 on the ring road keeps vehicle velocity V
LimitKm/h avoids the corresponding ramp segment driving in the caution unit in the corresponding ramp segment driving of green glow, then can import safely the expressway major trunk roads.
The vehicle of a kind of expressway major trunk roads of the present invention and ring road crossing intersection part imports abductive approach, and as shown in Figure 6, it specifically may further comprise the steps:
Step 1, from the intersection that ring road imports the expressway major trunk roads, evenly distributed four video detectors 101,102,103,104 that are arranged in the right, upstream trackside of expressway major trunk roads, the video image of the vehicle in the surveyed area of Real-time Collection expressway major trunk roads, and the video image that gathers sent to roadbed computer module 400.The spacing distance that is arranged in the embodiment of the invention between the video detector of expressway major trunk roads trackside is 100m, will be from intersection that ring road imports the expressway major trunk roads to the regional extent of major trunk roads upstream, the expressway 400m surveyed area as the expressway major trunk roads, video detector gathers video image with the frame rate of 30 frame per seconds, and whether in real time detection has vehicle to enter the surveyed area of expressway major trunk roads.
Step 2, roadbed computer module 400 are processed the video image that gathers in real time, obtain the real-time speed of moving vehicle and moving vehicle imports the intersection of expressway major trunk roads apart from ring road real-time distance, and the generation control signal, roadbed computer module 400 sends to wireless router 500 with the control signal that generates.After video image is sent to roadbed computer module 400 by wired mode, 402 pairs of video images of receiving of video frequency collection card in the roadbed computer module 400 carry out analog to digital conversion, obtain the video data of digital format, video frequency collection card 402 sends video data in the roadbed computer module 400 microcontroller 401, the video flow processing technical finesse video data that microcontroller 401 adopts between adaptive differential background and difference frame, obtain the real-time speed of moving vehicle and moving vehicle and import the real-time distance of the intersection of expressway major trunk roads apart from ring road, then according to real-time speed and in real time distance generate following control signal: signal a, show in real time that with the form of pattern animation the relative ring road of all moving vehicles in the major trunk roads surveyed area of expressway imports the signal of dynamic position of the intersection of expressway major trunk roads; Signal b, at the speed limit V of ring road up train
LimitKm/hour; V
LimitSpan is 40～60; Import the intersection of expressway major trunk roads apart from being apart from ring road on signal c, the control ring road trackside traffic guidance band
The signal of the flashing pattern conversion of two LED screens that the LED screen of rice and the left and right sides thereof are adjacent.These signals send the wireless router 500 of ring road trackside to from roadbed computer module 400.
Described distance
Determine by following formula:
Wherein n is natural number, and i represents on the major trunk roads of expressway, imports i moving vehicle of the intersection of expressway major trunk roads apart from ring road,
Represent this i moving vehicle to the dynamic distance value of the intersection of ring road remittance expressway major trunk roads, the unit dimension is rice,
The real-time speed that represents this i moving vehicle, unit dimension are meter per second.
Step 3, wireless router 500 send to ring road trackside traffic information promoting screen 200 and ring road trackside traffic guidance band 300 with control signal by wireless transmission method.
Described ring road trackside traffic guidance band is arranged by k LED screen and is consisted of,
L is a nondimensional numerical value and L 〉=5V
LimitEach LED screen is accompanied with a wireless controlled fabrication, can be used for receiving wireless signal.Ring road trackside traffic information promoting screen 200 also is accompanied with a wireless controlled fabrication, is used for receiving wireless signal.
Step 4, ring road trackside traffic information promoting shield after 200 incidental controlled in wireless clampings receive control signal, signal a and signal b are shown at ring road trackside traffic information promoting screen 200, the LED of ring road trackside traffic guidance band 300 shields after incidental controlled in wireless clamping receives control signal, and corresponding LED screen forms the prewarning unit luminous pattern conversion of line flicker of going forward side by side according to signal c.
The first half interface of ring road trackside traffic information promoting screen 200 shows the dynamic position of all moving vehicles in the major trunk roads surveyed area of expressway in real time to the ring road driver with the form of pattern animation according to the information a in the control signal, pattern animation body matter comprises: the track of the expressway major trunk roads surveyed area that expression is static and the signal pattern of intersection, in order to the some grid pattern of real-time expression corresponding to the dynamic change of moving vehicle position in the major trunk roads surveyed area of expressway; The latter half interface of ring road trackside traffic information promoting screen 200 shows running information: speed limit V according to the information b in the control signal
LimitKm/h.
When the LED screen of ring road trackside traffic guidance band 300 does not have moving vehicle in the surveyed area of expressway major trunk roads, all LED screen is in the luminance that green light is sent in take frequency as 3HZ flicker, when in the surveyed area of expressway major trunk roads moving vehicle being arranged, the intersection apart from ring road remittance expressway major trunk roads on the ring road trackside traffic guidance band 300 is
The luminance that two adjacent LED screens of the LED screen of rice and the left and right sides thereof send green light by glimmering take frequency as 3HZ is converted to the luminance of sending red light with frequency 5HZ flicker, and residue LED screen remains the luminance that green light is sent in the 3HZ flicker.
Each LED screen of ring road trackside traffic guidance band 300, and ring road trackside traffic information promoting shields after 200 incidental controlled in wireless clampings receive control signal immediately action:
Control signal control ring road trackside traffic information promoting shields 200 the first half interfaces show all moving vehicles in the major trunk roads surveyed area of expressway, upstream, intersection in real time to the ring road driver with the form of the red pattern animation that is comprised of LED lamp dot matrix dynamic position; Simultaneously, ring road trackside traffic information promoting shields 200 the latter half interfaces and shows in real time: " speed limit V
LimitKm/h " running information.
Signal c by roadbed computer module 400 generates obtains n distance value in real time
I=1,2,3 ... n, real-time dynamic position and the corresponding LED of n group prewarning unit shield the pattern conversion of carrying out flashing on the control ring road trackside traffic guidance band 300.
Step 5, the driver of ring road up train, the running information that shows according to ring road trackside traffic information promoting screen display keeps vehicle velocity V
LimitKm/hour, send in the corresponding ramp segment of green light at the LED of ring road trackside traffic guidance band screen and to drive a vehicle.
The present invention is based on bus or train route collaborative crossing vehicle interflow apparatus for deivation and abductive approach thereof, can collect and the transport information of integrating the expressway major trunk roads that more driver can't obtain in real time, these information are with the form of the upper pattern animation of traffic information promoting screen, also have with LED lamp on the traffic guidance band 300 with the form Real-time Feedback of the light signal of different mode flashing to the driver on the ring road, for carrying out speed of a motor vehicle controlling decision, the driver on the ring road provides reliable guarantee, when effectively avoiding traffic conflict, reduce driver's driving psychological pressure.
Claims (10)
1. vehicle interflow, crossing apparatus for deivation is characterized in that described apparatus for deivation comprises video detector group, ring road trackside traffic information promoting screen, ring road trackside traffic guidance band, roadbed computer module and wireless router; Described video detector group comprises four video detectors, and described roadbed computer module comprises microcontroller, video frequency collection card and communication module; Described video detector group is arranged in the right, upstream trackside of expressway major trunk roads, described ring road trackside traffic information promoting screen is arranged in the trackside place, the right that is imported the intersection of expressway major trunk roads by ring road, prompting screen is towards ring road, described ring road trackside traffic guidance band is arranged by the LED screen and is consisted of, be arranged in ring road left side trackside, described wireless router is laid in the ring road trackside, and is in the same side with ring road trackside traffic guidance band; Each video detector all is connected with the roadbed computer module by Shielded Twisted Pair, and the roadbed computer module connects a wireless router by netting twine, connects by netting twine between the wireless router; Each LED screen of described ring road trackside traffic information promoting screen and ring road trackside traffic guidance band is with a wireless controlled fabrication;
The video image of vehicle in the surveyed area in each video detector Real-time Collection high speed backbone road, and send the roadbed computer module to; Video frequency collection card carries out analog to digital conversion with the video image of receiving, and the video data of the digital format that will obtain after will changing sends microcontroller to, microcontroller is processed the video data of receiving in real time, obtain the real-time speed of moving vehicle and moving vehicle imports the intersection of expressway major trunk roads apart from ring road real-time distance, and according to the real-time speed that obtains with in real time apart from generating control signal and sending communication module to, communication module sends to wireless router with control signal, wireless router sends to ring road trackside traffic information promoting screen and ring road trackside traffic guidance band by wireless transmission method with control signal, ring road trackside traffic information promoting screen shows in real time the dynamic position of all moving vehicles in the major trunk roads surveyed area of expressway, upstream, intersection according to control signal and at the speed limit of ring road up train, the LED screen of ring road trackside traffic guidance band carries out the pattern conversion of flashing according to control signal.
2. a kind of crossing according to claim 1 vehicle interflow apparatus for deivation, it is characterized in that, described four video detectors, the intersection that imports the expressway major trunk roads from ring road begins to arrange one every 100m, will be from intersection that ring road imports the expressway major trunk roads to the regional extent of major trunk roads upstream, the expressway 400m surveyed area as the expressway major trunk roads, video detector gathers video image with the frame rate of 30 frame per seconds.
3. a kind of crossing according to claim 1 vehicle interflow apparatus for deivation, it is characterized in that, described microcontroller, be the MSP430F149 singlechip microcontroller, the control signal of its generation comprises: signal a, show in real time that with the form of pattern animation the relative ring road of all moving vehicles in the major trunk roads surveyed area of expressway imports the signal of dynamic position of the intersection of expressway major trunk roads; Signal b, at the speed limit V of ring road up train
Lim itKm/hour, V
Lim itSpan is 40～60; Import the intersection of expressway major trunk roads apart from being apart from ring road on signal c, the control ring road trackside traffic guidance band
The signal of the flashing pattern conversion of the LED screen that the LED screen of rice and the left and right sides thereof are adjacent, distance
Determined by following formula:
Wherein n is natural number, and i represents on the major trunk roads of expressway, imports i moving vehicle of the intersection of expressway major trunk roads apart from ring road,
Represent this i moving vehicle to the dynamic distance value of the intersection of ring road remittance expressway major trunk roads, the unit dimension is rice,
The real-time speed that represents this i moving vehicle, unit dimension are meter per second.
4. according to claim 1 or 3 described a kind of crossing vehicles interflow apparatus for deivation, it is characterized in that, described ring road trackside traffic information promoting screen, 256 centimetres of length that are comprised of 10240 LED lamp points, wide 160 centimetres LED display are located at apart from 6 meters high places, ground with the steelframe suspension frame.
5. according to claim 1 or 3 described a kind of crossing vehicles interflow apparatus for deivation, it is characterized in that, described trackside traffic information promoting screen, its the first half interface shows the dynamic position of all moving vehicles in the major trunk roads surveyed area of expressway in real time to the ring road driver with the form of pattern animation according to the information a in the control signal, shown pattern animation is made of the dot matrix of the LED lamp that sends red light, pattern animation body matter comprises: the track of the expressway major trunk roads surveyed area that expression is static and the signal pattern of intersection, in order to the some grid pattern of real-time expression corresponding to the dynamic change of moving vehicle position in the major trunk roads surveyed area of expressway; The latter half interface shows running information: speed limit V according to the information b in the control signal
Lim itKm/h, two words of the speed limit in the shown running information consist of V in the shown running information by the dot matrix of the LED lamp that sends red light
Lim itThe km/h part is made of the dot matrix of the LED lamp that sends sodium yellow, and the whole content of running information is surrounded by the flowing water rectangular shaped rim that the dot matrix by the LED lamp that sends green glow consists of.
6. according to claim 1 or 3 described a kind of crossing vehicles interflow apparatus for deivation, it is characterized in that, described ring road trackside traffic guidance band, it comprises that k LED shields,
L is a nondimensional numerical value and L 〉=5V
Lim it, the pattern of the LED of described ring road trackside traffic guidance band screen flashing has two kinds: pattern one, in the surveyed area of expressway major trunk roads, do not have moving vehicle, each LED screen for take frequency as 3HZ flicker send the luminance of green light; Pattern two, in the surveyed area of expressway major trunk roads moving vehicle is arranged, the intersection that then imports the expressway major trunk roads apart from ring road is
The LED screen of rice with and two adjacent LED screens of the left and right sides, synchronously switch to the luminance of sending red light with frequency 5HZ flicker by pattern one immediately, the luminance of sending green light with frequency 3HZ flicker is held in residue LED screen protection, i=1,2,3 ... n, n are natural number, and i represents to import apart from ring road on the major trunk roads of expressway i moving vehicle of the intersection of expressway major trunk roads.
7. a kind of crossing according to claim 5 vehicle interflow apparatus for deivation, it is characterized in that, described LED screen, from the intersection that ring road imports the expressway major trunk roads, every 3 meters spread configurations on the trackside of the ring road left side, the lamp of 64 centimetres of length that each LED screen is comprised of 256 LED lamp points and wide 16 centimetres rectangular lattice shields, be erected at trackside guard rail top with vertical steelframe, apart from 1.5 meters of floor level, and be positioned at from intersection that ring road imports the expressway major trunk roads to the surveyed area at a distance of this section ring road of this intersection L rice.
8. application rights requires the abductive approach of vehicle interflow, 1 described a kind of crossing apparatus for deivation, it is characterized in that, specifically may further comprise the steps:
Step 1, from the intersection that ring road imports the expressway major trunk roads, evenly distributed four video detectors that are arranged in the right, upstream trackside of expressway major trunk roads, the video image of the vehicle in the surveyed area of Real-time Collection expressway major trunk roads, and send the video image that gathers to the roadbed computer module;
Video frequency collection card in step 2, the roadbed computer module carries out analog to digital conversion to the video image of receiving, and send the video data of the digital format that is converted to in the roadbed computer module microcontroller, microcontroller is processed the video data of receiving in real time, obtain the real-time speed of moving vehicle and moving vehicle imports the intersection of expressway major trunk roads apart from ring road real-time distance, and the generation control signal, the communication module in the roadbed computer module sends the control signal that generates to wireless router;
Described control signal comprises: signal a, show in real time that with the form of pattern animation the relative ring road of all moving vehicles in the major trunk roads surveyed area of expressway imports the signal of dynamic position of the intersection of expressway major trunk roads; Signal b, at the speed limit V of ring road up train
Lim itKm/hour; Import the intersection of expressway major trunk roads apart from being apart from ring road on signal c, the control ring road trackside traffic guidance band
The signal of the flashing pattern conversion of two LED screens that the LED screen of rice and the left and right sides thereof are adjacent, distance
Determined by following formula:
Wherein n is natural number, and i represents on the major trunk roads of expressway, imports i moving vehicle of the intersection of expressway major trunk roads apart from ring road,
Represent this i moving vehicle to the dynamic distance value of the intersection of ring road remittance expressway major trunk roads, the unit dimension is rice,
The real-time speed that represents this i moving vehicle, unit dimension are meter per second;
Step 3, wireless router send to ring road trackside traffic information promoting screen and ring road trackside traffic guidance band with control signal by wireless transmission method, and described ring road trackside traffic guidance band is arranged by k LED screen and consisted of,
L is a nondimensional numerical value and L 〉=5V
Lim it
Step 4, ring road trackside traffic information promoting shield after incidental controlled in wireless clamping receives control signal, with signal a and signal b in ring road trackside traffic information promoting screen display out, the LED of ring road trackside traffic guidance band shields after incidental controlled in wireless clamping receives control signal, and corresponding LED screen forms the prewarning unit luminous pattern conversion of line flicker of going forward side by side according to signal c;
The first half interface of ring road trackside traffic information promoting screen shows the dynamic position of all moving vehicles in the major trunk roads surveyed area of expressway in real time to the ring road driver with the form of pattern animation according to the signal a in the control signal, pattern animation body matter comprises: the track of the expressway major trunk roads surveyed area that expression is static and the signal pattern of intersection, in order to the some grid pattern of real-time expression corresponding to the dynamic change of moving vehicle position in the major trunk roads surveyed area of expressway; The latter half interface of ring road trackside traffic information promoting screen shows running information: speed limit V according to the signal b in the control signal
Lim itKm/h;
When the LED screen of ring road trackside traffic guidance band does not have moving vehicle in the surveyed area of expressway major trunk roads, all LED screen is in the luminance that green light is sent in take frequency as 3HZ flicker, when in the surveyed area of expressway major trunk roads moving vehicle being arranged, the intersection apart from ring road remittance expressway major trunk roads on the ring road trackside traffic guidance band is
The luminance that two adjacent LED screens of the LED screen of rice and the left and right sides thereof send green light by glimmering take frequency as 3HZ is converted to the luminance of sending red light with frequency 5HZ flicker, and residue LED screen remains the luminance that green light is sent in the 3HZ flicker;
Step 5, the driver of ring road up train, the running information that shows according to ring road trackside traffic information promoting screen display keeps vehicle velocity V
LimitKm/hour, send in the corresponding ramp segment of green light at the LED of ring road trackside traffic guidance band screen and to drive a vehicle.
9. a kind of crossing according to claim 8 vehicle interflow abductive approach, it is characterized in that, video detector described in the step 1, the spacing distance of arranging is 100 meters, will be from intersection that ring road imports the expressway major trunk roads to the regional extent of major trunk roads upstream, the expressway 400m surveyed area as the expressway major trunk roads.
10. vehicle interflow, a kind of crossing according to claim 8 abductive approach is characterized in that the speed limit V in the ring road up train described in the step 2
Lim itSpan is 40～60.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110077332 CN102157072B (en) | 2011-03-29 | 2011-03-29 | Inducing device and inducing method of vehicle confluence at intersection based on vehicle and road crossing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110077332 CN102157072B (en) | 2011-03-29 | 2011-03-29 | Inducing device and inducing method of vehicle confluence at intersection based on vehicle and road crossing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102157072A CN102157072A (en) | 2011-08-17 |
| CN102157072B true CN102157072B (en) | 2013-03-20 |
Family
ID=44438547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110077332 Expired - Fee Related CN102157072B (en) | 2011-03-29 | 2011-03-29 | Inducing device and inducing method of vehicle confluence at intersection based on vehicle and road crossing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102157072B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11851053B2 (en) | 2020-09-14 | 2023-12-26 | International Business Machines Corporation | Collaborative accident prevention |
Families Citing this family (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102368351B (en) * | 2011-10-19 | 2014-10-29 | 北京航空航天大学 | Method for eliminating traffic conflict of two vehicles at intersection without signal |
| CN102610112B (en) * | 2012-03-08 | 2014-06-11 | 西安费斯达自动化工程有限公司 | Method for setting road information display board based on improved discrete model |
| CN102592466B (en) * | 2012-03-09 | 2014-05-07 | 西安费斯达自动化工程有限公司 | Setting method of road section information display board based on discrete model |
| CN102637372B (en) * | 2012-04-10 | 2014-08-06 | 张佳俊 | Intelligent signal measuring and controlling system of vehicle |
| CN102737511B (en) * | 2012-07-04 | 2014-07-02 | 武汉大学 | Intelligent road side system |
| CN103871272A (en) * | 2012-12-18 | 2014-06-18 | 江南大学 | ZigBee-based vehicle-mounted intersection collision avoidance system |
| CN103236191B (en) * | 2013-03-26 | 2014-12-24 | 中国公路工程咨询集团有限公司 | Video-based safety precaution method for vehicle merging from highway ramp |
| CN103489319B (en) * | 2013-09-27 | 2016-01-13 | 黑龙江八一农垦大学 | Traffic scene video intelligent command and control system |
| CN103578295B (en) * | 2013-11-20 | 2016-04-06 | 东南大学 | A kind of tail of expressway queue rear-end collision risk real-time estimate and prevention method |
| CN103927889B (en) * | 2014-04-15 | 2016-06-01 | 北京易华录信息技术股份有限公司 | A kind of fast road ramp signal control method and system utilizing video tracking technique |
| CN104269049B (en) * | 2014-09-24 | 2016-08-17 | 无锡市汇捷科技有限公司 | A kind of long sight distance precaution device sort method |
| CN104408971A (en) * | 2014-11-05 | 2015-03-11 | 江苏省交通科学研究院股份有限公司 | Road main trunk and secondary trunk intersection safety monitoring method |
| CN104332071B (en) * | 2014-11-06 | 2017-11-03 | 长安大学 | A kind of ring road vehicle imports the safety reminding device and reminding method of major trunk roads |
| CN104464317B (en) * | 2014-12-03 | 2016-05-11 | 武汉理工大学 | On-Ramp on Freeway interflow district's guiding control system and method |
| CN104575048B (en) * | 2015-01-13 | 2017-01-11 | 山东易华录信息技术有限公司 | System and method for reminding motor vehicles entering island to give way to motors vehicles in island |
| US10055986B2 (en) * | 2015-11-03 | 2018-08-21 | Rite-Hite Holding Corporation | Dynamically configurable traffic controllers and methods of using the same |
| CN106128167A (en) * | 2016-07-13 | 2016-11-16 | 齐鲁工业大学 | Vehicle location display device near a kind of expressway ramp |
| CN106331615A (en) * | 2016-08-22 | 2017-01-11 | 何颖 | Intelligent traffic information acquisition system and static information acquisition method thereof |
| IT201600094858A1 (en) * | 2016-09-21 | 2018-03-21 | St Microelectronics Srl | PROCEDURE FOR A LOW COST ADVANCED CROSS TRAFFIC ALERT, CORRESPONDING PROCESSING SYSTEM, CROSS TRAFFIC ALERT AND VEHICLE SYSTEM |
| CN106355952A (en) * | 2016-09-30 | 2017-01-25 | 张家港长安大学汽车工程研究院 | Safety system and control method for allowing main road vehicle to safely passing side road junction |
| CN106601002B (en) * | 2016-11-23 | 2019-06-07 | 苏州大学 | Entrance ramp vehicle passing guiding system and method under Internet of vehicles environment |
| CN106652493B (en) * | 2016-12-29 | 2019-01-29 | 东南大学 | A kind of intersection signal optimal control method under car networking environment |
| CN106530771B (en) * | 2017-01-04 | 2022-11-11 | 山东省交通规划设计院集团有限公司 | Traffic guidance device and method for active luminous delineator of highway |
| CN107274699A (en) * | 2017-06-30 | 2017-10-20 | 重庆交通大学 | Based on what position was shared passing method is cooperateed with without signal-control crossing vehicle certainly |
| CN107909837A (en) | 2017-10-24 | 2018-04-13 | 华为技术有限公司 | The method and control centre that a kind of vehicle piggybacking passes through |
| CN107886740A (en) * | 2017-10-25 | 2018-04-06 | 华为技术有限公司 | A kind of method and device at vehicle interflow |
| US10363943B2 (en) * | 2017-12-11 | 2019-07-30 | Robert Bosch Gmbh | Cross-traffic assistance and control |
| CN108320535B (en) * | 2018-04-10 | 2020-10-13 | 哈尔滨工业大学 | Traffic control method for interlaced vehicles in road traffic area |
| CN108615371A (en) * | 2018-04-23 | 2018-10-02 | 武汉理工大学 | A kind of through street entrance traffic guidance system and method |
| CN110503844A (en) * | 2018-05-17 | 2019-11-26 | 上海擎感智能科技有限公司 | A kind of based reminding method of drive speed, system and car-mounted terminal |
| CN108896063A (en) * | 2018-05-31 | 2018-11-27 | 同济大学 | A kind of identification of gyroscope road condition and reminding method based on bus or train route collaboration |
| CN109035767A (en) * | 2018-07-13 | 2018-12-18 | 北京工业大学 | A kind of tide lane optimization method considering Traffic Control and Guidance collaboration |
| CN109377756A (en) * | 2018-10-31 | 2019-02-22 | 武汉三力通信有限责任公司 | A kind of real-time monitoring and distribution platform of traffic |
| CN111218894B (en) * | 2018-11-26 | 2021-11-05 | 杭州海康威视系统技术有限公司 | Control method and device of light-emitting guide facility, electronic equipment and system |
| CN109872566B (en) * | 2019-01-31 | 2021-01-26 | 厦门精益远达智能科技有限公司 | Vehicle information prompting method, device, equipment and storage medium |
| CN109903575A (en) * | 2019-04-09 | 2019-06-18 | 南京锦和佳鑫信息科技有限公司 | A kind of into and out method of automatic Pilot special lane inlet and outlet ring road |
| CN110379182B (en) * | 2019-07-12 | 2021-02-02 | 同济大学 | Ramp confluence area cooperative control system based on generalized dynamics of vehicle and road |
| CN111736605B (en) * | 2019-07-12 | 2021-05-28 | 西华大学 | Automobile automatic driving and doubling safety control method |
| CN110782704B (en) * | 2019-11-01 | 2021-02-02 | 北京星云互联科技有限公司 | Traffic guidance method, device and system based on vehicle-road cooperation and storage medium |
| CN112750318B (en) * | 2020-12-30 | 2022-07-05 | 山东高速信息集团有限公司 | Ramp confluence control method and system based on edge cloud |
| CN113192328B (en) * | 2021-04-23 | 2022-05-27 | 长安大学 | Road operation risk prevention and control system and cooperative layout method of traffic signboard |
| CN113257011B (en) * | 2021-05-13 | 2022-07-26 | 广西交通职业技术学院 | Traffic signal control system based on vehicle-road cooperation |
| CN114512009A (en) * | 2022-02-11 | 2022-05-17 | 河南省智慧交通研究院有限公司 | Traffic safety warning induction system and method based on his direction perception |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002260173A (en) * | 2001-02-26 | 2002-09-13 | Sharp Corp | Device and method for providing vehicle information |
| CN1595468A (en) * | 2004-07-01 | 2005-03-16 | 北京交通大学 | A signal control method for junction of entrance ramp and main trunk road |
| CN101299298A (en) * | 2008-06-30 | 2008-11-05 | 上海电科智能系统股份有限公司 | Road self-adapting entrance ramp afflux control equipment and method |
| CN101789183A (en) * | 2010-02-10 | 2010-07-28 | 北方工业大学 | Self-adaptive control system and method for entrance ramp |
| CN101958050A (en) * | 2010-02-10 | 2011-01-26 | 北方工业大学 | Composite express way entrance ramp traffic control and guidance device and method |
-
2011
- 2011-03-29 CN CN 201110077332 patent/CN102157072B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002260173A (en) * | 2001-02-26 | 2002-09-13 | Sharp Corp | Device and method for providing vehicle information |
| CN1595468A (en) * | 2004-07-01 | 2005-03-16 | 北京交通大学 | A signal control method for junction of entrance ramp and main trunk road |
| CN101299298A (en) * | 2008-06-30 | 2008-11-05 | 上海电科智能系统股份有限公司 | Road self-adapting entrance ramp afflux control equipment and method |
| CN101789183A (en) * | 2010-02-10 | 2010-07-28 | 北方工业大学 | Self-adaptive control system and method for entrance ramp |
| CN101958050A (en) * | 2010-02-10 | 2011-01-26 | 北方工业大学 | Composite express way entrance ramp traffic control and guidance device and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11851053B2 (en) | 2020-09-14 | 2023-12-26 | International Business Machines Corporation | Collaborative accident prevention |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102157072A (en) | 2011-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102157072B (en) | Inducing device and inducing method of vehicle confluence at intersection based on vehicle and road crossing | |
| CN105825669B (en) | A kind of system and method for identifying urban expressway traffic bottleneck | |
| CN105118320B (en) | Urban road section traffic guidance method and device based on vehicle-road cooperation | |
| CN106097735B (en) | The tide lane signal lamp control method and system of detection technique are perceived based on plane | |
| CN109410620A (en) | A kind of intelligent network connection long forthright section bus or train route communication test method of vehicle | |
| CN104778834B (en) | Urban road traffic jam judging method based on vehicle GPS data | |
| CN104157147B (en) | Traffic signaling equipment and detection and control method and system for traffic incidents in tunnels | |
| CN103700274B (en) | A kind of traffic flow detection induction method | |
| CN102819954B (en) | Traffic region dynamic map monitoring and predicating system | |
| CN107742432A (en) | Highway operating speed active forewarning system and control method based on bus or train route collaboration | |
| CN104282176B (en) | A kind of intelligent residential district vehicle and pedestrains safety management method and system | |
| CN202771638U (en) | Vehicle safety driving early warning system in fog area | |
| CN104064049B (en) | A kind of intelligent transportation road capacity note broadcasting system | |
| CN105046954B (en) | The current state dynamic detection system in crossing and method analyzed based on video intelligent | |
| CN103903468B (en) | Congestion in road time method for early warning and device | |
| CN205665896U (en) | Intersection signal lamp state recognition device | |
| CN101739828A (en) | Urban traffic area jamming judgment method by combining road traffic and weather state | |
| CN106683449A (en) | Dynamic green-light interval time adjustment method of traffic control system under vehicular access cooperation environment | |
| CN107293135A (en) | A kind of crossing self-adapting vehicle U-turn at intersection traffic guidance system and control method | |
| CN106128127A (en) | Plane cognition technology is utilized to reduce the method and system of signal lamp control crossroad waiting time | |
| CN103456170A (en) | Vehicle speed and vehicle queue length detection method based on machine vision | |
| CN103383709A (en) | Highway long-tunnel exit section daytime illumination optimizing method | |
| CN106297360A (en) | A kind of traffic signal light fault diagnostic equipment | |
| CN105469641A (en) | Danger judgment device and early warning method for special line-type highway sections in mountain area | |
| CN106297331A (en) | Plane cognition technology is utilized to reduce the method and system of junction machine motor-car stop frequency |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130320 |