CN102426802B - Safety early warning method of bus at bus stop in vehicle Internet based environment - Google Patents
Safety early warning method of bus at bus stop in vehicle Internet based environment Download PDFInfo
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- CN102426802B CN102426802B CN2011102537686A CN201110253768A CN102426802B CN 102426802 B CN102426802 B CN 102426802B CN 2011102537686 A CN2011102537686 A CN 2011102537686A CN 201110253768 A CN201110253768 A CN 201110253768A CN 102426802 B CN102426802 B CN 102426802B
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Abstract
The invention discloses a safety early warning method of a bus at a bus stop in a vehicle networking based environment. The vehicle Internet comprises a vehicle intelligent terminal, a roadside foundation and a bus safety information service center. The vehicle intelligent terminal comprises an information acquisition module used for obtaining vehicle operational information by using a positioning system, a sensor and a microprocessor, a wireless communication module used for performing single-way or bidirectional communication between a vehicle information system and a bus safety information central system, an information processing module used for processing data from a vehicle-mounted database and a communication system and providing a man-machine interface to a driver by combining a geographical information system technology, a safety state judgment module used for judging the safety state and receiving a command of an electronic control unit on a vehicle according to a result from the information processing module, and a display warning module used for issuing obtained danger warning information according to a result from the safety state judgment module. The safety early warning method disclosed by the invention realizes intelligent safety early warning and efficiently removes potential safety hazard.
Description
Technical field
The present invention relates to a kind of intelligent auxiliary control method of bus stop.
Background technology
City upblic traffic station is the infrastructure of urban road, is contacting of bus and service object passenger's foundation, therefore guarantees that the public transport safety of bus station is significant.Often wait the bus trip public near bus station more, vehicle is intensive, and bus is entering website and departures import the track process again, easily with the vehicle of former lanes, interweaves, and causes the everything event when serious.Reach by bus seamless-change for convenience of the passenger, the website of different public bus networks usually is set together, this tends to cause the phenomenon of bus bumper-to-bumper before bus station, front truck is not departures also, rear car comes one after another, and causes bus to stop in bus station out of order, and back public transport completes after the service of stop also not wait front public transport to complete to stop to serve and leaving from stationly just surmounts it and roll platform away from, not only affect the operational efficiency of public transit vehicle, and have larger potential safety hazard.In addition, pedestrian and passenger's bad traffic behavior is very unfavorable to the bus safety stop. and for example the passenger has stood on the stopway of platform and has waited, and becomes the inducement of public transport accident.Therefore, the danger that above situation all will cause bus to travel in bus station improves.
Summary of the invention
For overcome existing bus stop without Based Intelligent Control, have the deficiency of potential safety hazard, the invention provides a kind of realize the intelligent and safe early warning, effectively eliminate safe hidden trouble based on bus under the car networked environment at the bus station safe early warning method.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of based on bus under the car networked environment at the bus station safe early warning method, described car networking comprises Vehicular intelligent terminal, roadside pedestal and public transport safety information service center, described Vehicular intelligent terminal comprises: information acquisition module, in order to positioning system, sensor and microprocessor, to obtain vehicle operating information; Wireless communication module, with so that Vehicle Information System and public transport safety information center system are carried out unidirectional or both-way communication; Message processing module, in order to process the data from vehicle-mounted data storehouse and communication system, and the combining geographic information systems technology, provide man-machine interface to the driver; The safe condition discrimination module, in order to the result according to message processing module, differentiate and can receive the order of electronic control unit on vehicle to safe condition, make vehicle have state recognition and faults itself diagnostic function; The display alarm module, in order to the result according to the safe condition discrimination module, will obtain danger warning information and be issued; Described Vehicular intelligent terminal and the communication connection of roadside base, described roadside base and the communication connection of described public transport safety information service center; Described safe early warning method comprises:
When the bus deceleration is entered the station, adopt ultrasonic sensor to detect from this car back diagonal, if bus drivers spins to prepare to change to signal and travels, but have car from then on direction approach and surpass the setting safe distance time, the identification by the Vehicular intelligent terminal will give a warning; When bus accelerates when leaving from station, ultrasonic sensor detects the vehicle of approaching bus that changes to track this front side diagonal, when distance surpasses the identification by the Vehicular intelligent terminal set safe distance the time, will give a warning.
Further, described safe early warning method also comprises: the video detecting sensor is installed in public transit vehicle, detect the situation in bus station for driver assistance, carry out the sampled signal detection by mobile behavior in bus station, comprise whether pedestrian and automobile storage affect current public transit vehicle and enter the station, the information exchange detected is crossed bus system and is passed to message processing module, the message processing module movement-based detects hazardous act judgement recognizer and the face recognition algorithms of principle vehicle and the pedestrian who affects the public transit vehicle stop is carried out to recognition and tracking, and by the safe condition identification module, decision information is carried out the differentiation of safe condition, draw danger warning information, danger warning information is issued by the display alarm unit under vehicle-mounted in-house network, the driver obtains warning message.
Further again, public transport safety information center carries out information transmit-receive by the wide area wireless communication technology, and described danger warning information is issued by electronic stop plate, and the alarm on electronic bus stop board is activated, and warning affects pedestrian and the vehicle that public transit vehicle enters the station.
Further, described safe early warning method also comprises: when many buses arrive website simultaneously, by the wireless communication module in the Vehicular intelligent terminal, operation conditions between public transit vehicle can realize information sharing by Che-Che communication mode, vehicle intelligent terminal can be surveyed the bus longitudinal separation simultaneously, if while with the public transit vehicle travel speed of speeding, surpassing the preset bounds entered the station in order, according to safe car-following model measuring and calculating in safe discrimination module, with speeding to enter the station, bus utilizes the detection of sensor information to front vehicles and spacing, when finding that safe distance between vehicles is not enough, send alarm to the driver in time.
Described safe early warning method also comprises: when bus station has traffic hazard to occur, the driver is by the man-machine interface in vehicle intelligent terminal, by the unusual condition of bus station input coupled unit, and the Che-Lu realized with the roadside base by radio communication communicates by letter, and send to the public transport safety information service center, described public transport safety information service center generates emergency plan, and the road traffic safety information heart is sent to the public transit vehicle by way of this bus station by the wide area wireless communication technology.
Beneficial effect of the present invention is mainly manifested in: realize the intelligent and safe early warning, effectively eliminate safe hidden trouble; The minimizing public transit vehicle changes and enters the station and set off and other collision happens, and assurance public transport is entered the station in order, reduces bus and incurs loss through delay in bus station, detects in real time the bus station safety case, is convenient to the public transport safety operational management.
The accompanying drawing explanation
Fig. 1 is the schematic diagram of the vehicle net of bus platform.
Fig. 2 is the schematic diagram of vehicle intelligent terminal.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
See figures.1.and.2, a kind of based on bus under the car networked environment at the bus station safe early warning method, described car networking comprises Vehicular intelligent terminal, roadside pedestal and public transport safety information service center, and vehicle intelligent terminal mainly comprises locating module, information acquisition module, message processing module, safe condition discrimination module, wireless communication module and display alarm module.For information acquisition module, positioning system, sensor and microprocessor obtain each parts operation information of vehicle; Wireless communication module makes Vehicle Information System and public transport safety information center system carry out unidirectional or both-way communication, makes driver and information center can know current information and other service information; Message processing module is processed the data from vehicle-mounted data storehouse and communication system, and combining geographic information system (Geographic Information System is called for short GIS) technology and special user program, to the driver, provides good man-machine interface; The control decision module can be to the corresponding result of message processing module to the differentiation of its safe condition and can receive the order of electronic control unit on vehicle, make vehicle there is simple state recognition and faults itself diagnostic function.The display alarm module, according to the result of control decision, will obtain danger warning information and be issued.Arrange in roadside simultaneously and take wireless data communications, information storage and forward roadside base (the Roadside Unit as major function, be called for short RSU), each base station, roadside stores associated stations information and road static attribute, and can establish a communications link by the wire communication medium such as radio communication or optical cable and public transport safety information service center.
The public transit vehicle networking comprises 2 parts; 1. vehicle intelligent terminal be installed on vehicle and coupled together by information sensing equipment and vehicle arrangement, realizing Intellectualized monitoring and management, i.e. vehicle-mounted in-house network.Vehicle-mounted in-house network is used the automobile fieldbus as the basic communication bus, as automobile CAN (Controller Area Network) bus, LIN (Local Interconnect Network) bus, can adopt bus-type and the star-like network topology structure connecting sensor combined, by In-vehicle networking, can carry out automobile control and realize in car that exchanges data and the corresponding wireless communication module of information sharing can be used as a wave point being built on the automotive bus system network, data can be transmitted on the net at internal bus system.2. with mobile communication technology, car-mounted terminal and external network are coupled together, realize between public transit vehicle, the message exchange between public transit vehicle and base station, roadside, i.e. outside vehicle net.The mutual data of outside vehicle net can be passed through the wide area wireless communication technology, as subchannel frequency modulation broadcasting, CDPD technology, GSM/GPRS technology are received and dispatched, adopt the local area radio communication technology simultaneously, as Dedicated Short Range Communications, DSRC, be mainly used in the roadside base and store real time kinematics status information, associated stations information and the road attribute information that receives surrounding vehicles by special-purpose DSRC (Dedicated Short Range Communication), enter the information of the public transit vehicle reception associated stations in the base less radio-frequency coverage of roadside, road attribute data etc. simultaneously.
Method for early warning is described as follows:
(1) public transit vehicle slows down, and to enter the station and to accelerate departures are Yi Gehuan road processes, as figure now can adopt sharp ultrasonic sensor to detect from this car back diagonal when the bus deceleration is entered the station, if spinning, bus drivers prepares to change to travel to signal, but, when car being arranged from then on direction approaching, the identification by vehicle intelligent terminal will give a warning.When bus accelerates when leaving from station, ultrasonic sensor can detect the vehicle of approaching bus that changes to track this front side diagonal.
(2) in public transit vehicle stop process, avoid surrounding vehicles in order to guarantee public transit vehicle, pedestrian's interference, at public transit vehicle, the video detecting sensor is housed, detect the situation in bus station for driver assistance, carry out mobile behavior by mobile behavior in bus station and carry out the sampled signal detection, comprise whether pedestrian and automobile storage affect current public transit vehicle and enter the station, the information exchange detected is crossed corresponding bus system and is passed to corresponding message processing module, the message processing module movement-based detects hazardous act judgement recognizer and the face recognition algorithms of principle vehicle and the pedestrian who affects the public transit vehicle stop is carried out to recognition and tracking, and by the safe condition identification module, its corresponding decision information is carried out to the differentiation of safe condition, the corresponding danger warning information drawn, danger warning information is issued by the display alarm unit on the one hand under vehicle-mounted in-house network, the driver obtains corresponding warning message, can adjust immediately current transport condition, take corresponding workaround, on the other hand at the outside vehicle net, public transport safety information center carries out information transmit-receive by the wide area wireless communication technology, and corresponding warning against danger is issued by electronic stop plate, it is activated alarm on electronic bus stop board, affect with warning pedestrian and the vehicle that public transit vehicle enters the station.
(3) when many buses arrive website simultaneously, the bus of back tends to surmount the place ahead public transit vehicle and stops on adjacent lane, complete and stop service departures Hou Zaihuan road and sail in station and stop Deng the front bus, seriously hindered the operation of this track and adjacent lane wagon flow, simultaneously because the public transit vehicle of bus station stop is more, cause tissue disorder, due to vehicle intelligent terminal all being housed on public transit vehicle, by the wireless communication module in intelligent terminal, operation conditions between public transit vehicle can be passed through Che-Che communication mode (Vehicle to Vehicle, abbreviation V2V) realize information sharing, vehicle intelligent terminal can be surveyed constantly to the situation in the bus certain limit simultaneously, once with the public transit vehicle travel speed of speeding, surpass the preset bounds entered the station in order, according to safe car-following model measuring and calculating and programmed control in safe discrimination module, the bus that enters the station with speeding utilizes sensor information effectively detecting in real time front vehicles and spacing, when finding that safe distance between vehicles is not enough, send alarm to the driver in time.Between the public transit vehicle that the method can make to enter the station successively, cooperation mutually, reduce the delay of public transit vehicle in the process of entering the station, can early warning to public transport accident between potential public transit vehicle, and avoid the accidents such as the collision between public transit vehicle and the side impact of entering the station to occur.
(4) when near the hazard events such as traffic hazard is arranged bus station occur, the driver is by the man-machine interface in vehicle intelligent terminal, by the unusual condition of corresponding bus station input coupled unit, and by radio communication and roadside base RSU, the Che realized-Lu (Vehicle to Roadside that communicates by letter, be called for short V2R), information center is pacified in final public transport can obtain abnormal conditions immediately, and generate in time emergency plan, and timely the corresponding road traffic safety information heart is sent to the public transit vehicle by way of this bus station by the wide area wireless communication technology.
The present embodiment is under the car networked environment, and by the public transit vehicle driver, public transit vehicle, the public transport operation environment, public transport safety information service center application modern network and mechanics of communication will be as whole public transit system organisms, its core is at public transit vehicle, form the wireless telecommunications coordination mechanism between bus travel environment and bus drivers, the traffic behavior cooperated with each other separately, be written into vehicle intelligent terminal in public transit vehicle, for collecting, process, the data of decision-making travel condition of vehicle, when public transit vehicle travels near bus station, the public transit vehicle safety case that can enter bus station to operation detects in real time, implement in time early warning, reduce bus drivers burden and misjudgment, guarantee that public transit vehicle travels more convenient, safety, intelligence.
Claims (4)
- One kind based on bus under the car networked environment at the bus station safe early warning method, it is characterized in that: described car networking comprises Vehicular intelligent terminal, roadside pedestal and public transport safety information service center, described Vehicular intelligent terminal comprises: information acquisition module, in order to positioning system, sensor and microprocessor, to obtain vehicle operating information; Wireless communication module, with so that Vehicle Information System and public transport safety information center system are carried out unidirectional or both-way communication; Message processing module, in order to process the data from vehicle-mounted data storehouse and communication system, and the combining geographic information systems technology, provide man-machine interface to the driver; The safe condition discrimination module, in order to the result according to message processing module, differentiate and can receive the order of electronic control unit on vehicle to safe condition, make vehicle have state recognition and faults itself diagnostic function; The display alarm module, in order to the result according to the safe condition discrimination module, will obtain danger warning information and be issued; Described Vehicular intelligent terminal and the communication connection of roadside base, described roadside base and the communication connection of described public transport safety information service center; Described safe early warning method comprises:When the bus deceleration is entered the station, adopt ultrasonic sensor to detect from this car back diagonal, if bus drivers spins to prepare to change to signal and travels, but have car from then on direction approach and surpass the setting safe distance time, the identification by the Vehicular intelligent terminal will give a warning; When bus accelerates when leaving from station, ultrasonic sensor detects the vehicle of approaching bus that changes to track this front side diagonal, when distance surpasses the identification by the Vehicular intelligent terminal set safe distance the time, will give a warning; Described safe early warning method also comprises:The video detecting sensor is installed in public transit vehicle, detect the situation in bus station for driver assistance, carry out the sampled signal detection by mobile behavior in bus station, comprise whether pedestrian and automobile storage affect current public transit vehicle and enter the station, the information exchange detected is crossed bus system and is passed to message processing module, the message processing module movement-based detects hazardous act judgement recognizer and the face recognition algorithms of principle vehicle and the pedestrian who affects the public transit vehicle stop is carried out to recognition and tracking, and by the safe condition discrimination module, decision information is carried out the differentiation of safe condition, draw danger warning information, danger warning information is issued by the display alarm unit under vehicle-mounted in-house network, the driver obtains warning message.
- As claimed in claim 1 based on bus under the car networked environment at the bus station safe early warning method, it is characterized in that: public transport safety information center carries out information transmit-receive by the wide area wireless communication technology, and described danger warning information is issued by electronic stop plate, alarm on electronic bus stop board is activated, and warning affects pedestrian and the vehicle that public transit vehicle enters the station.
- As claimed in claim 1 or 2 based on bus under the car networked environment at the bus station safe early warning method, it is characterized in that: described safe early warning method also comprises: when many buses arrive website simultaneously, by the wireless communication module in the Vehicular intelligent terminal, operation conditions between public transit vehicle can realize information sharing by Che-Che communication mode, vehicle intelligent terminal can be surveyed the bus longitudinal separation simultaneously, if while with the public transit vehicle travel speed of speeding, surpassing the preset bounds entered the station in order, according to safe car-following model measuring and calculating in safe discrimination module, with speeding to enter the station, bus utilizes the detection of sensor information to front vehicles and spacing, when finding that safe distance between vehicles is not enough, send alarm to the driver in time.
- As claimed in claim 3 based on bus under the car networked environment at the bus station safe early warning method, it is characterized in that: described safe early warning method also comprises: when bus station has traffic hazard to occur, the driver is by the man-machine interface in vehicle intelligent terminal, by the unusual condition of bus station input coupled unit, and the Che-Lu realized with the roadside base by radio communication communicates by letter, and send to the public transport safety information service center, described public transport safety information service center generates emergency plan, and the road traffic safety information heart is sent to the public transit vehicle by way of this bus station by the wide area wireless communication technology.
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| CN103457918A (en) * | 2012-06-04 | 2013-12-18 | 中兴通讯股份有限公司 | Vehicle control method, vehicle-mounted client sides, application platform and system |
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| CN109671244A (en) * | 2018-12-25 | 2019-04-23 | 张鸿青 | A kind of dangerous tip method and device based on bus station |
| DE102019205017B3 (en) * | 2019-04-08 | 2020-07-02 | Zf Friedrichshafen Ag | Determining the intention of a means of transport |
| CN111311909B (en) * | 2020-02-19 | 2020-09-29 | 河海大学 | Method for controlling vehicles leaving station at bay bus stop in lane and road cooperative environment |
| CN114215397B (en) * | 2021-12-20 | 2023-07-18 | 上海特弗智能交通科技有限公司 | Bus shelter with intelligent monitoring function stops |
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