CN102903254A - School regional safety device of advanced safety vehicle, and method thereof - Google Patents
School regional safety device of advanced safety vehicle, and method thereof Download PDFInfo
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention relates to a school regional safety device of an advanced safety vehicle, and a method thereof. The school regional safety device is characterized in that the device connects a vehicle sensor and a road infrastructure sensor to increase cognitive sensitivity and accuracy for children, cognizes that a road condition is a school region, and warns a driver or executes an emergent automatic braking when necessary. With the device, a common road and the school region can be distinguished accurately via accurate position; when being driven on the common road, vehicle traffic convenience is enhanced; and when being driven in the school region, pedestrian cognitive performance is enhanced. Therefore, the safety of the children and the pedestrians in the school region can be guaranteed; traffic accidents can be reduced; economic loss and legal loss of the driver caused by the traffic accidents can be reduced; and accident conditions can be stored for accident investigation/analysis data.
Description
Technical field
The present invention relates to school zone safety feature and method thereof in the advanced safety vehicle, relate in particular to a kind of when advanced safety vehicle when school zone is travelled, raising is carried out the device and method of driver's warning and emergency auto braking in case of necessity to children pedestrian's cognitive susceptibility and accuracy.
Background technology
In the kindergarten, the periphery of primary school etc., in order not threatened by traffic hazard by child protection, go to school safely that classes are over, specified special protection zone, be referred to as protection of the child zone or school zone (School Zone).
Country variant, regulation (maximum speed limit, enforcement time etc.) although difference to some extent, most of traffic developed country is all implementing the school zone system for guarantee children's pedestrains safety in the school area.
With regard to the school zone system of Korea S, the school zone scope is that in school zone, maximum speed limit is speed per hour 30km in the radius 300m centered by school gate, stops and temporary parking forbids that the time is 08:00 ~ 20:00.The violator is imposed a fine the road traffic law execution that improves 2 times and is made in revision on January 1st, 2011 and enforcement, from 22 days Dec in 2009, if bring out traffic hazard in school zone, hurts children, even then accident is slight, also will be subject to criminal penalty.
With regard to the school zone system of the U.S., as shown in Figure 1, the school zone scope is in the periphery 500m of school, in school zone, maximum speed limit is that 15 miles of speed per hour 30km(speed per hours ~ 40km), whether have children current, must stop at specific lane if observing, when violating the school zone regulation, should sentence 2 times of fine of ordinary road.
With regard to the school zone system of Japan, as shown in Figure 2, the school zone scope is in the periphery 500m of school, also identifies school zone at road, makes easily cognitive this situation of driver.
On the other hand, in the past, simple road structure thing was installed, by strengthening vision, the sense of hearing, haptic effect, was made the easily cognitive fact that enters school zone of driver and pedestrian.
For example, improve the structure/graphic designs of school zone sign board, or the illumination of appending road/sign board, strengthen driver/pedestrian's visibility, thereby improve driver/pedestrian's school zone awareness, the automatic sensing school zone enters automobile, no matter whether exceed the speed limit, by the time all unconditionally inform with voice and the loudspeaker of recording, by such reinforcement sense of hearing, improved driver's school zone awareness, enter moment or all interval in school zone in school zone, deceleration strip is set or slows down concavo-convexly, by strengthening driver's sense of touch, improve driver's school zone awareness.
In addition, in the past, at road infrastructure multiple sensors is installed, cognitive peripheral situation is distinguished the situation that driver and pedestrian are in the situation of school zone and violate the school zone regulation faster and more accurately, regulates accordingly the warning degree.
For example, utilize image/laser sensor technology, perception enters parking and temporary parking or the speed of the vehicle of school zone, when violating the rules, points out broadcasting, thereby make easily cognition of driver violate the school zone regulation, utilize image/laser sensor technology, perception enters parking and temporary parking or the speed of the vehicle of school zone, when violating the rules, utilize display device to inform, thereby make easily cognition of driver violate the school zone regulation.
In addition, in the past, utilized the GPS of installation in the vehicle and the electronic chart of guider, and grasped vehicle and whether entered school zone.
For example, by having carried the mobile communication terminal of GPS function, access police agency server, by voice and word message school zone information notification driver, thereby make easily cognitive school zone of driver, from the positional information of gps satellite reception vehicle, detect the position of vehicle, show the position of vehicle at electronic chart, thereby make easily cognitive school zone of driver.Global Positioning System is the satellite location/navigational system in U.S.'s operation, GNSS-Global Navigation Satellite Systems is the generality term that means satellite location/navigational system, in this patent motion book, GPS also can be as the meaning of the GNSS of containing GPS and GLONASS etc.
In addition, in the past, utilize the various sensor that is installed on road infrastructure, whether monitoring vehicle violates school zone regulation and storage, passes to associated mechanisms.
For example, utilize the imageing sensor perception to enter parking and temporary parking or the speed of the vehicle of school zone, when violating the rules, video and storage are violated in monitoring, combination laser sensor and camera review, also detect parking and temporary parking or the speed of the vehicle that enters school zone, and vehicle and pedestrian's movement, and then a violation information exchange is crossed wire-wireless communication (short message etc.) to associated mechanisms (trailer service station, keeper violating the regulations etc.) circular, in school zone, be not centered by vehicle, but centered by children, identify by the image-based situation, monitoring children abduct, the emergency conditioies such as accident also transmit, and give the direct wearable sensors of children, by with school zone surrounding enviroment (temperature, humidity, atmosphere)/interlock of position/image sensor network, follow the trail of children's position, the monitor hazardous situation also transmits.
In addition, in the past, by radio communication between road infrastructure-vehicle, the school zone information of entering is passed to the driver, when violating the school zone regulation, made the vehicle automatic retarding, by radio communication between vehicle, collected peripheral situation information.
For example, at the school zone ad-hoc location (for example, school is just in front of the door) alarm generator based on the short distance wireless communication technology is installed, can post a letter with interior vehicle to both set a distances, the alarm signal acceptance division receives the alarm signal of transmission in the vehicle before school, take the alarm signal that receives as the basis, vehicle sensors judges whether to violate school zone speed, vision/sense of hearing in the vehicle/haptic alerts signal occurs, or automatic retarding, can utilize the short distance wireless communication technology, exchange vehicle running state or the transportation condition information useful to the vehicle driver between vehicle, can utilize the information that receives from other vehicles, as required, make vehicle acceleration-deceleration or change direction, even can be for the driving path of change navigation feature, the information of transmitting between vehicle can also surmount simple message, expand to voice/image information, can be by communicating by letter between inter-vehicular communication and vehicle-road infrastructure, vehicle during the collection accident and the status information of nearby vehicle and place where the accident occurred point, the information such as time, send associated mechanisms to, under the Frequent Accidents conditions such as crossroad, can also regulate the current condition of crossroad, in the situation that many vehicles travel to common destination, can by radio communication between vehicle, share about current location, the destination, the information of estimated time of arrival (ETA) etc.
In addition, ACC(Adaptive Cruise Control in the past: adaptive cruise control), PCS(Pre Crash System: the radar crash protection), LDWS(Lane Departure Warning System: the deviation warning system), LKAS(Lane Keeping Assistance System: backup system is kept in the track) etc. ASV(Advanced Safety Vehicle: advanced safety vehicle) technology, the car of installing on the combined vehicle is outer around sensor (Laser/Radar/imageing sensor etc.) and vehicle-state sensor and multiple chassis/Secure execution device technology, has improved driver/pedestrian's cornering ability and convenience.
But, in aforesaid conventional art, have following limitation.
At first, with regard to simply on the school zone road with regard to the situation of mounting structure thing, no matter whether exceed the speed limit, have or not the pedestrian to exist in school zone, driver/pedestrian accepts identical stimulation all the time, therefore, the driver/pedestrian who is exposed to for a long time under the frequent stimulation is blunt to identical sensation repeatedly, can ignore warning (identical stimulation repeatedly), in this case, careless slightly just possibility accident.
Just at road infrastructure multiple sensors is installed, the situation of warning according to the school zone regulation from vision/acoustically, owing to bias toward the over-speed vehicles cognitive function, even under the state without the pedestrian, also can unnecessarily carry out overspeed warning broadcasts, many vehicles with in various degree the hypervelocity, or in over-speed vehicles and the situation that over-speed vehicles does not mix, can unnecessarily carry out overspeed warning to the vehicle that does not exceed the speed limit broadcasts, compare with the driver in running at high speed, the easier warning voice of not hearing of driver in the low speed driving, therefore, the actual object that should hear warning and actually hear that the driver of warning can't accurately mate is when improving the warning volume, so that the driver in running at high speed is not when can hear yet, only can cause noise pollution, with regard to the situation that shows over-speed vehicles by traffic mark board to the over-speed vehicles driver, transmission effect can descend, when the driver to warning blunt or when ignoring, then can't preventing the school zone traffic hazard.
With regard to the situation of the electronic chart of the GPS that installs on utilizing vehicle and guider, if at the road infrastructure end GPS receiver is not installed, only at the vehicle end GPS receiver is installed, so, the positional information of the individuality of road infrastructure sensor measurement (individual relative is in the relative position of road infrastructure installation of sensors position) passes to vehicle, so, the availability of this relative position information descends, with regard to the situation of the GPS receiver that carries in utilizing the commercial mobile device sold towards ordinary consumer or vehicle navigation apparatus, can comprise tens of meters error among the location result of vehicle, in the situation that only depends on satellite location/navigational system, when the satellite blind area appears in the neighbourhood in school zone or its, do not receive gps satellite signal, can't find the location solution.
With regard to monitoring the situation of whether violating the school zone regulation and storing, transmit, although can effectively use in the accident investigation after the school zone traffic hazard occurs/analysis, but, in the driver can't cognitive pedestrian's situation, the school zone traffic hazard can occur.
With regard to regard to the situation of the safety technique of inter-vehicular communication technology, depend on V2V(Vehicle-to-Vehicle for making, between vehicle) safety technique of radio communication is effective, at most of automobile that road travels the V2V wireless communication module must be installed, therefore, when not installing, service will not used.For example, suppose by after the vehicle registration until scrap and last calculatings in 10 years, the V2V wireless communication module of the automobile of motor corporation's sale installs rate additional and had both made and reach 20% of outright selling number of units, so, until all 20% of registered vehicle install the V2V wireless communication module additional, can last for 10 years.With regard to V2I(Vehicle-to-Infra, between road infrastructure-vehicle) situation of radio communication, in the situation that road communication infrastructure investment has been finished (in Korea S, the UTIS communication network of police agency's operation), even installing the vehicle of V2I wireless communication module additional is only a few, the driver of installing vehicle additional also can direct 100% ground utilizes the effect of rotating device.
With regard to regard to the ASV technology of vehicle, with regard to the ACC/PCS that is installed in vehicle uses radar sensor, because horizontal field of view (Horizontal Field of View) narrow (approximately+/ 15 degree), aspect the children pedestrian of cognition before vehicle inserts vehicle in closely, exist and limit to.Particularly to from the direction perpendicular to the vehicle mobile direction, the individuality of running closely (for picking up the children that are rolled into the ball before the vehicle and come, not seeing that vehicle crosses rapidly the bicycle of road etc. to the vehicle dead ahead), cognitive performance is very low.
With regard to the LDWS/LKAS that is installed in vehicle uses the situation of imageing sensor, owing to be in the windshield upper end, install to the direction of observing the front side of vehicle, limit to so exist at the very short primary grades student of the shorter individuality of the height of cognition before vehicle inserts vehicle in closely such as the student of kindergarten, height, the aspects such as children of riding child's bicycle.
Near the place junction of three roads/crossroad, even children pedestrian normally crosses the situation of road, because turn inside diameter travels, the cognitive performance of object sharply descends.
With install additional on the existing vehicle based on outer ASV technology such as the ACC/PCS etc. around sensor of car, its application be by cognitive Large-scale Mobile barrier such as bus, truck, by bus with and belong to exploitation centered by the motorcycle etc. of restricted vehicle, for the small-scale obstacle thing such as bicycle, children etc., particularly the small-scale obstacle thing vehicle closely in along the situation of inserting perpendicular to the direction of vehicle mobile direction in the visual field, or in the visual field the unexpected mobile situation of original static the small-scale obstacle thing, cognition or can't cognitive situation involves a delay.
LDWS(Lane Departure Warning System)/LKAS(Lane Keeping Assistance System) etc. owing to be cognitive for substantially take the track, give a warning or control the system of chassis system to the driver, therefore, aspect cognitive children, there is limitation.
Observe from vehicle, be located in the people of road equipment thing (street lamp/electric pole/signpost etc.) rear side, be difficult to cognition by the car that installs additional on the vehicle is outer around sensor.
Focusing on of many ASV technology under the condition that can run at high speed such as the vehicle of parkway/super expressway, guaranteed driver's convenience and security.That is, little to the susceptibility of pedestrian's cognition, focus on the vehicle cognition.In nearest ASV uses, although the cognitive performance of pedestrian is strengthened, must all be applied to super expressway and school zone to the cognitive susceptibility of identical pedestrian, therefore, guaranteeing that the cognitive aspect of performance difficulty of cognitive Vehicle Driving Cycle convenience and pedestrian is a lot.
Although developed and popularized based on the diversified school zone safety feature of intelligent traffic system and ASV technology; but; from the school zone road accident rate continue to keep statistics high-order and that increase year by year (Republic of Korea's school zone traffic hazard occur number: 2008 517; 2009 535; 2010 768) as can be known; fail to reflect the technology of social loss and law/system change, aspect traffic weak person's children, have limitation in protection.
Through the self-examination of society to the school zone traffic hazard, (special case method-2009 year Dec is processed in traffic hazard in relevant laws and regulations or system recently, road traffic law is implemented and to be made – in January, 2011) etc. the aspect, increased the weight of school zone traffic hazard and punishment in violation of rules and regulations/fine.In addition, with regard to the situation of Shouer City, from the second half year in 2011; large-scale institute and park periphery etc. also plan are appointed as school zone; given an aggravated punishment beyond the maximum prescribed and the road of penalty provisions impact increases, but only depended on this point, aspect traffic weak person's children, had limitation in protection.
Summary of the invention
(technical matters that will solve)
The object of the present invention is to provide school zone safety feature and method thereof in a kind of advanced safety vehicle, by being connected the signal of road infrastructure sensor and vehicle inner sensor, cognitive school zone road conditions, thereby improve the cognitive susceptibility of children pedestrian and accuracy in school zone, warn or carry out emergency auto braking to the driver in case of necessity.
The present invention also aims to provide school zone safety feature and method thereof in a kind of advanced safety vehicle, when having school zone on the vehicle running path, accurately identify this situation and inform the driver, when vehicle enters school zone, ⅰ) automatically increase the cognitive susceptibility of pedestrian, ⅱ) when perceiving the pedestrian, automatically improve the warning level according to safe class, ⅲ) when predicting to avoid the pedestrian impact accident time, even the driver does not start detent, also automatically carry out braking function, thereby can prevent that school zone children pedestrian traffic accident from occuring.
(means of dealing with problems)
For reaching aforementioned purpose, school zone safety feature in the advanced safety vehicle of one aspect of the present invention comprises: infrastructure information fusion section, merge the information of laser sensor, imageing sensor, environmental sensor and the GPS etc. that are installed on road infrastructure, generate the road conditions information of object information; Station OBE is used for the information that wireless transmission infrastructure information fusion section generates; RSE is used for the signal that receives from Station OBE is broadcast to the nearby vehicle of majority; Vehicle OBE receives the road conditions information that transmits from the RSE that is installed on road infrastructure; Vehicle end integrated navigation section is by the integrated navigation that the gps signal that receives and the signal that transmits from vehicle sensors (inertial sensor and imageing sensor/laser sensor/radar sensor etc.) are merged, the position of grasping the vehicle that becomes control object; Information of vehicles fusion section, the position-detection information of the road conditions information that obtains take the road conditions information of wireless receiving with from vehicle sensors (inertial sensor and imageing sensor/laser sensor/radar sensor etc.) and the above-mentioned vehicle that becomes control object is for basic, generate object cognition and target object tracked information, make up the absolute coordinates of above-mentioned target object and the map of having stored, reaction of formation the dynamic traffic map of traffic conditions, take the above-mentioned dynamic traffic map that generates as the basis, generate the road conditions cognitive information; And control part, take the above-mentioned road conditions cognitive information that generates as the basis, analyze the danger of travel situations, take the result that analyzes as basis, vehicle is controlled.
School zone safety method in the present invention's advanced safety vehicle on the other hand comprises: road conditions Information generation step, information to laser sensor, imageing sensor, environmental sensor and the GPS etc. that are installed on road infrastructure merges, and generates road conditions information; Road conditions information forwarding step, through Station OBE and RSE, the road conditions information that the above-mentioned road infrastructure of wireless transmission generates; Road conditions information receiving step receives road conditions information from the RSE that is installed on road infrastructure; Object cognition and target object tracked information generate step, take the above-mentioned road conditions information that receives with from the information of the sensor passes that is installed in vehicle as the basis, generate object cognition and target object tracked information; The road conditions cognitive information generates step, makes up the absolute coordinates of above-mentioned target object and the map of having stored, reaction of formation the traffic map of traffic conditions, take the above-mentioned traffic map that generates as the basis, generate the road conditions cognitive information; And the control step, take the above-mentioned road conditions cognitive information that generates as the basis, analyze the danger of travel situations, take this result as basis, vehicle is controlled.
(effect of invention)
According to the present invention, by accurate location, distinguish exactly ordinary road and school zone, when when ordinary road is travelled, strengthen the Vehicle Driving Cycle convenience, when when school zone is travelled, strengthen the cognitive performance of pedestrian, thereby can guarantee in school zone children pedestrian's safety, can reduce traffic hazard, can reduce the driver that causes because of traffic hazard economically/jural loss.
In addition, can store accident conditions, as accident investigation/analysis of data.
Description of drawings
Fig. 1 is the synoptic diagram of the school zone system of the expression U.S..
Fig. 2 is the synoptic diagram of the school zone system of expression Japan.
Fig. 3 is the block diagram for the school zone safety feature of the advanced safety vehicle of explanation one embodiment of the invention.
Fig. 4 is for explanation GPS(DGPS/RTK)+accompanying drawing of onboard sensor integrated navigation.
Fig. 5 and Fig. 6 are the accompanying drawings for the school zone safety feature of explanation advanced safety vehicle.
Fig. 7 is the accompanying drawing for the explanation road infrastructure.
Fig. 8 to Figure 11 is the accompanying drawing for explanation V2I.
[label declaration]
110: vehicle OBE 120: integrated navigation section
130: information of vehicles fusion section 140: control part
Embodiment
With reference to accompanying drawing and the embodiment described later that together describes in detail, advantage of the present invention and feature and reach its method will be clear and definite.But, the present invention is not the embodiment that is defined in following discloses, but embody with mutually different variforms, present embodiment only is provided for making of the present invention open more complete, make the general technical staff of the technical field of the invention understand easily the category of invention, the present invention is only defined by the category of claim.On the other hand, the term that uses in this instructions is used for explanation embodiment, does not really want to limit the present invention.In this manual, as long as do not mention especially in sentence, the odd number type also comprises complex number type." the comprising (comprises) " of using in the instructions or " (comprising) that comprise " refer to that the inscape, step, action and/or the element that mention are not got rid of and exist or append more than one other inscapes, step, action and/or element.
Below with reference to Fig. 3 to Figure 11, the school zone safety feature in the advanced safety vehicle of one embodiment of the invention is described.Fig. 3 is the block diagram for the school zone safety feature of the advanced safety vehicle of explanation one embodiment of the invention.Fig. 4 is for explanation GPS(DGPS/RTK)+accompanying drawing of onboard sensor integrated navigation, Fig. 5 and Fig. 6 are the accompanying drawings for the school zone safety feature of explanation advanced safety vehicle, Fig. 7 is the accompanying drawing for the explanation road infrastructure, and Fig. 8 to Figure 11 is the accompanying drawing for explanation V2I.
As shown in Figure 3, school zone safety feature of the present invention utilizes road infrastructure and vehicle, namely, the signal that is connected road infrastructure sensor and vehicle inner sensor, cognitive school zone road conditions, thereby improve the cognitive susceptibility of children pedestrian and accuracy in school zone, warn or carry out emergency auto braking to the driver in case of necessity.
As shown in Figure 4, vehicle comprises vehicle OBE100, integrated navigation section 120, information of vehicles fusion section 130 and control part 140.
Vehicle OBE100 is through RSE(Road Side Equipment: roadside equipment), receive the road conditions information that transmits from base station (Station) OBE that is installed on road infrastructure.
Detailed description to road infrastructure will be narrated after school zone safety feature explanation of the present invention.
For example, in vehicle, add imageing sensor, radar sensor (or laser sensor), the GPS receiver, vehicle OBE100 etc., wherein, imageing sensor, radar sensor is for being used for ASV(Advanced Safety Vehicle)/PCS/LDWS(track detachment alarm device)/the LKAS(lane holding assistant) install, the GPS receiver is the GPS receiver of having installed for being used for guider, vehicle OBE100 is for from UTIS(Urban Traffic Information System: urban traffic information system) reception information installs additional, and imageing sensor and radar sensor individually or integrally generate vehicle benchmark road individual information.
The precision positions of the vehicle that becomes control object is grasped in the accurate integrated navigation that DGPS/RTK signal, onboard sensor (acceleration transducer, yaw-rate sensor, steering angle sensor, wheel speed sensors) signal, image sensor signal, the radar sensor signal of integrated navigation section 120 by the GPS base station that receives from road infrastructure to the GPS receiver signal, by vehicle OBE100 merges.
That is, receiving in the situation of gps signal, the location error of integrated navigation section 120 is about several centimetres, does not immediately temporarily receive gps signal, and integrated navigation section 120 also can on the road vertical direction, remain on the location error in the 30cm.
Information of vehicles fusion section 130 is take the position-detection information of the road conditions information that receives and the vehicle that becomes control object as the basis, generate object cognition and target object tracked information, the absolute coordinates of composite object object and the map of having stored, generate the traffic map of reflection traffic conditions, take the traffic map that generates as the basis, generate the road conditions cognitive information.
For example, information of vehicles fusion section 130 as shown in Figure 5, by the multiple target tracking algorithm of transplanting, utilize the induction integration technology, to being undertaken comprehensively by the information that radio communication (V2I) receives from road infrastructure, generate the improved object cognition of accuracy and target object tracked information, combined vehicle and individual absolute coordinates and the static map of having stored, generate the dynamic map of reflection traffic conditions, based on this, generate comprehensive road conditions cognitive information.
Detailed description to V2I will be narrated after the road infrastructure explanation.
In addition, information of vehicles fusion section 130 storage has comprised at least one the accident information in accident time of origin, place and the cognitive individual information, when with box lunch children's pedestrian traffic accident occuring, as the crash analysis data.
For example, children's pedestrian traffic accident when occuring in information of vehicles fusion section 130, and the kind of the information such as storage accident time of origin, place and adjacent barrier is in order to can be used as accident investigation/analysis of data.
Because original black box subsystem only uses Satellite Navigation Technique built-in in the vehicle navigation apparatus or based on the reckoning airmanship of low-cost inertial sensor, therefore, for whether entering school zone and accident occurrence positions, comprise tens of meters error, therefore can cause the mistake of accident investigation/analysis, still, the present invention utilizes accurate location technology, thereby can be reduced to sub-meter grade to the location error, can guarantee the accuracy as legal argument.
For example, control part 140 calculates travel speed and vehicle headway, according to the result who calculates, as shown in Figure 6, determine alarm order (Risk-Degree of Collision), alert content and alarming method, according to the alarm order that determines, execution based on the warning of vision/sense of hearing, based on the Braking mode of the warning of sense of touch, vehicle prepare, the emergency auto braking of vehicle and in driver's control at least one, according to the alarming method corresponding with the alarm order that determines, the alert content that output is corresponding with the alarm order that determines.
Namely, control part 140 is take the road conditions cognitive information as the basis, analyze the danger of travel situations, determine alarm priority/content/method, by HMI(Human Machine Interface: man-machine interface) the output alert content such as device or electrodynamic type seat harness (MSB, Motorized SeatBelt), calculate best travel speed and the vehicle headway of vehicle, when hazard class is higher, prepares the Braking mode of (Pre-fill) vehicle, or carry out the emergency auto braking of vehicle.
As previously mentioned, the present invention is by accurate location, accurately distinguish ordinary road and school zone, when when ordinary road is travelled, strengthen the Vehicle Driving Cycle convenience, when when school zone is travelled, strengthen the cognitive performance of pedestrian, thereby can guarantee in school zone children pedestrian's safety, can reduce traffic hazard, can reduce the driver that causes because of traffic hazard economically/jural loss.In addition, can store accident conditions, as accident investigation/analysis of data.
Below with reference to Fig. 7, road infrastructure is elaborated.
As shown in Figure 7, enter near place or the children main channel road in school zone and establish portal frame (10m is highly above) on the ground, laser sensor, imageing sensor, environmental sensor, GPS base station (comprising receiver), infrastructure information Fusion Module, base station (Station) OBE are installed thereon.(GPS base station and the nonessential overbridge that is installed on, can be installed on be easy to receive gps satellite signal near the open ground or near behind the building roof, be connected in the infrastructure information Fusion Module with wired mode.）
Utilization is installed on the data of laser sensor, imageing sensor and the environmental sensor of road infrastructure, generates (1 time) road conditions cognitive information.So-called (1 time) road conditions cognitive information refers to combine the information of individual information (individual position, size, speed, kind) and environmental information (humiture, air pressure, wind speed, wind direction etc.).So-called individual, general designation is in moving obstacle on the road (large-scale/medium-sized/dilly, two wheeler, pedestrian) and stationary obstruction.
Although each sensor information can individually be processed, extract individual information,, in order to ensure the accuracy of individual information, to utilize sensor fusion techniques as basic.
The accuracy of the lateral attitude of imageing sensor, horizontal/vertical size information etc. is high.Although by imageing sensor, also can identify number plate of vehicle, in the present invention, be not in keep with the necessary condition of system performance.
The accuracy of the lengthwise position of laser sensor and widthwise size, speed etc. is high.With regard to the situation of laser sensor, although also can use the 3D sensor, consider system price, used as substantially to make up 2 2D sensors.In the situation of using the 2D laser sensor, both can on overbridge, install 2 along equidirectional, observe the different location, also can install 1 at overbridge, install 1 along vertical direction at road.
By being installed on the GPS base station of road infrastructure, can embody DGPS/RTK, thereby in can the situation of receiving satellite signal, can be reduced to errors in position measurement below the sub-meter grade from tens of rice.
Wherein, DGPS is that Differnetial GPS(utilizes control information to improve the accuracy of GPS location), RTK is that Real Time Kinematic(utilizes the carrier phase signal of GPS to improve the accuracy of GPS location).
Use (1 time) road conditions cognitive information and GPS base station signal, grasp individual absolute coordinates.Make up static map built-in in the memory storage of individual absolute coordinates and infrastructure information Fusion Module, the dynamic map of reaction of formation traffic conditions based on this, generates comprehensive (2 times) road conditions cognitive information.
It is wired that the infrastructure information Fusion Module passes to base station (Station) OBE(to the vehicle end necessary information of the prior regulation in (2 times) road conditions cognitive information).
Road infrastructure more than has been described, below with reference to Fig. 8 to Figure 11, V2I communication (radio communication between road infrastructure-vehicle with regard to Korea S, is utilized the UTIS in police agency's operation) has been described.
As shown in Figure 8, base station (Station) OBE that is installed on road infrastructure sends the required road conditions cognitive information of vehicle to RSE(Road Side Equipment), RSE broadcasts the road conditions cognitive information that receives, and vehicle OBE 100 receives the road conditions cognitive information that RSE sends.
Radio communication as shown in Figure 9, with regard to the situation of Korea S, the UTIS net that utilizes police agency/commune runing.
Define as shown in figure 10 based on the Frame of UTIS agreement and the formation of each individual data items.
Do not cause load because concentrating on particular point in time to the UTIS network for the information that makes school zone security service requirement transmits, be configured as shown in figure 11, regulate the broadcasting time of each information.
The below improves the cognitive performance of children pedestrian and describes utilizing the ASV technology that is connected situational awareness based on infrastructure.
Road infrastructure sensor and car are outer all can cognitive children pedestrian around sensor, in this case, can combination foundation facility sensor with car outward around sensor signal, cognitive children pedestrian.
In the situation of only having the cognitive children pedestrian of road infrastructure sensor, vehicle can be take the information that transmits from road infrastructure as according to cognitive children pedestrian.
For example, be in when individuality outside the visual field (Field of View) of vehicle-mounted imageing sensor/radar sensor, even or individual in the visual field, but because of the barrier between individuality and vehicle, when in vehicle, can't see individuality, by the cognitive sensor of road infrastructure environment, accurate location technology, wireless communication technology, transmit accurately individual information to vehicle, the individuality that in vehicle, can not directly see by the individual information cognition of transmitting.
Can be received in the information that vehicle inserts the children pedestrian before the vehicle in closely, cognitive children pedestrian from road infrastructure.
For example, children are on the walkway, be rolled into the football on the road and before going to vehicle the time in order to pick up, the cognition of road infrastructure sensor is positioned at the children on the walkway, when children's velocity both surpasses sizing and during towards road direction, even children not yet enter road from the walkway, still individual information is sent to vehicle, thus the children that vehicle can cognitive be run out suddenly.
Can be received in the information that vehicle inserts the shorter individuality of height before the vehicle in closely, cognitive children pedestrian from road infrastructure.
For example, when the shorter student of kindergarten of height does not recognize approaching vehicle and crosses road, the road infrastructure sensor individual information is sent to vehicle, thereby vehicle can cognitively insert the front shorter individuality of height of vehicle in the student of kindergarten enters road from the walkway moment.
Near the interval junction of three roads/crossroad, vehicle can obtain to be in children's pedestrian information in interval after turning before turning, thereby can cognitive children pedestrian.
By adjusting the cognitive susceptibility of vehicle-mounted pedestrian around sensor, can improve the cognitive performance of pedestrian.
For example, accurately distinguish ordinary road and school zone, regulate the cognitive susceptibility of pedestrian, thereby can strengthen the Vehicle Driving Cycle convenience at super expressway, strengthen the cognitive performance of pedestrian in school zone.
That is, can take following information as basis, susceptibility be regulated.
Super expressway〉parkway〉urban road/national highway〉school zone
(the cognitive susceptibility of ← pedestrian reduces direction: the cognitive susceptibility augment direction of pedestrian →)
For example, if vehicle travels at super expressway, then take above-mentioned information as the basis, improve the priority of Vehicle Driving Cycle convenience, reduce the cognitive susceptibility of pedestrian, if travel in school zone, then take above-mentioned information as basis, reduce the priority of Vehicle Driving Cycle convenience, increase the cognitive susceptibility of pedestrian.
By such as adjusted, when the cognitive susceptibility of pedestrian hour, only clearly be categorized as in pedestrian's the situation at barrier, just carry out warning and deceleration, can prevent that vehicle frequency ground from warning and deceleration occuring, can prevent unnecessary warning and acceleration-deceleration, can improve the Vehicle Driving Cycle convenience, when the cognitive susceptibility of pedestrian is larger, can satisfy easily the standard that is categorized as the pedestrian, even for similar pedestrian, warning and deceleration occur also, even sacrifice the Vehicle Driving Cycle convenience, also make pedestrian injury traffic hazard possibility occurrence realize minimizing.
In addition, at the upper Adding Area of navigating instrument electronic chart (static map) information field, to be convenient to distinguishing children and the cognitive susceptibility of pedestrian by running region.
For example, super expressway is listed in the cognitive atenuator region of pedestrian, parkway is listed in normal areas, the cognitive strengthening region of pedestrian is listed in the urban road, school zone is listed in the cognitive strengthening region of children pedestrian, by the area information field of as above classification is made an addition on the navigating instrument electronic chart, thus can be by running region, easily divide the cognitive susceptibility of children and pedestrian.
Can enlarge and be applied to that police or commune are formal to be specified and applicable giving an aggravated punishment beyond the maximum prescribed and the pedestrains safety zone (old man protection zone etc.) of all kinds of penalty provisions legally.
Above with reference to preferred embodiments and drawings, specify with regard to formation of the present invention, but this is example, in the category that does not surmount technological thought of the present invention, can realize various deformation.Therefore, the embodiment that scope of the present invention can not be confined to illustrate determines, should be not only according to claims, and should be according to determining with the scope of this claims equalization.
Claims (5)
1. the school zone safety feature in the advanced safety vehicle is characterized in that, comprising:
Vehicle OBE receives the road conditions information that transmits from the RSE that is installed on road infrastructure;
Integrated navigation section by to the gps signal that receives with from the integrated navigation that the induced signal of vehicle sensors transmission merges, grasps the positional information of the vehicle that becomes control object;
Information of vehicles fusion section, take the positional information of the described road conditions information that receives and the described vehicle that becomes control object as the basis, generate object cognition and target object tracked information, make up the absolute coordinates of described target object and the map of having stored, generate the traffic map of reflection traffic conditions, take the described traffic map that generates as the basis, generate the road conditions cognitive information; And
Control part take the described road conditions cognitive information that generates as the basis, is analyzed the danger of travel situations, take the result that analyzes as basis, vehicle is controlled.
2. the school zone safety feature in the advanced safety vehicle according to claim 1 is characterized in that:
Described information of vehicles fusion section storage has comprised at least one the accident information in accident time of origin, place and the cognitive object information, so as when children's pedestrian traffic accident to occur as the crash analysis data.
3. the school zone safety feature in the advanced safety vehicle according to claim 1 is characterized in that:
Described control part calculates travel speed and vehicle headway, determine alarm order, alert content and alarming method according to the result who calculates, according to the alarm order that determines, execution based on the warning of vision/sense of hearing, based on the Braking mode of the warning of sense of touch, described vehicle prepare, the emergency auto braking of described vehicle and in driver's control at least one, according to the alarming method corresponding with the described alarm order that determines, the alert content that output is corresponding with the described alarm order that determines.
4. the school zone safety method in the advanced safety vehicle is characterized in that, comprising:
Receiving step receives road conditions information from the RSE that is installed on road infrastructure;
The 1st generates step, take the described road conditions information that receives with from the information of the sensor passes that is installed in vehicle as the basis, generates object cognition and target object tracked information;
The 2nd generates step, makes up the absolute coordinates of described target object and the map of having stored, and generates the traffic map of reflection traffic conditions, take the described traffic map that generates as the basis, generates the road conditions cognitive information; And
The control step take the described road conditions cognitive information that generates as the basis, is analyzed the danger of travel situations, take this result as basis, vehicle is controlled.
5. the school zone safety method in the advanced safety vehicle according to claim 4 is characterized in that described control step comprises:
Deciding step is calculated travel speed and the vehicle headway of described vehicle, according to the result who calculates, determines alarm order, alert content and alarming method;
Execution in step according to the described alarm order that determines, is carried out based on vision, the warning of the sense of hearing, based on the Braking mode of the warning of sense of touch, described vehicle prepare, the emergency auto braking of described vehicle and in driver's control at least one; And
The output step, according to the alarming method corresponding with the described alarm order that determines, the alert content that output is corresponding with the described alarm order that determines.
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| KR10-2011-0059682 | 2011-06-20 | ||
| KR1020110059682A KR101838710B1 (en) | 2011-06-20 | 2011-06-20 | Apparatus Recognizing School Zone In Advanced Safety Vehicle And Method Thereof |
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| KR20120140062A (en) | 2012-12-28 |
| KR101838710B1 (en) | 2018-04-26 |
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