CN103832434B - A kind of traffic safety controls system and method - Google Patents
A kind of traffic safety controls system and method Download PDFInfo
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- CN103832434B CN103832434B CN201210480242.6A CN201210480242A CN103832434B CN 103832434 B CN103832434 B CN 103832434B CN 201210480242 A CN201210480242 A CN 201210480242A CN 103832434 B CN103832434 B CN 103832434B
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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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- B60W2554/00—Input parameters relating to objects
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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Abstract
The present invention provides a kind of traffic safety to control system and method, and wherein system includes: road conditions information gathering device, for gathering the first traffic information in horizon range and the second traffic information outside horizon range；Traffic information processes device, for described first traffic information and described second traffic information are processed, obtains result；Traffic safety controls device, for according to described result, producing control signal, and according to described control signal, vehicle is controlled.The solution of the present invention can provide safety traffic to control for vehicle.
Description
Technical field
The present invention relates to the communications field, particularly relate to a kind of traffic safety and control system and method.
Background technology
Along with the development of auto industry and electronic technology, vehicle intellectualized technology will progressively be applied, automatic Pilot technology also first meeting clue.This wherein, traffic safety is always up the focus received much concern, intellectualized technology will be used for traffic safety control system.At present, in some high-end cars, adopted infrared radar Detection Techniques be vehicle when night running, pedestrian is carried out active probe and driving safety prompt is provided；And in the research of automatic Pilot technology, road conditions are detected and process in real time by main employing digital camera head and trailer-mounted radar, automatically control Vehicle Speed.
Existing technology is based primarily upon the security control within the scope of sighting distance or radar direct projection, but the differentiation of detected thing still to rely on the subjective judgment of driver, and system intelligent degree is still relatively low.Although imaging object can be carried out graphical analysis to be distinguish between, but it is unable to reach the degree of people's exceptionally high degree of trust of allowing all the time.Therefore, in current design, traffic safety controls system and only makes the steered reference of driver.
Additionally, in the case of some vehicle accidents, the generation of many severe traffic accidents causes mainly due to the burst factor in some invisible scopes, pedestrian as precipitate in crossroad or motor vehicles, easily sending out location in these accidents, the driving safety system realized by Detection Techniques is difficult to effectively work.
To sum up, in prior art, there are the following problems:
1) it is monitored by infrared radar detection system road pavement, it is impossible to pedestrian and other biological are carried out differentiation highly reliable in real time.
2) safety factors that some accidents cannot easily be sent out location carries out anticipation and advanced warning.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of traffic safety and controls system and method, it is possible to provide safety traffic to control for vehicle.
For solving above-mentioned technical problem, embodiments of the invention provide a kind of traffic safety to control system, including:
Road conditions information gathering device, for gathering the first traffic information in horizon range and the second traffic information outside horizon range；
Traffic information processes device, for described first traffic information and described second traffic information are processed, obtains result；
Traffic safety controls device, for according to described result, producing control signal, and according to described control signal, vehicle is controlled.
Wherein, described road conditions information gathering device includes:
Multiple biosensors, for gathering the first traffic information in horizon range；
Road information of forecasting obtains module, is used for obtaining the second traffic information of the Internet of Things monitoring MAT terminal collection in a preset range of vehicle position periphery.
Wherein, described traffic information process device includes:
First road conditions message processing module, for described first traffic information is processed, obtains the state of various real-time roads in described first traffic information；
Second traffic information processing module, for described second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
Wherein, described first road conditions message processing module includes:
First processes submodule, for described first traffic information is processed, identify the pedestrian in various real-time road, other biological, vehicle and barrier, and determine the pedestrian in various real-time road, other biological, vehicle and barrier size and and any 1 between distance；
Second processes submodule, for described first traffic information is processed, identifies the traffic signs on the road surface in various real-time road and determines the state of traffic light.
Wherein, described second traffic information processing module includes:
3rd processes submodule, the information of forecasting for described second traffic information is processed, it is thus achieved that having crossing or the corner of intersection, to the movement locus of the MAT terminal of the personnel or vehicle that are equipped with MAT terminal；
Fourth process submodule, for processing described second traffic information, it is thus achieved that the personnel being equipped with MAT terminal pass through the information of forecasting of the probability of crossing.
Wherein, described traffic information process device also includes:
Information of vehicles obtains module, for obtaining the real time running status information of vehicle；Wherein, described real time running status information includes: the real time running positional information of vehicle and/or real time running velocity information；
Described first road conditions message processing module is specifically for the real time running status information according to described vehicle, obtain biosensor and detect described vehicle front when there is pedestrian, other biological, vehicle and/or barrier, the collision probability of vehicle and pedestrian, other biological, vehicle and/or barrier；And the real-time road that described vehicle front is when being absent from pedestrian, other biological, vehicle and/or barrier；
Described second traffic information, specifically for the real time running status information according to described vehicle, is processed, obtains the road condition predicting information at various crossings in the second traffic information by described second traffic information processing module.
Wherein, described traffic safety control device includes:
First controls module, for judging according to described result: described vehicle front is absent from the real-time road of pedestrian, other biological, vehicle and barrier, or described traffic signs represents current, or when traffic light are release status, produce the first control signal, and start traffic safety guide control hierarchy according to described first control signal, and guide control hierarchy that vehicle is controlled according to described traffic safety；
Second controls module, for according to described result and according to the distance between the distance between the movement locus of described vehicle and described MAT terminal or described vehicle and front cross crossing, produce the second control signal, and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled；
3rd controls module; for judging according to described result: if described collision probability is more than the 3rd predetermined threshold; or the distance of the movement locus of MAT terminal described in described vehicle distances or distance intersection is less than warning distance; or when the conditions dictate of traffic signs or traffic light is forbidden; produce the 3rd control signal; and start brake hard control hierarchy according to described 3rd control signal, and according to described brake hard control hierarchy, vehicle is controlled.
Wherein, described second control module specifically for:
Judge according to described result: if the movement locus of described vehicle and described MAT terminal or with the distance of intersection less than early warning distance; whether the current real time running velocity estimated according to vehicle reminds deceleration; if real time running speed is more than alarm threshold; then remind deceleration; after waiting the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; then produce the second control signal; and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
Wherein, vehicle is braked control according to following braking acceleration by described 3rd control module:
Wherein, v is the real time running speed of vehicle, and s is the distance between vehicle and pedestrian, and α is braking acceleration.
Embodiments of the invention also provide for a kind of traffic safety control method, including:
Gather the first traffic information in horizon range and the second traffic information outside horizon range；
Described first traffic information and described second traffic information are processed, obtains result；
According to described result, produce control signal, and according to described control signal, vehicle is controlled.
Wherein, the step of the first traffic information in described collection horizon range and the second traffic information outside horizon range includes:
The first traffic information in horizon range is gathered by multiple biosensors；
Obtain the second traffic information that the Internet of Things monitoring MAT terminal in a preset range of vehicle position periphery gathers.
Wherein, described described first traffic information and described second traffic information being processed, the step obtaining result includes:
Described first traffic information is processed, obtains the state of various real-time roads in described first traffic information；
Described second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
Wherein, described described first traffic information is processed, obtains the step of the state of various real-time roads in described first traffic information and include:
Described first traffic information is processed, identify the pedestrian in various real-time road, other biological, vehicle and barrier, and determine the pedestrian in various real-time road, other biological, vehicle and barrier size and and any 1 between distance；
Described first traffic information is processed, identifies the traffic signs on the road surface in various real-time road and determine the state of traffic light.
Wherein, described described second traffic information being processed, the step of the road condition predicting information obtaining various crossings in the second traffic information includes:
Described second traffic information is processed, it is thus achieved that having crossing or the corner of intersection, the information of forecasting to the movement locus of the MAT terminal being equipped with the personnel of MAT terminal or vehicle；
Described second traffic information is processed, it is thus achieved that the personnel being equipped with MAT terminal are passed through the information of forecasting of the probability of crossing.
Wherein, said method also includes:
Obtain the real time running status information of vehicle；Wherein, described real time running status information includes: the real time running positional information of vehicle and/or real time running velocity information；
Described first traffic information is processed, obtain the step of the state of various real-time roads in described first traffic information to specifically include: the real time running status information according to described vehicle, obtain biosensor and detect described vehicle front when there is pedestrian, other biological, vehicle and/or barrier, the collision probability of vehicle and pedestrian, other biological, vehicle and/or barrier；And the real-time road that described vehicle front is when being absent from pedestrian, other biological, vehicle and/or barrier；
Described second traffic information is processed, the step of the road condition predicting information obtaining various crossings in the second traffic information specifically includes: the real time running status information according to described vehicle, described second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
Wherein, described according to described result, produce control signal, and step vehicle being controlled according to described control signal includes:
Judge according to described result: described vehicle front is absent from the real-time road of pedestrian, other biological, vehicle and barrier, or described traffic signs represents current, or when traffic light are release status, produce the first control signal, and start traffic safety guide control hierarchy according to described first control signal, and guide control hierarchy that vehicle is controlled according to described traffic safety；
According to described result and according to the distance between the distance between the movement locus of described vehicle and described MAT terminal or described vehicle and front cross crossing, produce the second control signal, and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled；
Judge according to described result: if described collision probability is more than the 3rd predetermined threshold; or the distance of the movement locus of MAT terminal described in described vehicle distances or distance intersection is less than warning distance; or when the conditions dictate of traffic signs or traffic light is forbidden; produce the 3rd control signal; and start brake hard control hierarchy according to described 3rd control signal, and according to described brake hard control hierarchy, vehicle is controlled.
Wherein, described according to described result and according to the distance between the distance between the movement locus of described vehicle and described MAT terminal or described vehicle and front cross crossing, produce the second control signal, and start automatic safe control hierarchy according to described second control signal, and step vehicle being controlled according to described automatic safe control hierarchy includes:
Judge according to described result: if the movement locus of described vehicle and described MAT terminal or with the distance of intersection less than early warning distance; whether the current real time running velocity estimated according to vehicle reminds deceleration; if real time running speed is more than alarm threshold; then remind deceleration; after waiting the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; then produce the second control signal; and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
Wherein, described when vehicle being controlled according to described brake hard control hierarchy, according to following braking acceleration, vehicle is braked control:
Wherein, v is the real time running speed of vehicle, and s is the distance between vehicle and pedestrian, and α is braking acceleration.
Having the beneficial effect that of the technique scheme of the present invention:
In such scheme, by the first traffic information in horizon range and the second traffic information outside horizon range are acquired, and this first traffic information and the second traffic information are processed, according to result, vehicle is automatically controlled, thus providing safety traffic to control for vehicle.
Accompanying drawing explanation
Fig. 1 is the system architecture schematic diagram of the traffic safety control system of the present invention；
Fig. 2 is the schematic flow sheet of the traffic safety control method of the present invention；
Fig. 3 is the specific embodiment schematic diagram of the traffic safety control program of the present invention；
Fig. 4 is the specific embodiment schematic flow sheet of the traffic safety control program of the present invention.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, it is described in detail below in conjunction with the accompanying drawings and the specific embodiments.
As it is shown in figure 1, a kind of traffic safety controls system, including:
Road conditions information gathering device, for gathering the first traffic information in horizon range and the second traffic information outside horizon range；
Traffic information processes device, for described first traffic information and described second traffic information are processed, obtains result；
Traffic safety controls device, for according to described result, producing control signal, and according to described control signal, vehicle is controlled.
This embodiment is by being acquired the first traffic information in horizon range and the second traffic information outside horizon range, and this first traffic information and the second traffic information are processed, according to result, vehicle is automatically controlled, thus providing safety traffic to control for vehicle.
In the above-described embodiments, described road conditions information gathering device includes:
Multiple biosensors, for gathering the first traffic information in horizon range；
Road information of forecasting obtains module, is used for obtaining the second traffic information of the Internet of Things monitoring MAT terminal collection in a preset range of vehicle position periphery.
In above-described embodiment, described traffic information processes device and includes:
First road conditions message processing module, for described first traffic information is processed, obtains the state of various real-time roads in described first traffic information；
Second traffic information processing module, for described second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
Wherein, described first road conditions message processing module includes:
First processes submodule, for described first traffic information is processed, identify the pedestrian in various real-time road, other biological, vehicle and barrier, and determine the pedestrian in various real-time road, other biological, vehicle and barrier size and and any 1 between distance；
Second processes submodule, for described first traffic information is processed, identifies the traffic signs on the road surface in various real-time road and determines the state of traffic light.
Wherein, described second traffic information processing module includes:
3rd processes submodule, the information of forecasting for described second traffic information is processed, it is thus achieved that having crossing or the corner of intersection, to the movement locus of the MAT terminal of the personnel or vehicle that are equipped with MAT terminal；
Fourth process submodule, for processing described second traffic information, it is thus achieved that the personnel being equipped with MAT terminal pass through the information of forecasting of the probability of crossing.
In the above embodiment of the present invention, described traffic information processes device and also includes:
Information of vehicles obtains module, for obtaining the real time running status information of vehicle；Wherein, described real time running status information includes: the real time running positional information of vehicle and/or real time running velocity information；
Described first road conditions message processing module is specifically for the real time running status information according to described vehicle, obtain biosensor and detect described vehicle front when there is pedestrian, other biological, vehicle and/or barrier, the collision probability of vehicle and pedestrian, other biological, vehicle and/or barrier；And the real-time road that described vehicle front is when being absent from pedestrian, other biological, vehicle and/or barrier；
Described second traffic information, specifically for the real time running status information according to described vehicle, is processed, obtains the road condition predicting information at various crossings in the second traffic information by described second traffic information processing module.
Wherein, described traffic safety control device includes:
First controls module, for judging according to described result: described vehicle front is absent from the real-time road of pedestrian, other biological, vehicle and barrier, or described traffic signs represents current, or when traffic light are release status, produce the first control signal, and start traffic safety guide control hierarchy according to described first control signal, and guide control hierarchy that vehicle is controlled according to described traffic safety；
Second controls module, for according to described result and according to the distance between the distance between the movement locus of described vehicle and described MAT terminal or described vehicle and front cross crossing, produce the second control signal, and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled；
3rd controls module; for judging according to described result: if described collision probability is more than the 3rd predetermined threshold; or the distance of the movement locus of MAT terminal described in described vehicle distances or distance intersection is less than warning distance; or when the conditions dictate of traffic signs or traffic light is forbidden; produce the 3rd control signal; and start brake hard control hierarchy according to described 3rd control signal, and according to described brake hard control hierarchy, vehicle is controlled.
Wherein, described second control module specifically for:
Judge according to described result: if the movement locus of described vehicle and described MAT terminal or with the distance of intersection less than early warning distance; whether the current real time running velocity estimated according to vehicle reminds deceleration; if real time running speed is more than alarm threshold; then remind deceleration; after waiting the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; then produce the second control signal; and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
Wherein, vehicle is braked control according to following braking acceleration by described 3rd control module:
Wherein, v is the real time running speed of vehicle, and s is the distance between vehicle and pedestrian, and α is braking acceleration.
Below in conjunction with particular flow sheet, above-described embodiment is described in detail:
As shown in Figure 3 and Figure 4, in the said system embodiment of the present invention, in horizon range, the first road conditions information gathering can be detected by the pedestrian of vehicle-mounted biosensor road pavement, in conjunction with the physiological feature such as heart beating and respiratory frequency, pedestrian, other biological, vehicle or barrier are made a distinction, vehicle-mounted camera or other imaging techniques can also be passed through to traffic mark thing, as the information such as traffic lights and crossing carries out real-time detection simultaneously.
The second traffic information outside horizon range, reports mainly through MAT terminal collection, satellite positioning device, MEMS acceleration transducer and the gyroscope such as the integrated GPS of MAT terminal or Big Dipper.For traffic system has the pedestrian of focused protection demand, such as the portability MAT terminal such as child and old man, and it is necessary to ensure that the vehicles of traffic safety, as school bus or hazardous materials transportation car etc. also can install MAT terminal.MAT terminal, except the relevant information in the positions such as the position reported, direction, speed and historical track, also will report the safety precaution grade of the personage carrying MAT terminal.To carrying the MAT indicating high-risk grade, the traffic information of intelligence traffic platform processes device and will take the strategy of priority treatment and alarm.
Above-mentioned traffic information processes device when processing concrete traffic information, including: the process of the first traffic information that biosensor is detected, and the process of the second traffic information to MAT terminal to report；
Wherein, during to the first road conditions information processing, according to the information that biosensor gathers, the model carrying out pedestrian, other biological, vehicle and barrier etc. is distinguished, and determines the attribute such as size and distance of each model simultaneously；And the traffic signs of road pavement makes a distinction and determines the state of traffic light, such as lights state etc..
When second traffic information is processed, the traffic information mainly including intelligent transportation platform processes state and the situation of change of the traffic signal information such as traffic lights that device provides, and intelligent transportation platform traffic information processes the information that personnel and the vehicle equipped with MAT terminal report by device and processes.Traffic information processes device can distinguish the personnel used for this terminal or vehicle with the attribute information according to MAT terminal itself, simultaneously because the information such as MAT terminal meeting real-time report position, direction, speed, the track of terminal, in conjunction with generalized information system cartographic information, is predicted, specifically includes by platform:
1) include in the predictable information in crossing or corner having intersection:
To the pedestrian being equipped with MAT terminal, the probability at pedestrians travel crossing and the time at arrival crossing are carried out trajectory predictions by intelligent transportation system information according to the map.
To the vehicle being equipped with MAT terminal, intelligent transportation system information according to the map and vehicle present speed, vehicle is arrived the time at crossing and is predicted by track.
2) include in the predictable information in crossing place:
The pedestrian being equipped with MAT terminal, the intelligent transportation platform information according to the map probability to pedestrians travel's crossing, and the probability by traffic instruction, pedestrian being passed through crossing according to historical record are predicted.
When vehicle is controlled, it is possible to the other security control of hierarchical layered, when opening safe driving Based Intelligent Control, traffic safety controls system, in conjunction with real-time road condition information, vehicle traveling is carried out security control.Road conditions level is divided into: actual measurement traffic information and predicting road conditions information.Level of security is divided into: brake hard control hierarchy, automatic safe control hierarchy and traffic safety guide rank.Safety control system switches between three safe classes by state diagram as shown in Figure 3.
Being directed to common road conditions, as kept enough safe distances at the road not having vehicles or pedestrians or between vehicle, vehicle is in traffic safety and guides construction quality.Now, vehicle-mounted biosensor is detected with cycle T _ scan, vehicle periodically reports the real time running state of vehicle with T_poi interval simultaneously, and wherein, this real time running state includes: the real time running positional information of vehicle and/or the real time running velocity information of vehicle.Intelligent transportation platform is according to the current real time running position of vehicle, judge whether whether this region exist the trajectory predictions information (trajectory predictions information refers both to the trajectory predictions in the following T_mat time) of MAT terminal and this trace information beeline from vehicle less than L_mat+ Δ L_mat, if it is satisfied, then push this trace information to vehicle；If route or travel by vehicle front L_cross+ Δ L_cross exists the route informations such as traffic alarm information or intersection simultaneously, intelligent transportation platform also will push this information to vehicle.
The MAT terminal track information of forecasting that vehicle pushes according to intelligent transportation platform, whether the MAT predictably terminal imagination track beeline judging current vehicle position and receive is less than predetermined threshold L_mat, if less than this threshold value, then vehicle illustrates that vehicle enters road conditions complex region, and vehicle will enter automatic safe construction quality；It addition, the traffic alarm that pushes according to intelligent transportation platform of vehicle or road signs information, it is judged that whether distance intersection is less than predetermined threshold values L_cross for vehicle, and if less than this threshold value, vehicle also will enter automatic safe construction quality.After vehicle reenters common road conditions, vehicle will come back to traffic safety and guide construction quality.
Under automatic safe construction quality, vehicle will carry out traffic safety assist control by flow process as shown in Figure 4.In this stage, vehicle will determine that from prediction locus or intersection whether value less than early warning distance S1(S1 can be otherwise varied for prediction locus or intersection).After less than early warning distance S1, vehicle will judge whether to remind driver to slow down according to current vehicle speed, if speed is more than alarm threshold V1, then remind driver to slow down.After waiting the t1 second, speed is not reduced to alarm threshold V1 by driver yet, then remind driver vehicle will enter automatic safe control hierarchy, and vehicle is by automatic retarding.During this period, self run routing information of vehicle real-time update, update (including MAT terminal track information of forecasting, traffic alarm and traffic mark thing information) with the traffic information of T_update interval periodically receiving platform simultaneously.
When vehicle from prediction locus or intersection less than warning distance S2 time; vehicle central control system judges whether traffic instruction information requires forbidden or vehicle from MAT predictably terminal imagination track beeline whether less than warning distance S3; if there is case above; then illustrate there is potential safety hazard, prompting driver is carried out car braking.Meanwhile, pedestrian detection is carried out by automatically starting biosensor.
When biosensor detect front there is pedestrian and collision probability more than certain threshold value P1 time, vehicle will enter emergent control braking rank.Now, vehicle carries out brake hard according to present speed v with pedestrian distance s, and the acceleration alpha of braking need to meet:
When biosensor detect front without pedestrian after, will according to current traffic information determine vehicle safety construction quality, if be common road conditions, vehicle will enter traffic safety guide grade；
If one of met the following conditions:
1) current vehicle position and the MAT predictably terminal imagination track beeline received are less than predetermined threshold L_mat；20 vehicle front distance intersections are less than predetermined threshold values L_cross；Then vehicle will enter automatic safe construction quality.
It addition, vehicle is under driving safety guidance grade, vehicle-mounted biosensor carries out the detection of road surface pedestrian with cycle T _ scan.Now, when biosensor detect front there is pedestrian and collision probability more than certain threshold value P1 time, also will automatically take above-mentioned mode of braking that vehicle is braked.Therefore, brake hard controls only to be surveyed traffic information decision by biosensor.
The above embodiment of the present invention passes through biosensor and biological detection technology, as: bioradar technology (can adopt the breathing and heartbeat message that wirelessly gather human body), road pavement pedestrian and other biological are detected distinguishing, it is achieved vehicle specific aim in case of emergency automatically controls；
Judged by the multisensor of biosensor and MAT terminal, thus adopting method at different levels to feed back to thermoacoustic prime engine device, thus ensureing the safety traffic of vehicle；
By pedestrian and the vehicle with MAT terminal is positioned, and the driving trace of prediction pedestrian and vehicle, provide safety traffic to guide in the traffic information situation beyond sighting distance or radar direct projection scope for vehicle；
The traffic safety that this programme proposes controls information by biosensor, and the multi-sensor collection flow process such as the acceleration transducer of MAT terminal and gyroscope is acquired, and effectively detected thing being made a distinction, automatically controlling thus carrying out driving at different levels；And by method at different levels, from actual measurement traffic information and two levels of predicting road conditions information, vehicle is carried out: brake hard control, automatic safe control and traffic safety guide the control of three different stages, thus high degree improves travel safety；And by installing MAT terminal on emphasis article, to such as: the emphasis article such as school bus, old man, child, anemia of pregnant woman carry out the absolute protection of high intensity, and key monitoring object communicates without MANET with surrounding vehicles；Namely the process of traffic information is comprised the process of real-time road condition information in horizon range, comprise again intelligent transportation platform to MAT terminal pedestrian and vehicle positions and trajectory predictions, thus the current driving situation according to these tracks and vehicle, vehicle is carried out effective security control.
As in figure 2 it is shown, embodiments of the invention also provide for a kind of traffic safety control method, including:
Step 11, gathers the first traffic information in horizon range and the second traffic information outside horizon range；
Step 12, processes described first traffic information and described second traffic information, obtains result；
Step 13, according to described result, produces control signal, and according to described control signal, vehicle is controlled.
Wherein, step 11 includes:
Step 111, gathers the first traffic information in horizon range by multiple biosensors；
Step 112, obtains the second traffic information that the Internet of Things monitoring MAT terminal in a preset range of vehicle position periphery gathers.
Wherein, step 12 includes:
Step 121, processes described first traffic information, obtains the state of various real-time roads in described first traffic information；
Step 122, processes described second traffic information, obtains the road condition predicting information at various crossings in the second traffic information.
Wherein, step 121 includes:
Step 1211, described first traffic information is processed, identify the pedestrian in various real-time road, other biological, vehicle and barrier, and determine the pedestrian in various real-time road, other biological, vehicle and barrier size and and any 1 between distance；
Step 1212, processes described first traffic information, identifies the traffic signs on the road surface in various real-time road and determines the state of traffic light.
Wherein, step 122 includes:
Step 1221, processes described second traffic information, it is thus achieved that having crossing or the corner of intersection, the information of forecasting to the movement locus of the MAT terminal being equipped with the personnel of MAT terminal or vehicle；
Step 1222, processes described second traffic information, it is thus achieved that the personnel being equipped with MAT terminal pass through the information of forecasting of the probability of crossing.
Wherein, said method also includes:
Step 14, it is thus achieved that the real time running status information of vehicle；Wherein, described real time running status information includes: the real time running positional information of vehicle and/or real time running velocity information；
Step 121 includes: the real time running status information according to described vehicle, obtain biosensor and detect described vehicle front when there is pedestrian, other biological, vehicle and/or barrier, the collision probability of vehicle and pedestrian, other biological, vehicle and/or barrier；And the real-time road that described vehicle front is when being absent from pedestrian, other biological, vehicle and/or barrier；
Step 122 includes: the real time running status information according to described vehicle, and described second traffic information is processed, and obtains the road condition predicting information at various crossings in the second traffic information.
Wherein, step 13 includes:
Step 131, judge according to described result: described vehicle front is absent from the real-time road of pedestrian, other biological, vehicle and barrier, or described traffic signs represents current, or when traffic light are release status, produce the first control signal, and start traffic safety guide control hierarchy according to described first control signal, and guide control hierarchy that vehicle is controlled according to described traffic safety；
Step 132, according to described result and according to the distance between the distance between the movement locus of described vehicle and described MAT terminal or described vehicle and front cross crossing, produce the second control signal, and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled；
Step 133; judge according to described result: if described collision probability is more than the 3rd predetermined threshold; or the distance of the movement locus of MAT terminal described in described vehicle distances or distance intersection is less than warning distance; or when the conditions dictate of traffic signs or traffic light is forbidden; produce the 3rd control signal; and start brake hard control hierarchy according to described 3rd control signal, and according to described brake hard control hierarchy, vehicle is controlled.
Wherein, step 132 includes: judge according to described result: if the movement locus of described vehicle and described MAT terminal or with the distance of intersection less than early warning distance, whether the current real time running velocity estimated according to vehicle reminds deceleration, if real time running speed is more than alarm threshold, then remind deceleration, after waiting the t1 time, the real time running speed of vehicle does not reduce to described alarm threshold yet, then produce the second control signal, and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
Wherein, in step 133, described when vehicle being controlled according to described brake hard control hierarchy, according to following braking acceleration, vehicle is braked control:
Wherein, v is the real time running speed of vehicle, and s is the distance between vehicle and pedestrian, and α is braking acceleration.
The first traffic information in horizon range and the second traffic information outside horizon range can also be acquired by the embodiment of the method equally, and this first traffic information and the second traffic information are processed, according to result, vehicle is automatically controlled, thus providing safety traffic to control for vehicle.
The above is the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from principle of the present invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (16)
1. a traffic safety controls system, it is characterised in that including:
Road conditions information gathering device, for gathering the first traffic information in horizon range and the second traffic information outside horizon range；Wherein, described road conditions information gathering device includes: multiple biosensors, for gathering the first traffic information in horizon range；
Traffic information processes device, for described first traffic information and described second traffic information are processed, obtains result；Wherein, described traffic information processes device and includes: the first road conditions message processing module, described first road conditions message processing module includes: first processes submodule, for described first traffic information is processed, identify the pedestrian in various real-time road, other biological, vehicle and barrier, and determine the pedestrian in various real-time road, other biological, vehicle and barrier size and and any 1 between distance；Second processes submodule, for described first traffic information is processed, identifies the traffic signs on the road surface in various real-time road and determines the state of traffic light；
Traffic safety controls device, for according to described result, producing control signal, and according to described control signal, vehicle is controlled；
Wherein, described traffic information processes device and also includes: information of vehicles obtains module, for obtaining the real time running status information of vehicle；Wherein, described real time running status information includes: the real time running positional information of vehicle and/or real time running velocity information；
Described first road conditions message processing module is specifically for the real time running status information according to described vehicle, obtain biosensor and detect described vehicle front when there is pedestrian, other biological, vehicle and/or barrier, the collision probability of vehicle and pedestrian, other biological, vehicle and/or barrier；And the real-time road that described vehicle front is when being absent from pedestrian, other biological, vehicle and/or barrier.
2. traffic safety according to claim 1 controls system, it is characterised in that described road conditions information gathering device includes:
Road information of forecasting obtains module, is used for obtaining the second traffic information of the Internet of Things monitoring MAT terminal collection in a preset range of vehicle position periphery.
3. traffic safety according to claim 2 controls system, it is characterised in that described traffic information processes device and also includes:
Second traffic information processing module, for described second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
4. traffic safety according to claim 3 controls system, it is characterised in that described second traffic information processing module includes:
3rd processes submodule, the information of forecasting for described second traffic information is processed, it is thus achieved that having crossing or the corner of intersection, to the movement locus of the MAT terminal of the personnel or vehicle that are equipped with MAT terminal；
Fourth process submodule, for processing described second traffic information, it is thus achieved that the personnel being equipped with MAT terminal pass through the information of forecasting of the probability of crossing.
5. traffic safety according to claim 4 controls system, it is characterised in that
Described second traffic information, specifically for the real time running status information according to described vehicle, is processed, obtains the road condition predicting information at various crossings in the second traffic information by described second traffic information processing module.
6. traffic safety according to claim 5 controls system, it is characterised in that described traffic safety controls device and includes:
First controls module, for judging according to described result: described vehicle front is absent from the real-time road of pedestrian, other biological, vehicle and barrier, or described traffic signs represents current, or when traffic light are release status, produce the first control signal, and start traffic safety guide control hierarchy according to described first control signal, and guide control hierarchy that vehicle is controlled according to described traffic safety；
Second controls module, for according to described result and according to the distance between the distance between the movement locus of described vehicle and described MAT terminal or described vehicle and front cross crossing, produce the second control signal, and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled；
3rd controls module; for judging according to described result: if described collision probability is more than the 3rd predetermined threshold; or the distance of the movement locus of MAT terminal described in described vehicle distances or distance intersection is less than warning distance; or when the conditions dictate of traffic signs or traffic light is forbidden; produce the 3rd control signal; and start brake hard control hierarchy according to described 3rd control signal, and according to described brake hard control hierarchy, vehicle is controlled.
7. traffic safety according to claim 6 control system, it is characterised in that described second control module specifically for:
Judge according to described result: if the movement locus of described vehicle and described MAT terminal or with the distance of intersection less than early warning distance; whether the current real time running velocity estimated according to vehicle reminds deceleration; if real time running speed is more than alarm threshold; then remind deceleration; after waiting the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; then produce the second control signal; and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
8. traffic safety according to claim 6 controls system, it is characterised in that the described 3rd controls module is braked control according to following braking acceleration to vehicle:
Wherein, v is the real time running speed of vehicle, and s is the distance between vehicle and pedestrian, and α is braking acceleration.
9. a traffic safety control method, it is characterised in that including:
Gather the first traffic information in horizon range and the second traffic information outside horizon range；Wherein, the first traffic information in horizon range is gathered by multiple biosensors；
Described first traffic information and described second traffic information are processed, obtains result；Wherein, described first traffic information is processed, obtain result to include: described first traffic information is processed, obtain the state of various real-time roads in described first traffic information, particularly as follows: described first traffic information is processed, identify the pedestrian in various real-time road, other biological, vehicle and barrier, and determine the pedestrian in various real-time road, other biological, vehicle and barrier size and and any 1 between distance；Described first traffic information is processed, identifies the traffic signs on the road surface in various real-time road and determine the state of traffic light；
According to described result, produce control signal, and according to described control signal, vehicle is controlled；
Obtain the real time running status information of vehicle；Wherein, described real time running status information includes: the real time running positional information of vehicle and/or real time running velocity information；
Described first traffic information is processed, obtain the step of the state of various real-time roads in described first traffic information to specifically include: the real time running status information according to described vehicle, obtain biosensor and detect described vehicle front when there is pedestrian, other biological, vehicle and/or barrier, the collision probability of vehicle and pedestrian, other biological, vehicle and/or barrier；And the real-time road that described vehicle front is when being absent from pedestrian, other biological, vehicle and/or barrier.
10. traffic safety control method according to claim 9, it is characterised in that the step gathering the second traffic information outside horizon range includes:
Obtain the second traffic information that the Internet of Things monitoring MAT terminal in a preset range of vehicle position periphery gathers.
11. traffic safety control method according to claim 10, it is characterised in that described second traffic information is processed, and the step obtaining result includes:
Described second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
12. traffic safety control method according to claim 11, it is characterised in that described described second traffic information is processed, the step of the road condition predicting information obtaining various crossings in the second traffic information includes:
Described second traffic information is processed, it is thus achieved that having crossing or the corner of intersection, the information of forecasting to the movement locus of the MAT terminal being equipped with the personnel of MAT terminal or vehicle；
Described second traffic information is processed, it is thus achieved that the personnel being equipped with MAT terminal are passed through the information of forecasting of the probability of crossing.
13. traffic safety control method according to claim 12, it is characterised in that
Described second traffic information is processed, the step of the road condition predicting information obtaining various crossings in the second traffic information specifically includes: the real time running status information according to described vehicle, described second traffic information is processed, obtains the road condition predicting information at various crossings in the second traffic information.
14. traffic safety control method according to claim 13, it is characterised in that described according to described result, produce control signal, and step vehicle being controlled according to described control signal include:
Judge according to described result: described vehicle front is absent from the real-time road of pedestrian, other biological, vehicle and barrier, or described traffic signs represents current, or when traffic light are release status, produce the first control signal, and start traffic safety guide control hierarchy according to described first control signal, and guide control hierarchy that vehicle is controlled according to described traffic safety；
According to described result and according to the distance between the distance between the movement locus of described vehicle and described MAT terminal or described vehicle and front cross crossing, produce the second control signal, and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled；
Judge according to described result: if described collision probability is more than the 3rd predetermined threshold; or the distance of the movement locus of MAT terminal described in described vehicle distances or distance intersection is less than warning distance; or when the conditions dictate of traffic signs or traffic light is forbidden; produce the 3rd control signal; and start brake hard control hierarchy according to described 3rd control signal, and according to described brake hard control hierarchy, vehicle is controlled.
15. traffic safety control method according to claim 14, it is characterized in that, described according to described result and according to the distance between the distance between the movement locus of described vehicle and described MAT terminal or described vehicle and front cross crossing, produce the second control signal, and start automatic safe control hierarchy according to described second control signal, and step vehicle being controlled according to described automatic safe control hierarchy includes:
Judge according to described result: if the movement locus of described vehicle and described MAT terminal or with the distance of intersection less than early warning distance; whether the current real time running velocity estimated according to vehicle reminds deceleration; if real time running speed is more than alarm threshold; then remind deceleration; after waiting the t1 time; the real time running speed of vehicle does not reduce to described alarm threshold yet; then produce the second control signal; and start automatic safe control hierarchy according to described second control signal, and according to described automatic safe control hierarchy, vehicle is controlled.
16. traffic safety control method according to claim 14, it is characterised in that described when vehicle being controlled according to described brake hard control hierarchy, according to following braking acceleration, vehicle is braked control:
Wherein, v is the real time running speed of vehicle, and s is the distance between vehicle and pedestrian, and α is braking acceleration.
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