CN102903254B - 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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- CN102903254B CN102903254B CN201210153242.5A CN201210153242A CN102903254B CN 102903254 B CN102903254 B CN 102903254B CN 201210153242 A CN201210153242 A CN 201210153242A CN 102903254 B CN102903254 B CN 102903254B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- 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
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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 the school zone safety feature in advanced safety vehicle and method thereof, particularly relate to a kind of when advanced safety vehicle travels in school zone, improve the cognitive susceptibility to children pedestrian and accuracy, perform the device and method of driver's warning and emergency auto braking if desired.
Background technology
At the periphery of kindergarten, primary school etc., in order to not threaten by traffic hazard by child protection, going to school safely, classes are over, specifies special protection zone, is referred to as children protection area or school zone (School Zone).
Country variant, regulation (maximum speed limit, enforcement time etc.) is although difference to some extent, and most of traffic developed country, for guarantee children's pedestrains safety in school area, is all implementing school zone system.
With regard to the school zone system of Korea S, school zone scope is within the radius 300m centered by school gate, and in school zone, maximum speed limit is speed per hour 30km, and parking and temporary parking disable time are 08:00 ~ 20:00.The road traffic law that violator imposes a fine raising 2 times is implemented and is made and revise on January 1st, 2011 and implement, and from 22 days Dec in 2009, if bring out traffic hazard in school zone, hurts children, even if then accident slightly, also will be subject to criminal penalty.
With regard to the school zone system of the U.S., as shown in Figure 1, school zone scope is within school periphery 500m, in school zone, maximum speed limit is speed per hour 30km(speed per hour 15 miles ~ 40km), observe and whether have children to pass through, must stop at specific lane, when violating school zone regulation, 2 times of fine of ordinary road should be sentenced.
With regard to the school zone system of Japan, as shown in Figure 2, school zone scope is within school periphery 500m, also on road, identifies school zone, enables driver's easily this situation cognitive.
On the other hand, in the past, simple road structure thing was installed, by strengthening vision, the sense of hearing, haptic effect, enable driver and the pedestrian easily cognitive fact entering school zone.
Such as, improve the structure/graphic designs of school zone sign board, or the illumination of additional road/sign board, the visibility of strengthening driver/pedestrian, thus improve the school zone awareness of driver/pedestrian, automatic sensing school zone enters automobile, no matter whether exceed the speed limit, by time all unconditional with recording voice and loudspeaker inform, by strengthening the sense of hearing like this, improve the school zone awareness of driver, moment or all interval in school zone is entered in school zone, deceleration strip is set or slows down concavo-convex, by strengthening the sense of touch of driver, improve the school zone awareness of driver.
In addition, in the past, road infrastructure installs multiple sensors, faster and more accurately cognitive periphery situation, the situation that the situation that difference driver and pedestrian are in school zone specifies with violation school zone, regulate warning degree accordingly.
Such as, utilize image/laser sensor technology, perception enters the parking of the vehicle of school zone and temporary parking or speed, when violating the rules, carrying out prompting and broadcasting, thus make driver's easily cognition violate school zone regulation, utilize image/laser sensor technology, perception enters the parking of the vehicle of school zone and temporary parking or speed, when violating the rules, utilize display device to inform, thus make driver's easily cognition violate school zone regulation.
In addition, in the past, utilized the electronic chart of GPS and the guider installed in vehicle, and grasped vehicle and whether enter school zone.
Such as, by having carried the mobile communication terminal of GPS function, access police agency server, by voice and word message school zone information notification driver, thus enable driver's easily cognitive school zone, receive the positional information of vehicle from gps satellite, detect the position of vehicle, electronic chart shows the position of vehicle, thus enables driver's easily cognitive school zone.GlobalPositioning System is the satellite location/navigational system in U.S.'s operation, GNSS-GlobalNavigation Satellite Systems is the general phrase meaning satellite location/navigational system, in this patent proposal book, GPS also can as the meaning of GNSS containing GPS and GLONASS etc.
In addition, in the past, utilize the various sensor being installed on road infrastructure, whether monitoring vehicle violates school zone specified and stored, and passed to associated mechanisms.
Such as, imageing sensor perception is utilized to enter the parking of the vehicle of school zone and temporary parking or speed, when violating the rules, monitoring is violated video and is stored, combination laser sensor and camera review, also detect and enter the parking of the vehicle of school zone and temporary parking or speed, and the movement of vehicle and pedestrian, and then the information of violation is passed through wire-wireless communication (short message etc.) to associated mechanisms (towing service station, violation management person etc.) circular, in school zone, be not centered by vehicle, but centered by children, by the situation identification based on image, monitoring children abduct, the emergency conditioies such as accident also transmit, to the direct wearable sensors of children, by with school zone surrounding enviroment (temperature, humidity, air) interlock of/position/image sensor network, follow the trail of the position of children, monitor hazardous situation also transmits.
In addition, in the past, by radio communication between road infrastructure-vehicle, the school zone information of entering being passed to driver, when violating school zone regulation, making vehicle automatic retarding, by radio communication between vehicle, collected periphery situation information.
Such as, at school zone ad-hoc location (such as, school is just in front of the door) install based on the alarm generator of the short distance wireless communication technology, can transmit by the vehicle within both set a distances, in vehicle, alarm signal acceptance division receives the alarm signal of transmission before school, based on the alarm signal received, vehicle sensors judges whether to violate school zone speed, there is vision/sense of hearing/haptic alerts signal in vehicle, or automatic retarding, the short distance wireless communication technology can be utilized, exchange the useful vehicle running state of vehicle driver or transportation condition information between vehicle, the information from other vehicle receiver can be utilized, as required, make vehicle acceleration-deceleration or change direction, even may be used for the driving path changing navigation feature, the information transmitted between vehicle can also surmount simple message, expand to voice/image information, can by communicating between inter-vehicular communication and vehicle-road infrastructure, vehicle during 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, crossroad can also be regulated to pass through condition, when multiple stage vehicle travels to common destination, can by radio communication between vehicle, share about current location, destination, the information of estimated time of arrival (ETA) etc.
In addition, ACC(Adaptive Cruise Control in the past: adaptive learning algorithms), PCS(Pre Crash System: radar crash protection), LDWS(Lane Departure WarningSystem: deviation warning system), LKAS(Lane Keeping Assistance System: track maintain backup system) etc. ASV(Advanced Safety Vehicle: advanced safety vehicle) technology, the car that combined vehicle is installed is outer around sensor (Laser/Radar/imageing sensor etc.) and vehicle status sensor and multiple chassis/Secure execution device technology, improve cornering ability and the convenience of driver/pedestrian.
But, in aforesaid conventional art, exist and limit to as follows.
First, with regard to simply on school zone road mounting structure thing situation with regard to, no matter whether exceed the speed limit in school zone, exist with or without pedestrian, driver/pedestrian accepts identical stimulation all the time, therefore, the driver/pedestrian be exposed to for a long time under frequent stimulation is blunt to identical sensation repeatedly, can ignore warning (identical stimulation repeatedly), in this case, careless slightlyly just traffic hazard may be there is.
Just on road infrastructure, multiple sensors is installed, from the situation that vision/acoustically specify according to school zone carries out warning, owing to biasing toward over-speed vehicles cognitive function, even if without under the state of pedestrian, also unnecessarily overspeed warning broadcasting can be carried out, at multiple stage vehicle to exceed the speed limit in various degree, or over-speed vehicles and non-over-speed vehicles are when mixing, unnecessarily can carry out overspeed warning broadcasting to the vehicle do not exceeded the speed limit, compared with the driver in running at high speed, driver in low speed driving does not more easily hear warning voice, therefore, actual should hear warning object and the actual driver hearing warning cannot accurate match, when raising warning volume, when can not hear with the driver in making to run at high speed yet, only noise pollution can be caused, with regard to be shown the situation of over-speed vehicles to over-speed vehicles driver by traffic mark board with regard to, transmission effect can decline, when driver to warning blunt or ignore time, then cannot prevent school zone traffic hazard.
With regard to utilizing the situation of the electronic chart of GPS and the guider that vehicle is installed, if do not install GPS at road infrastructure end, only at vehicle end, GPS is installed, so, the positional information (individual relative is in the relative position of road infrastructure sensor mounting location) of the individuality of road infrastructure sensor measurement passes to vehicle, so, the availability of this relative position information declines, with regard to utilizing the situation of the GPS of carrying in the commercial mobile device or vehicle navigation apparatus of ordinary consumer sale, the error of tens of meters can be comprised in the location result of vehicle, when only depending on satellite location/navigational system, when school zone or its there is satellite blind area in the neighbourhood time, do not receive gps satellite signal, location solution cannot be found.
Whether violate school zone with regard to monitoring specify and store, with regard to the situation that transmits, although can effectively use in the accident investigation/analysis after school zone traffic hazard occurs, but, when driver cannot cognitive pedestrian, school zone traffic hazard can be there is.
With regard to the situation of the safety technique based on inter-vehicular communication technology, for making to depend on V2V(Vehicle-to-Vehicle, between vehicle) safety technique of radio communication is effective, most of automobile that road travels must install V2V wireless communication module, therefore, when not installing, service will not used.Such as, assuming that by after vehicle registration until scrap and last calculatings in 10 years, the V2V wireless communication module of the automobile that motor corporation sells installs rate had both made to reach all sale number of units 20% additional, so, until 20% of all registered vehicles installs 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, when road communication infrastructure investment completes (in Korea S, the UTIS communication network of police agency's operation), even if the vehicle installing V2I wireless communication module additional is only a few, the driver installing vehicle additional also can utilize the effect of rotating device in direct 100% ground.
With regard to the ASV technology based on vehicle, with regard to the ACC/PCS radar sensor being installed in vehicle, due to horizontal field of view (Horizontal Field of View) narrow (about+/ 15 degree), in the children pedestrian before interior insertion vehicle, there is limitation at close vehicle in cognition.Particularly to from the direction perpendicular to vehicle moving direction, the individuality of running closely (for pickup be rolled into vehicle before ball and come children, do not see vehicle and cross rapidly the bicycle etc. of road to right ahead), cognitive performance is very low.
With regard to being installed in the situation of the LDWS/LKAS imageing sensor of vehicle, owing to being hold on the windshield, install to the direction observing vehicle front side, thus cognition the primary grades student as very short in kindergarten student, height of the individuality that close vehicle is shorter from the height before interior insertion vehicle, ride child's bicycle children etc. in there is limitation.
Place near the junction of three roads/crossroad, even children pedestrian normally crosses the situation of road, because turn inside diameter travels, object cognitive performance sharply declines.
With existing vehicle installs additional based on the outer ASV technology around sensor of car as ACC/PCS etc., its application be by cognitive Large-scale Mobile barrier as bus, truck, by bus with and belong to restricted vehicle motorcycle etc. centered by exploitation, for the small-scale obstacle thing as bicycle, children etc., particularly the small-scale obstacle thing close vehicle from interior edge perpendicular to the situation in the insertion visual field, direction of vehicle moving direction, or the situation of originally static the small-scale obstacle thing movement suddenly in the visual field, involve a delay cognition or cannot be cognitive situation.
LDWS(Lane Departure Warning System)/LKAS(Lane KeepingAssistance System) etc. owing to being be basic with track cognition, give a warning to driver or control the system of chassis system, therefore, in 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 around sensor outward by the car that vehicle installs additional.
Focusing on of many ASV technology, under the condition that the vehicle of such as parkway/super expressway can be run at high speed, guarantees convenience and the security of driver.That is, little to the susceptibility of pedestrian's cognition, focus on vehicle cognition.In nearest ASV applies, although pedestrian's cognitive performance is strengthened, cognitive for identical pedestrian susceptibility all must be applied to super expressway and school zone, therefore, in guaranteeing cognitive vehicle traveling convenience and pedestrian's cognitive performance, difficulty is a lot.
Although developed based on the diversified school zone safety feature of intelligence transportation system and ASV technology and popularized; but; from school zone road accident rate continue to remain high-order and the statistics increased year by year (Republic of Korea's school zone traffic hazard occur number: 2008 517; 2009 535; 2010 768) known; fail the technology reflecting that social loss and law/system changes, there is limitation in protection as in the children of traffic weak person.
Self-examination through society to school zone traffic hazard, recently in relevant laws and regulations or system (traffic accident treatment special case method in Dec ,-2009, road traffic law is implemented and is made – in January, 2011) etc. aspect, increased the weight of school zone traffic hazard and punishment/fine in violation of rules and regulations.In addition, with regard to the situation of Shouer City, from 2011 year second half year; large-scale institute and park periphery etc. are also planned to be appointed as school zone; to be given an aggravated punishment beyond the maximum prescribed and the road of penalty provisions impact increases, but only by this point, be there is limitation in protection as in the children of traffic weak person.
Summary of the invention
(technical matters that will solve)
The object of the present invention is to provide the school zone safety feature in a kind of advanced safety vehicle and method thereof, by being connected the signal of road infrastructure sensor and vehicle inner sensor, cognitive school zone road conditions, thus improve the cognitive susceptibility of children pedestrian and accuracy in school zone, carry out warning or performing emergency auto braking to driver if desired.
The present invention also aims to provide the school zone safety feature in a kind of advanced safety vehicle and method thereof, when vehicle running path existing school zone, this situation of accurate identification also informs driver, when vehicle enters school zone, I) automatically increase the cognitive susceptibility of pedestrian, II) when perceiving pedestrian, automatically warning level is improved according to safe class, III) when predict cannot avoid pedestrian impact accident time, even if driver does not start detent, also automatically braking function is performed, thus can prevent school zone children pedestrian traffic accident from occurring.
(means of dealing with problems)
For reaching aforementioned object, school zone safety feature in the advanced safety vehicle of one aspect of the present invention comprises: infrastructure information fusion portion, merge the information of laser sensor, imageing sensor, environmental sensor and the GPS etc. being installed on road infrastructure, generate the road condition information of object information; Station OBE, for the information that wireless transmission infrastructure information fusion portion generates; RSE, for broadcasting the signal received from Station OBE to the nearby vehicle of majority; Vehicle OBE, receives the road condition information transmitted from the RSE being installed on road infrastructure; Vehicle end integrated navigation portion, by the gps signal received and the integrated navigation of merging from the signal that vehicle sensors (inertial sensor and imageing sensor/laser sensor/radar sensor etc.) transmits, grasps the position becoming the vehicle of control object; Information of vehicles fusion portion, based on the road condition information of wireless receiving and the road condition information obtained from vehicle sensors (inertial sensor and imageing sensor/laser sensor/radar sensor etc.) and the above-mentioned position-detection information becoming the vehicle of control object, generate object cognition and target object tracked information, combine the absolute coordinates of above-mentioned target object and the map stored, the reaction of formation dynamic traffic map of traffic conditions, based on the above-mentioned dynamic traffic map generated, generate road conditions cognitive information; And control part, based on the above-mentioned road conditions cognitive information generated, analyze the danger of travel situations, with the result analyzed for basis, vehicle is controlled.
School zone safety method in the present invention's advanced safety vehicle on the other hand comprises: road condition information generation step, the information being installed on the laser sensor of road infrastructure, imageing sensor, environmental sensor and GPS etc. is merged, generates road condition information; Road condition information forwarding step, through Station OBE and RSE, the road condition information that the above-mentioned road infrastructure of wireless transmission generates; Road condition information receiving step, receives road condition information from the RSE being installed on road infrastructure; Cognitive and the target object tracked information generation step of object, by the above-mentioned road condition information received with based on the information of sensor passes being installed in vehicle, generates the cognitive and target object tracked information of object; Road conditions cognitive information generation step, the absolute coordinates combining above-mentioned target object and the map stored, the reaction of formation traffic map of traffic conditions, based on the above-mentioned traffic map generated, generates road conditions cognitive information; And rate-determining steps, based on the above-mentioned road conditions cognitive information generated, analyze the danger of travel situations, with this result for basis, vehicle is controlled.
(effect of invention)
According to the present invention, by accurate location, distinguish ordinary road and school zone exactly, when travelling in ordinary road, strengthening vehicle travels convenience, when travelling in school zone, strengthening pedestrian cognitive performance, thus the safety of children pedestrian can be guaranteed in school zone, can traffic hazard be reduced, can reduce the driver that causes because of traffic hazard economically/jural loss.
In addition, accident conditions can be stored, as accident investigation/analysis of data.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the school zone system representing the U.S..
Fig. 2 is the schematic diagram of the school zone system representing Japan.
Fig. 3 is the block diagram for illustration of the school zone safety feature in the advanced safety vehicle of one embodiment of the invention.
Fig. 4 is for illustration of GPS(DGPS/RTK) accompanying drawing of+onboard sensor integrated navigation.
Fig. 5 and Fig. 6 is the accompanying drawing for illustration of the school zone safety feature in advanced safety vehicle.
Fig. 7 is the accompanying drawing for illustration of road infrastructure.
Fig. 8 to Figure 11 is the accompanying drawing for illustration of V2I.
[label declaration]
110: vehicle OBE 120: integrated navigation portion
130: information of vehicles fusion portion 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 defined in the embodiment of following discloses, but embody with mutually different variforms, the present embodiment is only provided for making of the present invention open more complete, make the category that general technical staff of the technical field of the invention's easy understand is invented, the present invention only defined by the category of claim.On the other hand, the term used in this instructions, for illustration of embodiment, is not really wanted to limit the present invention.In this manual, as long as do not mention especially in sentence, odd number type also comprises complex number type." comprising (comprises) " of using in instructions or " (comprising) that comprise ", refer to that inscape, step, action and/or the element mentioned is not got rid of and existed or add other inscapes more than one, step, action and/or element.
Referring 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 illustration of the school zone safety feature in the advanced safety vehicle of one embodiment of the invention.Fig. 4 is for illustration of GPS(DGPS/RTK) accompanying drawing of+onboard sensor integrated navigation, Fig. 5 and Fig. 6 is the accompanying drawing for illustration of the school zone safety feature in advanced safety vehicle, Fig. 7 is the accompanying drawing for illustration of road infrastructure, and Fig. 8 to Figure 11 is the accompanying drawing for illustration of V2I.
As shown in Figure 3, school zone safety feature of the present invention utilizes road infrastructure and vehicle, namely, be connected the signal of road infrastructure sensor and vehicle inner sensor, cognitive school zone road conditions, thus improve the cognitive susceptibility of children pedestrian and accuracy in school zone, carry out warning or performing emergency auto braking to driver if desired.
As shown in Figure 4, vehicle comprises vehicle OBE100, integrated navigation portion 120, information of vehicles fusion portion 130 and control part 140.
Vehicle OBE100 is through RSE(Road Side Equipment: roadside equipment), receive the road condition information transmitted from the base station being installed on road infrastructure (Station) OBE.
To carry out describing after school zone safety feature of the present invention illustrates to the detailed description of road infrastructure.
Integrated navigation portion 120, by the gps signal received GPS and the integrated navigation of merging from the induced signal of vehicle sensors transmission, grasps the position becoming the vehicle of control object.
Such as, imageing sensor is added in vehicle, radar sensor (or laser sensor), GPS, vehicle OBE100 etc., wherein, imageing sensor, radar sensor is for for ASV(Advanced Safety Vehicle)/PCS/LDWS(track detachment alarm device)/LKAS(lane holding assistant) and installed, GPS is the GPS for having installed for guider, vehicle OBE100 is for from UTIS(Urban Traffic InformationSystem: urban traffic information system) reception information and adding installs additional, imageing sensor and radar sensor individually or integrally generate vehicle reference road individual information.
Integrated navigation portion 120, by the accurate integrated navigation of merging GPS signal, the DGPS/RTK signal of GPS base station received from road infrastructure by vehicle OBE100, onboard sensor (acceleration transducer, yaw-rate sensor, steering angle sensor, wheel speed sensors) signal, image sensor signal, radar sensor signal, grasps the precision positions becoming the vehicle of control object.
Integrated navigation portion 120 due to use integrated navigation, therefore, though between metropolitan district wait locate temporarily do not receive gps satellite signal, only rely on by means of onboard sensor signal, image sensor signal, radar sensor signal, also can carry out accurate location.
That is, when receiving gps signal, the location error in integrated navigation portion 120 is number cm, does not immediately temporarily receive gps signal, and integrated navigation portion 120 also can on road vertical direction, within location error is remained on 30cm.
Integrated navigation portion 120 passes to information of vehicles fusion portion 130 accurate for the vehicle that obtained by accurate integrated navigation position-detection information, the individual information that obtained by imageing sensor and radar sensor.
Information of vehicles fusion portion 130 is based on the road condition information received and the position-detection information of vehicle becoming control object, generate object cognition and target object tracked information, absolute coordinates and the map stored of composite object object, generate the traffic map of reflection traffic conditions, based on the traffic map generated, generate road conditions cognitive information.
Such as, information of vehicles fusion portion 130 as shown in Figure 5, by the multiple target tracking algorithm transplanted, utilize induction integration technology, carry out comprehensively to the information received by radio communication (V2I) from road infrastructure, generate the improved object cognition of accuracy and target object tracked information, absolute coordinates and the static map stored of combined vehicle and individuality, generate the dynamic map of reflection traffic conditions, based on this, generate comprehensive road conditions cognitive information.
To carry out describing after road infrastructure illustrates to the detailed description of V2I.
In addition, information of vehicles fusion portion 130 stores the accident information of at least one in the individual information containing traffic injury time, place and cognition, when there is children's pedestrian traffic accident with box lunch, as crash analysis data.
Such as, information of vehicles fusion portion 130, when there is children's pedestrian traffic accident, stores the kind of the information such as traffic injury time, place and adjacent barrier, can be used as accident investigation/analysis of data.
Because original black box subsystem only uses Satellite Navigation Technique built-in in vehicle navigation apparatus or the reckoning airmanship based on low cost inertial sensor, therefore, for whether entering school zone and accident generation position, comprise the error of tens of meters, therefore can cause the mistake of accident investigation/analysis, but the present invention utilizes accurate location technology, thus location error can be reduced to sub-meter grade, the accuracy as legal argument can be guaranteed.
Control part 140, based on the road conditions cognitive information generated, is analyzed the danger of travel situations, with the result analyzed for basis, is controlled vehicle.
Such as, control part 140 calculates travel speed and vehicle headway, according to the result calculated, as shown in Figure 6, determine alarm order (Risk-Degree of Collision), alert content and alarming method, according to the alarm order determined, at least one in the warning of execution view-based access control model/sense of hearing, the warning based on sense of touch, the Braking mode preparation of vehicle, the emergency auto braking of vehicle and driver's control, according to the alarming method corresponding with the alarm order determined, export the alert content corresponding with the alarm order determined.
Namely, control part 140 is based on road conditions cognitive information, analyze the danger of travel situations, determine alarm priority/content/method, by HMI(Human Machine Interface: man-machine interface) output such as device or electrodynamic type seat harness (MSB, Motorized SeatBelt) alert content, calculate best travel speed and the vehicle headway of vehicle, when hazard class is higher, prepare the Braking mode of (Pre-fill) vehicle, or perform the emergency auto braking of vehicle.
As previously mentioned, the present invention is by accurate location, accurate difference ordinary road and school zone, when travelling in ordinary road, strengthening vehicle travels convenience, when travelling in school zone, strengthening pedestrian cognitive performance, thus the safety of children pedestrian can be guaranteed in school zone, can traffic hazard be reduced, can reduce the driver caused because of traffic hazard economically/jural loss.In addition, accident conditions can be stored, as accident investigation/analysis of data.
Referring to Fig. 7, road infrastructure is described in detail.
As shown in Figure 7, enter near place or children main channel in school zone and road is established portal frame (on the ground more than 10m height), 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 is non-essential is installed on overbridge, can be installed on to be easy to receive near gps satellite signal open ground or near after building roof, be connected to infrastructure information Fusion Module in a wired fashion.）
Utilize the data of laser sensor, imageing sensor and the environmental sensor being installed on road infrastructure, generate (1 time) road conditions cognitive information.So-called (1 time) road conditions cognitive information, refers to the information combining individual information (individual position, size, speed, kind) and environmental information (humiture, air pressure, wind speed, wind direction etc.).So-called individual, be referred to as the moving obstacle (large-scale/medium-sized/dilly, two wheeler, pedestrian) and stationary obstruction that are on road.
Although each sensor information can individually process, extract individual information, in order to ensure the accuracy of individual information, be basic to utilize sensor fusion techniques.
The accuracy of the lateral attitude, transverse direction/longitudinal size information etc. of imageing sensor is high.Although by imageing sensor, also can identify number plate of vehicle, in the present invention, not in keep with the necessary condition of system performance.
The lengthwise position of laser sensor and the accuracy of widthwise size, speed etc. high.With regard to the situation of laser sensor, although also 3D sensor can be used, consider system price, used as substantially to combine 2 2D sensors.When using 2D laser sensor, both on overbridge, 2 can be installed along equidirectional, and observing different location, also can install 1 on overbridge, on road, install 1 along vertical direction.
By being installed on the GPS base station of road infrastructure, can DGPS/RTK be embodied, thus when can receiving satellite signal, errors in position measurement can be reduced to below 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.Static map built-in in the memory storage of the absolute coordinates that combination is individual 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 infrastructure information Fusion Module passes to base station (Station) OBE(the vehicle end necessary information of the prior regulation in (2 times) road conditions cognitive information).
Be explained above road infrastructure, referring to Fig. 8 to Figure 11, V2I communication (between road infrastructure-vehicle, radio communication, with regard to Korea S, utilizes the UTIS in police agency's operation) be described.
As shown in Figure 8, base station (Station) OBE being installed on road infrastructure sends RSE(Road Side Equipment to the road conditions cognitive information needed for vehicle), RSE broadcasts the road conditions cognitive information received, 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, utilizes the UTIS net that police agency/commune is runing.
Define as shown in Figure 10 based on the Frame of UTIS agreement and the formation of each individual data items.
Transmit for making the information of school zone security service requirement and do not cause load because concentrating on particular point in time to UTIS network, be configured as shown in figure 11, regulate the broadcasting time of each information.
Below to utilizing the ASV technology being connected situational awareness based on infrastructure, improving children pedestrian's cognitive performance and being described.
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.
When only having the cognitive children pedestrian of road infrastructure sensor, vehicle can with the information transmitted from road infrastructure for according to cognitive children pedestrian.
Such as, outside the visual field (Field of View) that individuality is in vehicle-mounted imageing sensor/radar sensor, even if or individuality is in the visual field, but because of the barrier between individual and vehicle, when can't see individuality in vehicle, by road infrastructure Context aware sensor, accurate location technology, wireless communication technology, transmit individual information accurately to vehicle, the individuality can not directly can seen by the individual information cognition of transmitting in vehicle.
The information of close vehicle from the children pedestrian before interior insertion vehicle can be received in, cognitive children pedestrian from road infrastructure.
Such as, children on pavement, during in order to pick up the football that is rolled on road and go to before vehicle, the cognition of road infrastructure sensor is positioned at the children on walkway, when the velocity of children exceed both sizing and towards road direction time, even children not yet enter road from walkway, still individual information is sent to vehicle, thus the children that vehicle can cognitive be run out suddenly.
The information of close vehicle from the shorter individuality of the height before interior insertion vehicle can be received in, cognitive children pedestrian from road infrastructure.
Such as, when the kindergarten student that height is shorter does not recognize close vehicle and crosses road, road infrastructure sensor enters the moment of road from walkway kindergarten student, individual information is sent to vehicle, thus vehicle cognitive can insert the shorter individuality of the height before vehicle.
Interval near the junction of three roads/crossroad, vehicle, before turning, can obtain children's pedestrian information interval after being in turning, thus can cognitive children pedestrian.
By adjusting the cognitive susceptibility of the vehicle-mounted pedestrian around sensor, pedestrian's cognitive performance can be improved.
Such as, accurately difference ordinary road and school zone, regulates the cognitive susceptibility of pedestrian, thus can strengthen vehicle traveling convenience at super expressway, in school zone strengthening pedestrian cognitive performance.
That is, with following information for basis, susceptibility can 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)
Such as, if vehicle travels on super expressway, then based on above-mentioned information, improve the priority that vehicle travels convenience, reduce the cognitive susceptibility of pedestrian, if travelled in school zone, then with above-mentioned information for basis, reduce the priority that vehicle travels convenience, increase the cognitive susceptibility of pedestrian.
By as above regulating, when the cognitive susceptibility of pedestrian is less, only when barrier is clearly categorized as pedestrian, just perform warning and deceleration, there is warning with can preventing vehicle frequency and slow down, unnecessary warning and acceleration-deceleration can be prevented, vehicle can be improved and travel convenience, when the cognitive susceptibility of pedestrian is larger, the standard being categorized as pedestrian can be met easily, even if for similar pedestrian, also warning and deceleration occur, even if sacrifice vehicle to travel convenience, pedestrian injury traffic hazard possibility occurrence is also made to realize minimizing.
In addition, at navigating instrument electronic chart (static map) upper Adding Area information field, distinguish children and the cognitive susceptibility of pedestrian to be convenient to sailing region by row.
Such as, 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 urban road, school zone is listed in the cognitive strengthening region of children pedestrian, by the area information field of as above classifying is made an addition on navigating instrument electronic chart, thus by running region, can easily divide children and the cognitive susceptibility of pedestrian.
Can expand and be applied to police or commune and formally specify and be suitable for legally and give an aggravated punishment beyond the maximum prescribed and the pedestrains safety region (old man protection zone etc.) of all kinds of penalty provisions.
Above with reference to preferred embodiments and drawings, illustrate with regard to formation of the present invention, but this is example, in the category not surmounting technological thought of the present invention, can various deformation be realized.Therefore, the embodiment that scope of the present invention can not be confined to illustrate is determined, not only according to claims, and should should determine according to the scope with this claims equalization.
Claims (4)
1. the school zone safety feature in advanced safety vehicle, is characterized in that, comprising:
Vehicle OBE, receives the road condition information transmitted from the RSE being installed on road infrastructure;
Integrated navigation portion, by the gps signal received and the integrated navigation of merging from the induced signal of vehicle sensors transmission, grasps the positional information becoming the vehicle of control object;
Information of vehicles fusion portion, by the described road condition information received and described in become the vehicle of control object positional information based on, generate object cognition and target object tracked information, combine the absolute coordinates of described target object and the map stored, generate the traffic map of reflection traffic conditions, based on the described traffic map generated, generate road conditions cognitive information; And
Control part, based on the described road conditions cognitive information generated, analyzes the danger of travel situations, with the result analyzed for basis, controls vehicle;
Wherein, described information of vehicles fusion portion stores the accident information of at least one in the object information containing traffic injury time, place and cognition, to be used as crash analysis data when there is children's pedestrian traffic accident.
2. the school zone safety feature in advanced safety vehicle according to claim 1, is characterized in that:
Described control part calculates travel speed and vehicle headway, alarm order, alert content and alarming method is determined according to the result calculated, according to the alarm order determined, perform the warning of view-based access control model/sense of hearing, prepare based on the Braking mode of the warning of sense of touch, described vehicle, at least one in the emergency auto braking of described vehicle and driver's control, according to the alarming method corresponding with the described alarm order determined, export the alert content corresponding with the described alarm order determined.
3. the school zone safety method in advanced safety vehicle, is characterized in that, comprising:
Receiving step, receives road condition information from the RSE being installed on road infrastructure;
1st generation step, by the described road condition information received with based on the information of sensor passes being installed in vehicle, generates the cognitive and target object tracked information of object;
2nd generation step, combines the absolute coordinates of described target object and the map stored, generates the traffic map of reflection traffic conditions, based on the described traffic map generated, generates road conditions cognitive information; And
Rate-determining steps, based on the described road conditions cognitive information generated, analyzes the danger of travel situations, with the result analyzed for basis, controls vehicle.
4. the school zone safety method in advanced safety vehicle according to claim 3, it is characterized in that, described rate-determining steps comprises:
Deciding step, calculates travel speed and the vehicle headway of described vehicle, according to the result calculated, determines alarm order, alert content and alarming method;
Perform step, according to the described alarm order determined, perform view-based access control model, the warning of the sense of hearing, prepare based on the Braking mode of the warning of sense of touch, described vehicle, at least one in the emergency auto braking of described vehicle and driver's control; And
Export step, according to the alarming method corresponding with the described alarm order determined, export the alert content corresponding with the described alarm order determined.
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| KR1020110059682A KR101838710B1 (en) | 2011-06-20 | 2011-06-20 | Apparatus Recognizing School Zone In Advanced Safety Vehicle And Method Thereof |
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| CN102903254B true CN102903254B (en) | 2015-02-18 |
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| KR20120140062A (en) | 2012-12-28 |
| CN102903254A (en) | 2013-01-30 |
| KR101838710B1 (en) | 2018-04-26 |
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