CN104123851A - Fast passing assisting method and device for vehicles at intersection based on vehicle-road communication - Google Patents
Fast passing assisting method and device for vehicles at intersection based on vehicle-road communication Download PDFInfo
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Abstract
The invention relates to a fast passing assisting method and device for vehicles at an intersection based on vehicle-road communication. The method comprises the following steps: 1) arranging the fast passing assisting device for the vehicles at the intersection; 2) acquiring phase timing information of a traffic light through a traffic signal acquiring module, and broadcasting to a vehicle queue waiting in the intersection because of red traffic light; 3) pressing an automatic vehicle control module button by a driver to enable the vehicle to enter an automatic control state; 4) synchronously starting vehicles through automatic vehicle control modules of all vehicle queues waiting because of the red traffic light when the traffic light turns to green; 5) keeping all vehicles at a safe distance under the control of the automatic vehicle control modules so as to form a cruising queue to fast pass through the intersection; 6) pressing an automatic control module button by the driver to finish automatic control and recover the normal driver-based control after passing through the intersection. The method and device can be widely applied to intelligent traffic management processes of various intersections.
Description
Technical field
The present invention relates to a kind of passing method and device of intelligent transportation system, particularly about a kind of crossing vehicle fast passing householder method and device based on bus or train route communication.
Background technology
Along with automobile pollution increase and road traffic day by day soaring, road congestion, the traffic hazard problem such as take place frequently is day by day serious.According to vehicle supervision department of China statistics, in the etesian traffic hazard of China, having 20% left and right is to occur in location, crossing, and meanwhile, location, crossing is also the main section of traffic congestion.How improving the vehicle pass-through efficiency of crossing by technological means, guarantee driving safety, becomes the emphasis of Chinese scholars research.
In recent years, based on the collaborative (VIC of bus or train route, Vehicle Infrastructure Cooperation) the appearance of advanced drive assist system ADAS (Advanced Driving Assistance Systems), for addressing the above problem the technological approaches that provides new.As the important branch of the advanced drive assist system of bus or train route cooperating type, this advanced person's vehicle drive assist system can effectively reduce, even stop to violate the phenomenon of crossing traffic signals instruction, even avoid planting thus thereby reduce the traffic hazard that reason causes, and then improve circulation of traffic.The principle of this system is that onboard system obtains crossing traffic control signal information by wireless telecommunication system, calculate in conjunction with exact position, the speed of a motor vehicle and the driver's operation situation of vehicle again, and provide the suggestion of the Optimum Operation under current state to driver, in the time that dangerous situations such as making a dash across the red light, do not give way in accordance with regulations, may collide likely occurs, send warning message, if desired car brakeing is controlled automatically.In addition, system can be passed through the communication between car, road, and the transformation period of precognition front traffic lights, recommends optimum speed of operation to driver, under the premise that security is guaranteed, reduces the parking in crossing, thereby improves the fluency of driving.
Although above-mentioned technology has certain positive role to prevention crossing traffic hazard, the raising traffic capacity, crossing still exists a lot of problems not yet to solve.Such as in red light situation, crossing usually can form queue, in the time that traffic lights become green light from red light, vehicle in queue is by order starting and pass through successively crossing, but due to different drivers' driving efficiency difference, behavioral trait difference, to the reaction difference of preceding vehicle motion state, often there is a kind of situation, be that preceding vehicle has been rolled a segment distance away from, vehicle just starts starting below, even some driver is absent minded, make front vehicles pass through crossing, start not yet from car, these situations will have a strong impact on the vehicle pass-through efficiency of crossing.To this, the developing into address this problem of automatic Pilot technology, wireless communication technique provides technological means.
Summary of the invention
For the problems referred to above, the vehicle platoon that the object of the invention is to wait to crossing red light provides a kind of starting simultaneously and fast by crossing vehicle fast passing householder method and the device based on bus or train route communication at crossing.
For achieving the above object, the present invention takes following technical scheme: a kind of crossing vehicle fast passing householder method based on bus or train route communication, it comprises the following steps: 1) a crossing vehicle fast passing servicing unit based on bus or train route communication is set, it comprises traffic lights, traffic signal control, traffic signals acquisition module and trackside wireless communication module are provided with car status information acquisition module, in-vehicle wireless communication module and vehicle automatic control module on each car; 2) the multiphase traffic time allocation information of traffic signals acquisition module Real-time Collection traffic lights, trackside wireless communication module utilizes short-distance wireless communication simultaneously, Signal phase timing information broadcasting is given to the vehicle platoon that enters crossing wait red light; 3) driver presses motor vehicle automatic control module button, car status information acquisition module gathers vehicle information, in-vehicle wireless communication module is utilized short-distance wireless communication simultaneously, the position of vehicle, speed, acceleration information are broadcast to other vehicle in the vehicle platoon of waiting for red light, and receive the multiphase traffic time allocation information of traffic lights and position, speed, the acceleration information of other vehicle; 4) in the time that traffic lights are green by red stain, the in-vehicle wireless communication module that waits all vehicles in the vehicle platoon of red light receives Signal phase timing information, and sending it to vehicle automatic control module, vehicle automatic control module synchronously starts vehicle immediately; 5) wait the speed from car, acceleration and the range information to front truck that the vehicle automatic control module of all vehicles in the vehicle platoon of red light utilizes car status information acquisition module to obtain, and speed, the acceleration information of front truck in the vehicle platoon obtaining by in-vehicle wireless communication module, and carry out the automatic control of throttle and braking, realize speed of a motor vehicle control, keep accident-free vehicle spacing, the formation queue of cruising, passes through crossing fast; 6) when vehicle is by behind crossing, driver presses automatic control module button, finishes automatically to control, and recovers normal driver and controls.
Described automatic control module button is a button, clicks and starts vehicle automatic control program, then click, and finishes vehicle and automatically controls, and recovers driver and controls.
Realize a kind of crossing vehicle fast passing servicing unit based on bus or train route communication of the inventive method, it is characterized in that: it comprises the traffic lights that are arranged on crossing, be arranged on a traffic signal control, traffic signals acquisition module and the trackside wireless communication module of the arbitrary trackside in crossing, be arranged on car status information acquisition module, in-vehicle wireless communication module and vehicle automatic control module on each car; Described traffic lights are connected with described traffic signal control, and described traffic signal control is connected with described traffic signals acquisition module, and described trackside wireless communication module is connected with described traffic signals acquisition module; Described car status information acquisition module comprises vehicle GPS module, vehicle speed sensor, vehicle acceleration sensor and trailer-mounted radar; Described in-vehicle wireless communication module is connected with car status information acquisition module and vehicle automatic control module, described vehicle automatic control module is integrated Throttle Opening Control module and brake control module, described Throttle Opening Control module connects former car E-Gas system, composition throttle control system; Described brake control module connecting electronic vacuum booster and former car brake system, composition braking control system.
Described trackside wireless communication module and in-vehicle wireless communication module, adopt wireless security unit (the Wireless Safety Unit of DENSO company, WSU), utilize dedicated short-range communication (Dedicated Short-Range Communication, DSRC) to communicate.
Vehicle-mounted automatic control module, adopts 8 single-chip microcomputer MC9S08DZ16 of Freescale as microprocessor.
The present invention is owing to taking above technical scheme, it has the following advantages: when 1, the present invention waits for red light because vehicle enters crossing, driver can start auto control system in vehicles, make from the process of whole wait red light in resting state, and needn't concentrate one's energy all the time to monitor the situation of change of red light, therefore the present invention has been alleviated driver effectively waiting for anxiety in red light process, impatience, tired state and mood.2, the present invention is based on short-distance radio mechanics of communication, in the time that red light becomes green light, the all vehicles that wait in the vehicle platoon of red light can be under the control of auto control system in vehicles separately, start simultaneously and sequentially pass through crossing, thereby overcome in prior art because some driver's energy are concentrated not or technical capability is limited, the vehicle start speed causing is slow, the distance problems such as affecting Negotiation speed that differs between each car.3, the present invention is due to based on the bus or train route communication technology, vehicle can be learned Signal phase timing information and front vehicle speed, acceleration and range information exactly, the queue sequence of cruising that therefore can form expection when by crossing is passed through, shorten significantly the distance between vehicle, save path space, improved the traffic efficiency of crossing.The present invention can be widely used in the intelligent traffic administration system process of various crossings.
Brief description of the drawings
Fig. 1 is application scenarios schematic diagram of the present invention
Fig. 2 is that system of the present invention forms schematic diagram
Fig. 3 is vehicle control mode switching schematic diagram of the present invention
Fig. 4 is the current householder method schematic flow sheet of the present invention
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1, apparatus of the present invention comprise the traffic lights 1 that are arranged on crossing, be arranged on a traffic signal control 2, traffic signals acquisition module 3 and the trackside wireless communication module 4 of the arbitrary trackside in crossing, be arranged on car status information acquisition module 5, in-vehicle wireless communication module 6 and vehicle automatic control module 7 on each car.
As shown in Figure 1 and Figure 2, traffic lights 1 of the present invention are connected with traffic signal control 2, for each traffic lights 1 of crossing carry out multiphase traffic time allocation.Traffic signal control 2 is connected with traffic signals acquisition module 3, and traffic signals acquisition module 3 obtains current phase place and this phase place residual time length of traffic lights 1 by traffic signal control 2.Trackside wireless communication module 4 is connected with traffic signals acquisition module 3, and the mode by the Signal phase timing information collecting with wireless short range communication, sends to each vehicle in the vehicle platoon that waits red light, to realize bus or train route communication.
As shown in Figure 2 and Figure 3, car status information acquisition module 5 of the present invention comprises position, speed, acceleration and vehicle GPS module, vehicle speed sensor, vehicle acceleration sensor and the trailer-mounted radar to information such as leading vehicle distances for obtaining vehicle.In-vehicle wireless communication module 6 is connected with car status information acquisition module 5 and vehicle automatic control module 7, the position of the vehicle that car status information acquisition module 5 is collected, speed, acceleration information send to other vehicle in the vehicle platoon that waits red light, realize truck traffic; Simultaneously in-vehicle wireless communication module 6 also receives position, speed, the acceleration information of other vehicle, and the Signal phase timing information that sends of trackside wireless communication module 4, and sends it to vehicle automatic control module 7.Vehicle automatic control module 7 is made up of integrated manipulator, it is simultaneously integrated Throttle Opening Control module 71 and brake control module 72, and Throttle Opening Control module 71 connects former car E-Gas system, composition throttle control system; Brake control module 72 connecting electronic vacuum boosters and former car brake system, composition braking control system.Driver can freely be switched vehicle control mode.In the time switching to driver's control model, driver's normal driving, vehicle normally starts.In the time switching to vehicle automatic control mode, vehicle automatic control module 7 is in connection with the position from car, speed, acceleration, to information such as leading vehicle distances, and position, speed, the acceleration information of other vehicle (being mainly front truck), and Signal phase timing information, by Throttle Opening Control module 71 and brake control module 72, realize control to throttle and braking, and then realize the control from the car speed of a motor vehicle, and keep safe vehicle headway with front truck.
Above-mentioned trackside wireless communication module 4 and in-vehicle wireless communication module 6, can adopt wireless security unit (the Wireless Safety Unit of DENSO company, WSU), utilize dedicated short-range communication (Dedicated Short-Range Communication, DSRC) to communicate.Vehicle-mounted automatic control module 7, can adopt 8 single-chip microcomputer MC9S08DZ16 of Freescale as microprocessor, completes communication, signals collecting, logical calculated and controlled quentity controlled variable output task.
As shown in Figure 4, the inventive method comprises the following steps:
1) the multiphase traffic time allocation information of traffic signals acquisition module Real-time Collection traffic lights, trackside wireless communication module utilizes short-distance wireless communication simultaneously, Signal phase timing information broadcasting is given to the vehicle platoon that enters crossing wait red light;
2) driver presses motor vehicle automatic control module button, car status information acquisition module gathers vehicle information, in-vehicle wireless communication module is utilized short-distance wireless communication simultaneously, the position of vehicle, speed, acceleration information are broadcast to other vehicle in the vehicle platoon of waiting for red light, and receive the multiphase traffic time allocation information of traffic lights and position, speed, the acceleration information of other vehicle;
3) in the time that traffic lights are green by red stain, the in-vehicle wireless communication module that waits all vehicles in the vehicle platoon of red light receives Signal phase timing information, and sending it to vehicle automatic control module, vehicle automatic control module synchronously starts vehicle immediately;
4) wait the speed from car, acceleration and the range information to front truck that the vehicle automatic control module of all vehicles in the vehicle platoon of red light utilizes car status information acquisition module to obtain, and speed, the acceleration information of front truck in the vehicle platoon obtaining by in-vehicle wireless communication module, and carry out the automatic control of throttle and braking, realize speed of a motor vehicle control, keep accident-free vehicle spacing, the formation queue of cruising, passes through crossing fast;
5) when vehicle is by behind crossing, driver presses automatic control module button, finishes automatically to control, and recovers normal driver and controls.
The beneficial effect of the inventive method is mainly reflected in and dwindles the spacing distance between each vehicle in vehicle start time, transit time and queue, makes a concrete analysis of as follows:
Suppose Vehicle length d
0, when parking, two car headstocks are apart from l
0, in queue, number of vehicles is n.It is 0 with acceleration a that Vehicle Starting Process is equivalent to first from speed
0accelerate to v
0, after process at the uniform velocity.First car is Δ t from seeing that signal lamp becomes green to the time delay starting
1, rear car sees that it is Δ t that front truck starts the time delay of restarting
2.Turn green from signal lamp, by stop line, need the time to be to last car:
Queue length l is:
l＝(n-1)(l
0+v
0Δt
2)+d
0
Under normal circumstances, get Δ t
1=1s, Δ t
2=2s, l
0=6m, d
0=4m, a
0=1m/s
2, v
0=10m/s.Can obtain:
t
d＝2.6n+3.8(s)
l＝26n-22(m)
When adopting after the present invention, can obviously reduce and make it time delay close to 0, be i.e. Δ t
1'=0s, Δ t
2'=0s, now:
t
d′＝0.6n+4.8(s)
l′＝6n-2(m)
Corresponding save time into:
Δt
d＝t
d-t
d′＝2n-1(s)
Save between queue empty and be:
Δl＝l-l′＝20n-20(m)
In the time that number of vehicles n is larger, save time with conserve space considerable.
The various embodiments described above are only for illustrating the present invention, and wherein each parts formation and operation steps etc. all can change to some extent, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement, all should not get rid of outside protection scope of the present invention.
Claims (5)
1. the crossing vehicle fast passing householder method based on bus or train route communication, it comprises the following steps:
1) a crossing vehicle fast passing servicing unit based on bus or train route communication is set, it comprises traffic lights, traffic signal control, traffic signals acquisition module and trackside wireless communication module are provided with car status information acquisition module, in-vehicle wireless communication module and vehicle automatic control module on each car;
2) the multiphase traffic time allocation information of traffic signals acquisition module Real-time Collection traffic lights, trackside wireless communication module utilizes short-distance wireless communication simultaneously, Signal phase timing information broadcasting is given to the vehicle platoon that enters crossing wait red light;
3) driver presses motor vehicle automatic control module button, vehicle information states acquisition module gathers vehicle information, in-vehicle wireless communication module is utilized short-distance wireless communication simultaneously, the position of vehicle, speed, acceleration information are broadcast to other vehicle in the vehicle platoon of waiting for red light, and receive the multiphase traffic time allocation information of traffic lights and position, speed, the acceleration information of other vehicle;
4) in the time that traffic lights are green by red stain, the in-vehicle wireless communication module that waits all vehicles in the vehicle platoon of red light receives Signal phase timing information, and sending it to vehicle automatic control module, vehicle automatic control module synchronously starts vehicle immediately;
5) wait the speed from car, acceleration and the range information to front truck that the vehicle automatic control module of all vehicles in the vehicle platoon of red light utilizes vehicle information states acquisition module to obtain, and speed, the acceleration information of front truck in the vehicle platoon obtaining by in-vehicle wireless communication module, and carry out the automatic control of throttle and braking, realize speed of a motor vehicle control, keep accident-free vehicle spacing, the formation queue of cruising, passes through crossing fast;
6) when vehicle is by behind crossing, driver presses automatic control module button, finishes automatically to control, and recovers normal driver and controls.
2. a kind of crossing vehicle fast passing householder method based on bus or train route communication as claimed in claim 1, it is characterized in that: described automatic control module button is a button, click and start vehicle automatic control program, then click, finish vehicle and automatically control, recover driver and control.
3. realize a kind of crossing vehicle fast passing servicing unit based on bus or train route communication of method as claimed in claim 1 or 2, it is characterized in that: it comprises the traffic lights that are arranged on crossing, be arranged on a traffic signal control, traffic signals acquisition module and the trackside wireless communication module of the arbitrary trackside in crossing, be arranged on car status information acquisition module, in-vehicle wireless communication module and vehicle automatic control module on each car; Described traffic lights are connected with described traffic signal control, and described traffic signal control is connected with described traffic signals acquisition module, and described trackside wireless communication module is connected with described traffic signals acquisition module.
Described car status information acquisition module comprises vehicle GPS module, vehicle speed sensor, vehicle acceleration sensor and trailer-mounted radar; Described in-vehicle wireless communication module is connected with car status information acquisition module and vehicle automatic control module, described vehicle automatic control module is integrated Throttle Opening Control module and brake control module, described Throttle Opening Control module connects former car E-Gas system, composition throttle control system; Described brake control module connecting electronic vacuum booster and former car brake system, composition braking control system.
4. a kind of crossing vehicle fast passing servicing unit based on bus or train route communication as claimed in claim 3, it is characterized in that: described trackside wireless communication module and in-vehicle wireless communication module, adopt wireless security unit (the Wireless Safety Unit of DENSO company, WSU), utilize dedicated short-range communication (Dedicated Short-Range Communication, DSRC) to communicate.
5. a kind of crossing vehicle fast passing servicing unit based on bus or train route communication as described in claim 3 or 4, is characterized in that: described vehicle-mounted automatic control module adopts 8 single-chip microcomputer MC9S08DZ16 of Freescale as microprocessor.
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