CN102723001B - Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning - Google Patents
Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning Download PDFInfo
- Publication number
- CN102723001B CN102723001B CN201210189007.3A CN201210189007A CN102723001B CN 102723001 B CN102723001 B CN 102723001B CN 201210189007 A CN201210189007 A CN 201210189007A CN 102723001 B CN102723001 B CN 102723001B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- speed
- curved
- information
- bend
- 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
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012544 monitoring process Methods 0.000 claims abstract description 45
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 36
- 238000004422 calculation algorithm Methods 0.000 claims description 26
- 238000009434 installation Methods 0.000 claims description 11
- 238000005516 engineering process Methods 0.000 claims description 10
- 241000209094 Oryza Species 0.000 claims description 9
- 235000007164 Oryza sativa Nutrition 0.000 claims description 9
- 235000009566 rice Nutrition 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 3
- 206010039203 Road traffic accident Diseases 0.000 abstract description 4
- 230000008859 change Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 5
- 238000011160 research Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 2
- 229910052753 mercury Inorganic materials 0.000 description 2
- 230000035484 reaction time Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 206010027146 Melanoderma Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention discloses an implementation method for a speed feedback sign for bend steering vehicle speed safety state prewarning. The speed feedback sign system which consists of a monitoring camera, a rain sensor and a speed feedback sign device is arranged on the roadbed side of a road in front of a bend entrance in a retrograde vehicle direction, wherein a central control chip, a speed measuring radar, a light emitting diode (LED) display screen and prompting characters are arranged in the speed feedback sign device; a driver is warned to control the vehicle speed within a proper range before a vehicle enters a bend according to the conditions such as types of driven vehicles, weather conditions and road alignment conditions, so that traffic accidents after the vehicle enters the bend are prevented, and bend entrance critical safe vehicle speed corresponding to different vehicle types can be prompted in real time aiming at the change of road adhesion coefficients caused by different weather conditions and different bend road sections, and vehicle speed information and running states are fed back to the driver before the vehicle enters the bend; and therefore, enough time for the driver to adjust the vehicle speed is ensured and the road operation safety is improved.
Description
Technical field
The present invention relates to Che-Lu coordination technique field, be specifically related to the implementation method of the speed feedback marks system of a kind of turning around a curve speed of a motor vehicle safe condition early warning.
Background technology
Along with advancing by leaps and bounds of China's road traffic cause, road traffic accident rapid growth has become the serious problems that traffic administration faces.Although China's related management department has taked a lot of measures in recent years, compares to western developed country, the accident indexes such as the road traffic accident rate of China and ten thousand car mortality ratio are all relatively high, and Road Safety Status is still very severe.According to road traffic accident, statistical study shows, bend section is black spot, and driver Chang Yin drives over the speed limit into curved causing to lose control of one's vehicle and causes traffic hazard, causes great economy and property loss.Therefore, the traffic safety in enhancing bend section has great practical significance.
At present, the research that both at home and abroad enters curved this problem of security performance around lifting vehicle launched and produced many representational achievement in research ，Ru Greece Si Piluosiweiqisi research and development for the equipment to motorist warning excessive speed of turning around a curve.This equipment judges whether excessive speed of turning send corresponding chimes of doom under overspeed situation of driver by monitoring built-in mercury tilt switch value.Yet this equipment only has when vehicle enters when curved rear mercury tilt switch value surpasses a threshold value, just can send chimes of doom, concerning driver, improve the reaction time short and under sleety weather driver at bend, take the measures such as brake hard more easily to cause danger and accidents caused.
Another kind of Typical Representative be the invention of Japanese Toyota Motor Corporation rep. for turn running along curved road time run stability control device, this device can be independent of driver's steering operation and control and turn to the steering angle of wheel of vehicle and be applied to the driving force/damping force on each wheel, and calculates the target turning driving controlled quentity controlled variable of vehicle.But this device is independent of driver's characteristic makes its active maneuvering performance poor, is difficult for controlling.
In addition the navigation safety early warning of Taiwan Industrial Technology Research Institute invention and driving recording method, GM Global Technology Operation for approaching and the method for control speed of the vehicle on bend that travels and the expressway bend detection method based on computer vision of Zhejiang University etc. also all enter curved security control to vehicle and carried out corresponding research.
But more than research all mainly comes lifting vehicle in the security of negotiation of bends from the angle of car, and rarely have to relate to, from road service function angle, improve vehicle and enter curved driving safety.At present from road service function angle, improve the facility that vehicle enters curved driving safety and mainly contain speed feedback marks, its function is mainly to point out the real-time speed of a motor vehicle and section restricted speed to approaching vehicle, but driver can not intuitively be recognized rapidly and be taked what kind of strategy of speed control from this sign, and above-mentioned sign is dry for what cause in different weather condition, the variation of wet road vehicles tire and coefficient of road adhesion does not relate to substantially on the impact of safe speed yet, main consideration is the safe speed under dry pavement condition, thereby by the suggested safety speed-limit of speed feedback marks, travel and still have certain potential safety hazard under the low attachment coefficient condition causing at sleety weather wet-skid road surface.
In addition, by accident statistical analysis, known, different automobile types is also incomplete same in the Common Accidents form in bend section, and wherein car is more with sideslip whipping accident, and the higher truck in quality compare great, center, operating passenger car etc. are more with rollover accident.Therefore, vehicle factor is also that the bend speed of a motor vehicle is controlled a key factor will considering, and above invention, technology or device etc. are not all made clearly and being distinguished vehicle.
Summary of the invention
The defect or the deficiency that for above-mentioned prior art, exist, the object of the invention is to, provide a kind of in order to point out the implementation method of the speed feedback marks system of turning around a curve speed of a motor vehicle safe condition early warning to driver, the method is based on Che-Lu coordination technique, angle from road, so that round-the-clock real-time to dissimilar enter this vehicle under curved vehicle prompting Different climate condition corresponding enter the curved criticality safety speed of a motor vehicle, can change and different bends section real-time prompting different automobile types is corresponding enters the curved criticality safety speed of a motor vehicle for caused road-adhesion coefficient under different weather condition, and speed information and transport condition are entered to the curved front driver that feeds back in time at vehicle, to guarantee that driver has time enough to carry out speed of a motor vehicle adjustment, improve road operating safety.
In order to realize above-mentioned task, the technical solution adopted in the present invention is:
The implementation method of the speed feedback marks system of a kind of turning around a curve speed of a motor vehicle safe condition early warning, it is characterized in that, road foundation side before the contrary bend porch of direction of traffic is installed monitoring camera, the speed feedback marks system of rain sensor and speed feedback marks installation composition, wherein, in speed feedback marks device, there is middle control chip, velocity radar, LED display and prompting character, according to driven motorcycle type, weather condition and road alignment condition etc., with warning, driver is controlled at the speed of a motor vehicle in suitable scope before entering bend, to prevent the generation into curved rear traffic hazard, implementation step is as follows:
1) parameter typing: the road structure indication informations such as radius of horizontal curve, top rake, ramp length and road surface construction depth that the bend section at this speed feedback marks system place is installed are entered in middle control chip, as the constant input parameter of this speed feedback marks system.
2) set up model algorithm storehouse: for studying the curved criticality safety speed of a motor vehicle that enters of different automobile types under the different weather condition of variant section, need to set up the model algorithm storehouse that comprises pavement structure index and rainfall intensity and rain water depth on road surface, water film thickness and coefficient of road adhesion, coefficient of road adhesion and enter the curved criticality safety speed of a motor vehicle, and this algorithms library is entered in middle control chip so that system calculates the curved criticality safety speed of a motor vehicle that enters under respective conditions after obtaining in real time vehicle and rainfall density information.
3) the monitoring camera Real-time Collection being arranged on before bend porch is about to the dynamic image into curved vehicle, and by associated picture recognition technology, identify fast the vehicle information of sailing vehicle in image into, as one of real-time input parameter of this system, send to middle control chip.
4) be arranged on that roadbed side monitoring camera is other shares with monitoring camera the rain sensor that electric pole is installed, send the rainfall amount information in the unit interval measuring to middle control chip in real time, also as one of real-time input parameter of this system.
5) the rainfall intensity information that collects according to rain sensor of control chip in, according to the relation of the rainfall intensity of typing and road structural parameter and water film thickness in algorithms library, calculates the Real-time Water film thickness information under this curved road surface condition; According to the relation of water film thickness in algorithms library and coefficient of road adhesion, calculate the real-time coefficient of road adhesion in this section under this water film thickness condition again.
6) the vehicle information that in, control chip collects according to monitoring camera and the real-time attachment coefficient in road surface of calculating before, according to the coefficient of road adhesion of this kind of vehicle in algorithms library and the critical relation entering between curved safe speed, calculate this kind of vehicle and be in and enter in real time the curved criticality safety speed of a motor vehicle under this kind of weather condition at this bend.
7) the built-in speed radar Real-time Collection in speed feedback marks device this enter the automobile's instant velocity of curved vehicle, and this automobile's instant velocity information is sent to middle control chip.
8) in control chip according to before calculate this vehicle under this weather condition in the curved criticality safety speed of a motor vehicle that enters at place, this section, this vehicle that contrast velocity radar records enters curved front real-time automobile's instant velocity, differentiate this vehicle automobile's instant velocity and whether surpassed the curved criticality safety speed of a motor vehicle that enters that system-computed obtains, and this information is sent to the LED display in speed feedback marks device.
9) LED display in speed feedback marks device is according to the middle control chip information received, by real-time automobile's instant velocity, the system of this vehicle calculate the criticality safety speed of a motor vehicle and the speed of a motor vehicle status information (whether exceed the speed limit and maybe should take which kind of speed control countermeasure) of this vehicle be presented in LED display.
10) above-mentioned steps 1) all at 1-2, in second, complete to step 9) process, guarantee before vehicle Negotiation speed feedback marks device, information to be presented in LED display.
11) vehicle drive people is according to the information showing in speed feedback marks device LED display, understand the real-time driving speed of a motor vehicle state of oneself, and under hypervelocity condition, entering the curved front timely adjustment reduction speed of a motor vehicle to be stabilized in criticality safety vehicle speed range, thereby it is curved rear because the speed of a motor vehicle is too fast or sliding having an accident crossed on road surface to prevent that vehicle from entering, and reduces vehicle in the potential safety hazard of sailing bend place into.
The rudimentary algorithm model in described model algorithm storehouse is:
(1) under condition of raining:
The numerical relationship model of water film thickness and road structural parameter and rainfall intensity is:
h＝f(l,i,q,TD)
In formula, h: domatic water film thickness (mm);
L: length of grade (m);
I: the gradient;
Q: rainfall intensity (mm/min);
TD: road surface construction depth (mm).
Numerical relationship model between attachment coefficient and automobile's instant velocity and water film thickness is:
In formula,
attachment coefficient between tire and road surface;
V-automobile's instant velocity;
H-water film thickness.
The numerical relationship model of road surface friction factor and attachment coefficient is:
In formula, μ: road surface friction factor.
Enter the relation of the curved criticality safety speed of a motor vehicle and attachment coefficient, vehicle mass, turning radius and vehicle:
v
l＝f(μ，m,R,S)
In formula, m: vehicle mass (kg);
V
l: enter the curved criticality safety speed of a motor vehicle (km/h);
R: turning radius (m);
S: vehicle information (car, passenger vehicle, lorry etc.).
(2) without under condition of raining:
Without (dry pavement) surface friction coefficient μ under condition of raining, can when equipment is installed, by corresponding test, directly record, and utilize the above-mentioned relation that enters the curved criticality safety speed of a motor vehicle and attachment coefficient to calculate without the curved criticality safety speed of a motor vehicle that enters under rainfall (being that road surface is not wet and slippery) condition.
In described step 3), monitoring camera is arranged on the road foundation side before contrary direction of traffic bend porch, along track direction apart from bend porch, distance is about 100-200 rice left and right, and the contrary direction of traffic of monitoring is the vehicle vehicle information of sailing within the scope of 30-100 rice apart from camera installation site distance.The present invention utilizes pinnacled single camera supervision road surface is installed, and the type of vehicle that can pass through multilane carries out detection of dynamic and statistics.
As one of core technology of the present invention, the ultimate principle of its vehicle identification is: in monitoring occasion, camera is fixed mostly, and background very slowly changes, and can from image sequence, take out gradually natural background.Camera calibration has adopted pin-hole model to calculate projection perspective matrix.In track, by the similarity of the target that before and after the tracking utilization of vehicle, two frames are partitioned into, mate, by coupling, can to flow, count exactly, the present invention has adopted Hausdorff apart from matching image.Utilize length and width information and Model Matching, vehicle vehicle is classified.Tentatively vehicle is divided into passenger vehicle, car and lorry three major types.
Described middle rain sensor is arranged on roadbed side monitoring camera side and shares electric pole is installed with monitoring camera, sends the rainfall amount information in the unit interval measuring to middle control chip in real time.Its principle of work is: when a small room water receiving, it is in running order, and another small room is in water receiving waiting status.When the ponding capacity of work small room is while reaching preset value, due to the just own overturning of effect of gravity, the every reversion of tipping bucket once, is just sent a pulse signal, according to statistical unit in the time pulse number can realize the object that rainfall amount intensity is monitored.
The implementation method of the speed feedback marks system of turning around a curve speed of a motor vehicle safe condition of the present invention early warning, enters bend linear combination section applicable to the straight line of the higher road of the road speeds such as highway, Class I highway, Class II highway, and tool has the following advantages:
1, from Che-Lu coordination technique angle, the raising road safety service ability of take is object, before sailing bend into, vehicle just to the hypervelocity hazardous act of human pilot, provides alert early, guaranteed that driver has enough reaction time and reaction distance to reduce into the curved speed of a motor vehicle, thereby guaranteed driving safety.
2, can be presented in real time under different weather condition, the criticality safety speed of a motor vehicle of different sections of highway structure and different automobile types, especially to improving drive safety under misty rain weather condition, help greatly.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the embodiment of the present invention.
Fig. 2 is controlled the fundamental diagram of chip in the embodiment of the present invention.
Fig. 3 is the installation site schematic diagram of the embodiment of the present invention.
Fig. 4 is the camera schematic diagram of the embodiment of the present invention.
Fig. 5 is the tipping bucket rain gauge fundamental diagram of the embodiment of the present invention.
Fig. 6 A is the speed feedback marks apparatus structure schematic diagram of the embodiment of the present invention.
Fig. 6 B is the speed feedback marks device effect schematic diagram of the embodiment of the present invention.
Mark in figure represents respectively: 1, monitoring camera (installation site), 2, rain sensor (installation site), 3, speed feedback marks device (installation site), 4, bend entrance, 5, direction of traffic, 6, roadbed side, 7, bend, 8, monitoring camera, 9, tipping bucket rain gauge, 10, LED display, 11, velocity radar (installation site), 12, middle control chip (installation site), 13, prompting character, 14, speed feedback marks device.
Below in conjunction with drawings and Examples, the present invention is described in further detail, it should be noted that, the embodiment below providing realizes a preferred embodiment of the present invention, but be not subject to the restriction of embodiment.
Embodiment
Referring to Fig. 1～Fig. 6, the present embodiment provides the implementation method of the speed feedback marks system of a kind of turning around a curve speed of a motor vehicle safe condition early warning, road foundation side before the contrary bend porch of direction of traffic is installed the speed feedback marks system that monitoring camera 8, rain sensor 9 and speed feedback marks device 14 form, wherein, speed feedback marks device 14 by control chip 12, velocity radar 11, LED display 10 and prompting character 13 form.Monitoring camera 8, rain sensor 9 and speed feedback marks device 14 common circuits, the circuit transmission pulse signal that communicates.
1) parameter typing: the road structure indication informations such as radius of horizontal curve, top rake, ramp length and road surface construction depth that the bend section at this speed feedback marks system place is installed are entered in middle control chip, as the constant input parameter of this speed feedback marks system.
2) set up model algorithm storehouse: for studying the curved criticality safety speed of a motor vehicle that enters of different automobile types under the different weather condition of variant section, need to set up the model algorithm storehouse that comprises pavement structure index and rainfall intensity and rain water depth on road surface, water film thickness and coefficient of road adhesion, coefficient of road adhesion and enter the curved criticality safety speed of a motor vehicle, and this algorithms library is entered in middle control chip so that system calculates the curved criticality safety speed of a motor vehicle that enters under respective conditions after obtaining in real time vehicle and rainfall density information.
3) the monitoring camera Real-time Collection being arranged on before bend porch is about to the dynamic image into curved vehicle, and by associated picture recognition technology, identify fast the vehicle information of sailing vehicle in image into, as one of real-time input parameter of this system, send to middle control chip.
4) be arranged on that roadbed side monitoring camera is other shares with monitoring camera the rain sensor that electric pole is installed, send the rainfall amount information in the unit interval measuring to middle control chip in real time, also as one of real-time input parameter of this system.
5) the rainfall intensity information that collects according to rain sensor of control chip in, according to the relation of the rainfall intensity of typing and road structural parameter and water film thickness in algorithms library, calculates the Real-time Water film thickness information under this curved road surface condition; According to the relation of water film thickness in algorithms library and coefficient of road adhesion, calculate the real-time coefficient of road adhesion in this section under this water film thickness condition again.
6) the vehicle information that in, control chip collects according to monitoring camera and the real-time attachment coefficient in road surface of calculating before, according to the coefficient of road adhesion of this kind of vehicle in algorithms library and the critical relation entering between curved safe speed, calculate this kind of vehicle and be in and enter in real time the curved criticality safety speed of a motor vehicle under this kind of weather condition at this bend.
7) the built-in speed radar Real-time Collection in speed feedback marks device this enter the automobile's instant velocity of curved vehicle, and this automobile's instant velocity information is sent to middle control chip.
8) in control chip according to before calculate this vehicle under this weather condition in the curved criticality safety speed of a motor vehicle that enters at place, this section, this vehicle that contrast velocity radar records enters curved front real-time automobile's instant velocity, differentiate this vehicle automobile's instant velocity and whether surpassed the curved criticality safety speed of a motor vehicle that enters that system-computed obtains, and this information is sent to the LED display in speed feedback marks device.
9) LED display in speed feedback marks device is according to the middle control chip information received, by real-time automobile's instant velocity, the system of this vehicle calculate the criticality safety speed of a motor vehicle and the speed of a motor vehicle status information (whether exceed the speed limit and maybe should take which kind of speed control countermeasure) of this vehicle be presented in LED display.
10) above-mentioned steps 1) all at 1-2, in second, complete to step 9) process, guarantee before vehicle Negotiation speed feedback marks device, information to be presented in LED display.
11) vehicle drive people is according to the information showing in speed feedback marks device LED display, understand the real-time driving speed of a motor vehicle state of oneself, and under hypervelocity condition, entering the curved front timely adjustment reduction speed of a motor vehicle to be stabilized in criticality safety vehicle speed range, thereby it is curved rear because the speed of a motor vehicle is too fast or sliding having an accident crossed on road surface to prevent that vehicle from entering, and reduces vehicle in the potential safety hazard of sailing bend place into.
The ultimate principle of vehicle identification is: in monitoring occasion, camera is fixed mostly, and background very slowly changes, and can from image sequence, take out gradually natural background.Camera calibration has adopted pin-hole model to calculate projection perspective matrix.In track, by the similarity of the target that before and after the tracking utilization of vehicle, two frames are partitioned into, mate, by coupling, can to flow, count exactly, the present invention has adopted Hausdorff apart from matching image.Utilize length and width information and Model Matching, vehicle vehicle is classified.Tentatively vehicle is divided into passenger vehicle, car and lorry three major types.
In the present embodiment, monitoring camera 8 is chosen the colored monitoring camera of 1/2 inch CCD, rain sensor 9 is chosen tipping bucket rain gauge, and the velocity radar 11 in speed feedback marks device 14 is chosen for Microwave Velocity radar, and LED display 10 is chosen for full-color LED display screen.
Model algorithm storehouse substance comprises: numerical relationship model, the coefficient of road adhesion of numerical relationship model, water film thickness and the coefficient of road adhesion of rainfall intensity and road structure index and water film thickness and enter the numerical relationship model of the curved criticality safety speed of a motor vehicle.
One) under condition of raining:
When bend 7 section overland flows are stablized, between domatic water film thickness and rainfall intensity, length of grade, the gradient and road surface construction depth, there is following mathematical relation (supposing that its pass is exponential type):
h＝f(l,i,q,TD)
In formula, h: domatic water film thickness (mm);
L: length of grade (m);
I: the gradient;
Q: rainfall intensity (mm/min);
TD: road surface construction depth (mm).
Set up contact and steady rolling tire finite element model, and image data is carried out regretional analysis by experiment, can obtain the relational expression of attachment coefficient and water film thickness, the automobile's instant velocity that travels under this experiment condition:
In formula,
attachment coefficient for road surface and tire;
V is the vehicle automobile's instant velocity (km/h) recording;
H is water film thickness.
The numerical relationship model of road surface friction factor and attachment coefficient is:
In formula, μ: road surface friction factor.
Road surface friction factor with the numerical relationship model that enters the curved criticality safety speed of a motor vehicle is:
F＝μN＝ma
According to statistical study, different vehicle vehicle is also incomplete same in the accident form at bend place, and wherein car mainly be take sideslip as main, and passenger vehicle, lorry are because quality is large, center of gravity is high, and accident is main mainly with rollover.Therefore, vehicle, also as entering one of curved safe speed influence factor, is obtained to the numerical relationship model into the curved criticality safety speed of a motor vehicle and attachment coefficient, vehicle mass, turning radius and vehicle thus:
v
l＝f(μ，m,R,S)
In formula, m: vehicle mass (kg);
V
l: enter the curved criticality safety speed of a motor vehicle (km/h);
R: turning radius (m);
S: vehicle information (car, passenger vehicle, lorry etc.).
In conjunction with before each numerical relationship model, programming will in above-mentioned mathematical model typing, control chip, can show that different automobile types real-time criticality safety in a certain section under different weather condition enters the curved speed of a motor vehicle.
Two) under non-condition of raining
Under this weather condition, surface friction coefficient μ can directly record by correlation test and programme and be entered among middle control chip when equipment is installed, and utilizes the above-mentioned relation that enters the curved criticality safety speed of a motor vehicle and attachment coefficient to calculate without the curved criticality safety speed of a motor vehicle that enters under rainfall (being that road surface is not wet and slippery) condition.
3) monitoring camera 8 Real-time Collections that are arranged on before bend entrance 4 places are about to the dynamic image into the vehicle of bend 7, and by associated picture recognition technology, identify fast the vehicle information of sailing vehicle in image into, as one of real-time input parameter of this system, send to middle control chip 12.
In the present embodiment, monitoring camera 8 is arranged on the roadbed side 6 at contrary direction of traffic 5 front 150 meters of, bend porch 4, and the vehicle of the contrary direction of traffic 5 of monitoring within the scope of monitoring camera 8 the place ahead, position 30-100 rice sails information into.And the image recognition processing technology of setting up according to programming, to sailing vehicle in monitored picture into, extract profile information, screen and sail vehicle vehicle into.Its vehicle is screened ultimate principle: in monitoring occasion, camera is fixed mostly, and background very slowly changes, and can from image sequence, take out gradually natural background.Camera calibration has adopted pin-hole model to calculate projection perspective matrix.In track, by the similarity of the target that before and after the tracking utilization of vehicle, two frames are partitioned into, mate, by coupling, can to flow, count exactly, the present embodiment has adopted Hausdorff apart from matching image.Utilize length and width information and Model Matching, vehicle information can be classified.In Model Matching and vehicle identification, need to recover target three-dimensional information from two dimensional image, three-dimensional model is projected to the plane of delineation simultaneously and get on, therefore must calculate three dimensions to the projection relation matrix of the plane of delineation, i.e. so-called camera calibration.The present invention adopts the camera marking method based on pin-hole model, and its ultimate principle is reference mark and the coordinate of these reference mark in image utilizing in one group of given three-dimensional world coordinate, solves system of linear equations, calculates each element in perspective projection matrix.
The present embodiment is roughly divided into this three class of car, passenger vehicle and lorry by type of vehicle.When application, first recover the three-dimensional information of vehicle, a computational length and width.Due to a bit corresponding series of points of different depth in camera coordinates in two dimensional image plane, so a bit recovering this in world coordinates in information from image, want one-component in given Gai Dian world coordinate figure to reduce uncertainty, conventionally to give outgoing direction height value.On having calculated target vehicle diagonal line, after the world coordinates of 2, can obtain the projection on the ground of the vehicle chassis centre of form, this projection value be exactly vehicle in world coordinate system vehicle with respect to the translation of world coordinate system initial point.Suppose two direction of motion that vehicle is only made a return journey along track simultaneously, according to velocity information, can judge vehicle angle on the ground.Utilize three-dimensional modeling data and vehicle angle value and the shift value on the ground of vehicle itself, by perspective projection transformation, just can determine uniquely the projection of vehicle on the plane of delineation.After entering monitoring range completely on vehicle, according to its length and width, can be divided into big or small two classes.For cart, suppose that it is all passenger vehicle or lorry; For dolly, the three-dimensional model of general car is projected in plane, obtain vehicle edge to the mean distance (this also can adopt range conversion to realize) of wire-frame model, model corresponding to small distance value is exactly the kind of vehicle to be identified.Conventionally because vehicle chassis centroid calculation is inaccurate, to same model projection, need to adopt three step search procedures to obtain corresponding distance value in different positions, the minimum value of getting is wherein measured as the degree of agreement of this model and vehicle edge.Thus, just vehicle can be screened as car, passenger vehicle and lorry three classes, and this examination information is passed to middle control chip 12.
4) be arranged on that roadbed side monitoring camera 8 is other shares with monitoring camera 8 rain sensor 9 that electric pole is installed, send the rainfall amount information in the unit interval measuring to middle control chip 12 in real time, also as one of real-time input parameter of this system.
In the present embodiment, rain sensor 9 is chosen for tipping bucket rain gauge, and resolving power reaches 0.5mm, and precision is high, and volume is little, and the linearity is good, and transmission range is long, and antijamming capability is strong.Tipping bucket rain gauge 9 is arranged on 1 place, monitoring camera installation site in the contrary direction of traffic 5 front roadbed sides 6 in bend porch 4, shares electric pole with monitoring camera 8, is arranged on above the ground 3-4 rice of monitoring camera 8 electric poles distances.Its basic functional principle is: when a small room water receiving, it is in running order, and another small room is in water receiving waiting status.When the ponding capacity of work small room is while reaching preset value, due to the just own overturning of effect of gravity, the every reversion of tipping bucket once, is just sent a pulse signal, according to statistical unit in the time pulse number can realize the object that rainfall amount intensity is monitored.In its unit interval monitoring, how many rainfall amounts is rainfall intensity, and this information is passed to middle control chip 12 in real time.
In the present embodiment, speed feedback marks device 14 is arranged on the front 100 meters of roadbed sides 6 in contrary direction of traffic 5 bend porch 4, and middle control chip 12 is mounted thereon.Middle control chip 12 is according to the vehicle vehicle information and the rainfall intensity information that collect before, and according to each parameter numerical relationship model algorithm in the model algorithm storehouse of typing in advance, calculate this kind of vehicle under weather condition at that time in the curved criticality safety speed of a motor vehicle of entering of this section.In addition, middle control chip 12 is according to being arranged on the vehicle automobile's instant velocity that the Microwave Velocity radar 11 on speed feedback marks device 14 measures, judge whether this automobile's instant velocity obtained entering the curved criticality safety speed of a motor vehicle over system-computed, and result of determination information is passed to the full-color LED display screen 10 on speed feedback marks device 14, the speed of a motor vehicle control strategy that speed information and driver should be taked feeds back in time and informs driver.
5) the rainfall intensity information that collects according to rain sensor of control chip 12 in, according to the relation of the rainfall intensity of typing and road structural parameter and water film thickness in algorithms library, calculates the Real-time Water film thickness information under this curved road surface condition; According to the relation of water film thickness in algorithms library and coefficient of road adhesion, calculate the real-time coefficient of road adhesion in this section under this water film thickness condition again.
In the present embodiment, the speed comparative result of judging according to middle control chip 12, can show different information on full-color LED display screen 10.The content showing on full-color LED display screen 10 comprises: " your speed of a motor vehicle: XX, safe speed: XX, woulds you please: XX " (XX represents vehicle speed value and Word message).If sail into, the automobile's instant velocity of vehicle obtains lower than system-computed enters the curved criticality safety speed of a motor vehicle, and the content showing on full-color LED display screen 10 is: " your speed of a motor vehicle: XX(is green), safe speed: XX(is yellow), would you please: keep the speed of a motor vehicle (green) "; If sail into, the automobile's instant velocity of vehicle is equal to or higher than that system-computed must enter the curved criticality safety speed of a motor vehicle but scope is no more than into 50% of the curved criticality safety speed of a motor vehicle, the content showing on full-color LED display screen 10 is: " your speed of a motor vehicle: XX(is yellow); safe speed: XX(is red), would you please: Reduced Speed Now (yellow) "; If sail the automobile's instant velocity of vehicle into, be equal to or higher than that system-computed must enter the curved criticality safety speed of a motor vehicle and scope surpasses into 50% of the curved criticality safety speed of a motor vehicle, the content showing on full-color LED display screen 10 is: " your speed of a motor vehicle: XX(is red); safe speed: XX(is red), would you please: urgent slow down (redness) ".
Above-mentioned steps is from starting to carry out relevant data acquisition to finally showing that at full-color LED display screen 10 process of object information all completed 1 second left and right time, information is fed back to driver quickly, to guarantee that driver has sufficient time to make respective handling judgement, the potential safety hazard that furious driving is caused enters before curved and eliminates as early as possible at vehicle, improve bend 7 travel safeties, be reduced in the accident rate at bend 7 places.
Claims (5)
1. the implementation method of the speed feedback marks system of turning around a curve speed of a motor vehicle safe condition early warning, it is characterized in that, the speed feedback marks system that road foundation side before the contrary bend porch of direction of traffic is installed monitoring camera, rain sensor and speed feedback marks installation composition, wherein, in speed feedback marks device, there are middle control chip, velocity radar, LED display and prompting character; According to driven motorcycle type, weather condition and road alignment condition, to warn driver before entering bend, the speed of a motor vehicle to be controlled in suitable scope, to prevent the generation into curved rear traffic hazard, implementation step is as follows:
1) parameter typing: radius of horizontal curve, top rake, ramp length and road surface construction depth road structure indication information that the bend section at this speed feedback marks system place is installed are entered in middle control chip, as the constant input parameter of this speed feedback marks system;
2) set up model algorithm storehouse: for studying the curved criticality safety speed of a motor vehicle that enters of different automobile types under the different weather condition of variant section, need to set up the model algorithm storehouse that comprises pavement structure index and rainfall intensity and rain water depth on road surface, water film thickness and coefficient of road adhesion, coefficient of road adhesion and enter the curved criticality safety speed of a motor vehicle, and this algorithms library is entered in middle control chip so that speed feedback marks system calculates the curved criticality safety speed of a motor vehicle that enters under respective conditions after obtaining in real time vehicle and rainfall density information;
3) the monitoring camera Real-time Collection being arranged on before bend porch is about to the dynamic image into curved vehicle, and by associated picture recognition technology, identify fast the vehicle information of sailing vehicle in image into, as one of real-time input parameter of this system, send to middle control chip;
4) be arranged on that roadbed side monitoring camera is other shares with monitoring camera the rain sensor that electric pole is installed, send the rainfall amount information in the unit interval measuring to middle control chip in real time, also as one of real-time input parameter of this system;
5) the rainfall intensity information that collects according to rain sensor of control chip in, according to the relation of the rainfall intensity of typing and road structural parameter and water film thickness in algorithms library, calculates the Real-time Water film thickness information under this curved road surface condition; According to the relation of water film thickness in algorithms library and coefficient of road adhesion, calculate the real-time coefficient of road adhesion in this section under this water film thickness condition again;
6) the vehicle information that in, control chip collects according to monitoring camera and the real-time attachment coefficient in road surface of calculating before, according to the coefficient of road adhesion of this kind of vehicle in algorithms library and the critical relation entering between curved safe speed, calculate this kind of vehicle and be in and enter in real time the curved criticality safety speed of a motor vehicle under this kind of weather condition at this bend;
7) in speed feedback marks device built-in velocity radar Real-time Collection this enter the automobile's instant velocity of curved vehicle, and this automobile's instant velocity information is sent to middle control chip;
8) in control chip according to before calculate this vehicle under this weather condition in the curved criticality safety speed of a motor vehicle that enters at place, this section, this vehicle that contrast velocity radar records enters curved front real-time automobile's instant velocity, differentiate this vehicle automobile's instant velocity and whether surpassed the curved criticality safety speed of a motor vehicle that enters that system-computed obtains, and this information is sent to the LED display in speed feedback marks device;
9) LED display in speed feedback marks device is according to the middle control chip information of receiving, by real-time automobile's instant velocity, the system of this vehicle calculate the criticality safety speed of a motor vehicle and the speed of a motor vehicle status information of this vehicle, whether exceed the speed limit and maybe should take which kind of speed to control countermeasure to be presented in LED display;
10) vehicle drive people is according to the information showing in speed feedback marks device LED display, understand the real-time driving speed of a motor vehicle state of oneself, and under hypervelocity condition, entering the curved front timely adjustment reduction speed of a motor vehicle to be stabilized in criticality safety vehicle speed range, thereby it is curved rear because the speed of a motor vehicle is too fast or sliding having an accident crossed on road surface to prevent that vehicle from entering, and reduces vehicle in the potential safety hazard of sailing bend place into.
2. the method for claim 1, it is characterized in that, described monitoring camera is arranged on 100-200 rice roadbed one side before contrary direction of traffic bend porch, the contrary direction of traffic of monitoring enters the vehicle information of curved vehicle before monitoring camera installation site in 30-100 rice regional extent, and according to respective image acquisition technique, screen out the vehicle information of vehicle, and pass to middle control chip.
3. the method for claim 1, is characterized in that, described rain sensor is arranged on roadbed one side, shares electric pole with monitoring camera, is arranged on electric pole apart from 3-4 rice, ground, and Real-Time Monitoring rainfall intensity also passes to middle control chip by information.
4. the method for claim 1, it is characterized in that, described speed feedback marks device is arranged on against direction of traffic roadbed one side apart from bend porch apart from 70-150 rice, within the scope of the 10-200 rice of measuring speed feedback marks device the place ahead, enter the automobile's instant velocity of curved vehicle, and information is passed to middle control chip.
5. the method for claim 1, it is characterized in that, middle control chip is according to the real-time information of collecting, according to system self algorithm, calculate and sail bend vehicle vehicle into enter the curved criticality safety speed of a motor vehicle under this elbow structure condition and weather condition, and information is sent to LED display in time shows and feed back to driver so that it carries out speed of a motor vehicle correction early, guarantee the possibility occurring with minimizing accident into curved safe speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210189007.3A CN102723001B (en) | 2012-06-08 | 2012-06-08 | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210189007.3A CN102723001B (en) | 2012-06-08 | 2012-06-08 | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102723001A CN102723001A (en) | 2012-10-10 |
| CN102723001B true CN102723001B (en) | 2014-02-19 |
Family
ID=46948745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210189007.3A Expired - Fee Related CN102723001B (en) | 2012-06-08 | 2012-06-08 | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102723001B (en) |
Families Citing this family (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102982689B (en) * | 2012-10-30 | 2014-10-01 | 武汉理工大学 | Freeway changeable speed limit control system and control method in rainy environment |
| CN103164962B (en) * | 2013-01-23 | 2014-11-26 | 山东交通学院 | Mountain road sharp turn section real-time vehicle speed early warning method |
| CN103231769B (en) * | 2013-04-12 | 2016-01-20 | 浙江绿源电动车有限公司 | Electric vehicle control system, method and Electrical Bicycle |
| CN103413448B (en) * | 2013-06-25 | 2016-04-20 | 同济大学 | A kind of mountainous area highway continuous Large Longitudinal Slope section lorry intelligent early-warning system |
| CN103413460B (en) * | 2013-07-17 | 2016-01-20 | 北京航空航天大学 | A kind of curve traffic method for early warning collaborative based on bus or train route |
| CN103802826B (en) * | 2014-03-07 | 2016-02-10 | 大连交通大学 | Stability forewarn system in a kind of automobile high-speed turning driving |
| CN103985260B (en) * | 2014-05-29 | 2016-05-25 | 公安部交通管理科学研究所 | Highway main line vehicle speed control system |
| CN105584469B (en) * | 2014-10-20 | 2018-11-20 | 上海海拉电子有限公司 | A kind of motor vehicle braking system, braking method and the vehicle with the braking system |
| CN112009355B (en) * | 2015-04-10 | 2024-05-24 | 麦克赛尔株式会社 | Image projection apparatus and method |
| CN105118316B (en) * | 2015-09-25 | 2017-09-29 | 武汉理工大学 | The curved road safety speed computational methods and caution system cooperateed with based on bus or train route |
| CN105810000A (en) * | 2016-03-22 | 2016-07-27 | 努比亚技术有限公司 | Vehicle-driving early-warning device and method |
| CN105844936B (en) * | 2016-03-25 | 2018-08-17 | 睿驰智能汽车（广州）有限公司 | A kind of turn inside diameter reminding method, equipment and system |
| CN105825692B (en) * | 2016-05-31 | 2019-01-22 | 山东交通学院 | Speed Limitation on Freeway information acquisition method and system based on road domain weather station |
| CN105957374B (en) * | 2016-05-31 | 2018-09-04 | 交通运输部科学研究院 | One kind being based on udometric Forewarning System of Freeway |
| CN106143211B (en) * | 2016-07-01 | 2019-06-04 | 北京新能源汽车股份有限公司 | Electric automobile and curve speed control method and system thereof |
| CN106485930B (en) * | 2016-09-28 | 2020-02-28 | 深圳市元征科技股份有限公司 | Vehicle driving road section prompting method and device |
| CN106476805A (en) * | 2016-10-14 | 2017-03-08 | 深圳市元征科技股份有限公司 | A kind of control method of safe driving of vehicle and terminal |
| CN106650057B (en) * | 2016-12-07 | 2020-02-18 | 东南大学 | Safety evaluation method for road flat curve radius design scheme based on vehicle rollover and sideslip virtual test |
| CN107044856B (en) * | 2016-12-30 | 2023-09-29 | 袁世姣 | Centimeter-level online positioning device for expressway running vehicle |
| CN106991526B (en) * | 2017-03-23 | 2021-01-29 | 福建农林大学 | Road surface drainage water seepage and water slip risk detection device and implementation method thereof |
| CN107490382A (en) * | 2017-07-31 | 2017-12-19 | 中北智杰科技（北京）有限公司 | A kind of pilotless automobile path planning system and control method |
| CN107719375B (en) * | 2017-09-22 | 2019-09-10 | 深圳市汉普电子技术开发有限公司 | A kind of intelligent travelling crane householder method, smart machine and storage medium |
| CN107808534A (en) * | 2017-11-24 | 2018-03-16 | 北京百纳友为科技有限公司 | A kind of tunnel safety protector and system |
| CN108109433B (en) * | 2017-12-15 | 2020-07-17 | 长安大学 | Truck mass center estimation method and curve early warning system based on wireless storage communication |
| CN108288390A (en) * | 2017-12-15 | 2018-07-17 | 长安大学 | Barycenter height of truck evaluation method and bend early warning system |
| CN108648461B (en) * | 2018-05-17 | 2020-09-04 | 长安大学 | Bend early warning implementation method based on video speed measurement |
| CN108765942B (en) * | 2018-05-29 | 2021-04-20 | 武汉理工大学 | Intelligent networking automobile curve danger early warning system and method |
| CN108961785B (en) * | 2018-07-10 | 2020-10-02 | 杭州利艾智能科技有限公司 | System and method for adjusting traffic control signal |
| CN109598937B (en) * | 2018-12-19 | 2020-09-15 | 山东交通学院 | Road curve safety speed detection and warning device and method |
| CN109624987B (en) * | 2019-01-30 | 2020-06-30 | 长安大学 | Method for calculating longitudinal running safety distance of vehicle in wet and slippery road surface state |
| CN111815974A (en) * | 2019-04-12 | 2020-10-23 | 天津大学 | Curve speed measuring and calculating indicator based on piezoelectric induction technology |
| CN111028514A (en) * | 2019-11-25 | 2020-04-17 | 沈阳世纪高通科技有限公司 | Method and device for determining vehicle overspeed |
| CN111127883B (en) * | 2019-12-17 | 2020-10-30 | 长安大学 | Method and system for measuring and calculating safe driving speed of intelligent vehicle by considering road surface state |
| CN111223320B (en) * | 2020-02-18 | 2021-09-24 | 上汽大众汽车有限公司 | Low-adhesion road surface intelligent driving safety control method based on V2I |
| CN113628469A (en) * | 2020-05-06 | 2021-11-09 | 威马智慧出行科技（上海）有限公司 | Automatic driving system, method, device, electronic equipment and storage medium |
| CN112989461B (en) * | 2021-02-25 | 2024-05-31 | 长安大学 | Real-time safety feedback method for expressway driving in rainy weather |
| CN113538896B (en) * | 2021-04-20 | 2022-07-12 | 清华大学 | Critical driving condition analysis method and vehicle safety driving prompt system |
| CN114896327A (en) * | 2022-07-13 | 2022-08-12 | 中铁大桥科学研究院有限公司 | Method for monitoring vibration data of coupling mode of axle of cable-stayed bridge and related equipment |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1041319A (en) * | 1988-09-25 | 1990-04-18 | 李蓓 | The anti-sideslip of automobile turning, the method for tumbling |
| US5315295A (en) * | 1991-01-18 | 1994-05-24 | Mazda Motor Corporation | Vehicle speed control system |
| DE4416991A1 (en) * | 1994-05-13 | 1995-11-16 | Pietzsch Ag | Warning HGV driver against overturning in negotiation of curve |
| CN1423602A (en) * | 2000-04-14 | 2003-06-11 | 斯皮罗斯·韦齐斯 | Device for warning drivers of automobiles of excessive speed of turning around a curve |
| CN101326425A (en) * | 2005-12-09 | 2008-12-17 | 通用汽车环球科技运作公司 | Speed control method for vehicle approaching and traveling on a curve |
| DE102008029894A1 (en) * | 2008-06-24 | 2009-12-31 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Method for stabilization of motor vehicle during driving in e.g. slippage curve, involves producing wheel reference slippage values in dependent of slip angle speed of vehicle, when control device recognizes drift condition of vehicle |
| CN201385626Y (en) * | 2009-05-05 | 2010-01-20 | 韦志强 | All-whether vehicle turning overspeed control device |
| CN101734283A (en) * | 2008-11-13 | 2010-06-16 | 福特全球技术公司 | Safety warning system for detecting over-low tire adhesion force and/or high inner friction of steering mechanism |
| WO2010083910A1 (en) * | 2009-01-23 | 2010-07-29 | Robert Bosch Gmbh | Method for initiating an automatic brake engagement before curves |
| CN101968923A (en) * | 2010-10-10 | 2011-02-09 | 北京航空航天大学 | Automotive lateral safety comprehensive forewarning method and device |
| CN201890205U (en) * | 2010-11-11 | 2011-07-06 | 中国三江航天工业集团公司特种车辆技术中心 | Transverse acceleration alarm device of heavy-duty truck |
| CN102298693A (en) * | 2011-05-18 | 2011-12-28 | 浙江大学 | Expressway bend detection method based on computer vision |
| CN102346970A (en) * | 2011-09-23 | 2012-02-08 | 交通运输部公路科学研究所 | Method for obtaining and processing vehicle swerving anti-overturn information |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019181A1 (en) * | 2000-04-17 | 2001-10-25 | Bosch Gmbh Robert | Setting vehicle speed to desired speed involves driving brake units or not driving brake units according to operating state normal deceleration or Resume-Delay/Suspend-Delay |
| EP2048476B1 (en) * | 2007-10-08 | 2013-12-11 | Delphi Technologies, Inc. | Driver assistance method |
-
2012
- 2012-06-08 CN CN201210189007.3A patent/CN102723001B/en not_active Expired - Fee Related
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1041319A (en) * | 1988-09-25 | 1990-04-18 | 李蓓 | The anti-sideslip of automobile turning, the method for tumbling |
| US5315295A (en) * | 1991-01-18 | 1994-05-24 | Mazda Motor Corporation | Vehicle speed control system |
| DE4416991A1 (en) * | 1994-05-13 | 1995-11-16 | Pietzsch Ag | Warning HGV driver against overturning in negotiation of curve |
| CN1423602A (en) * | 2000-04-14 | 2003-06-11 | 斯皮罗斯·韦齐斯 | Device for warning drivers of automobiles of excessive speed of turning around a curve |
| CN101326425A (en) * | 2005-12-09 | 2008-12-17 | 通用汽车环球科技运作公司 | Speed control method for vehicle approaching and traveling on a curve |
| DE102008029894A1 (en) * | 2008-06-24 | 2009-12-31 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Method for stabilization of motor vehicle during driving in e.g. slippage curve, involves producing wheel reference slippage values in dependent of slip angle speed of vehicle, when control device recognizes drift condition of vehicle |
| CN101734283A (en) * | 2008-11-13 | 2010-06-16 | 福特全球技术公司 | Safety warning system for detecting over-low tire adhesion force and/or high inner friction of steering mechanism |
| WO2010083910A1 (en) * | 2009-01-23 | 2010-07-29 | Robert Bosch Gmbh | Method for initiating an automatic brake engagement before curves |
| CN201385626Y (en) * | 2009-05-05 | 2010-01-20 | 韦志强 | All-whether vehicle turning overspeed control device |
| CN101968923A (en) * | 2010-10-10 | 2011-02-09 | 北京航空航天大学 | Automotive lateral safety comprehensive forewarning method and device |
| CN201890205U (en) * | 2010-11-11 | 2011-07-06 | 中国三江航天工业集团公司特种车辆技术中心 | Transverse acceleration alarm device of heavy-duty truck |
| CN102298693A (en) * | 2011-05-18 | 2011-12-28 | 浙江大学 | Expressway bend detection method based on computer vision |
| CN102346970A (en) * | 2011-09-23 | 2012-02-08 | 交通运输部公路科学研究所 | Method for obtaining and processing vehicle swerving anti-overturn information |
Non-Patent Citations (5)
| Title |
|---|
| 基于风险状态预估的弯道防侧滑超速预警系统;张德兆;《公路交通科技》;公路交通科技编辑部;20091231;第26卷;期刊第44-48页 * |
| 张德兆.基于风险状态预估的弯道防侧滑超速预警系统.《公路交通科技》.公路交通科技编辑部,2009,第26卷期刊第44-48页. |
| 李鑫铭，等.公路车辆行驶临界速度计算模型.《东南大学学报(自然科学版)》.东南大学学报(自然科学版)编辑部,2009,第39卷(第1期),期刊第166-170页. * |
| 梁玉娟,等.道路弯道对交通流影响的研究.《物理学报》.物理学报编辑部,2010,第59卷(第8期),期刊第5325-5331页. * |
| 黄勇，等.基于图像处理技术的高速公路弯道车速预警系统的研究.《山东交通学院学报》.山东交通学院学报编辑部,2009,第17卷(第4期),期刊第23-27. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102723001A (en) | 2012-10-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102723001B (en) | Implementation method of speed feedback sign system for bend steering vehicle speed safety state prewarning | |
| US12001217B1 (en) | Detecting sensor degradation by actively controlling an autonomous vehicle | |
| US11970160B2 (en) | Traffic signal response for autonomous vehicles | |
| US11287823B2 (en) | Mapping active and inactive construction zones for autonomous driving | |
| US10037039B1 (en) | Object bounding box estimation | |
| CN104812645B (en) | Device for controlling a vehicle and method | |
| US9600768B1 (en) | Using behavior of objects to infer changes in a driving environment | |
| CN111295628B (en) | Method and system for controlling a vehicle in an autonomous driving mode | |
| GB2629117A (en) | Systems and methods for determining road safety | |
| US20130253753A1 (en) | Detecting lane markings |
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 |
Granted publication date: 20140219 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |