CN104157158B - Pedestrian's night safe crosses street alarm set - Google Patents
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- CN104157158B CN104157158B CN201410396057.8A CN201410396057A CN104157158B CN 104157158 B CN104157158 B CN 104157158B CN 201410396057 A CN201410396057 A CN 201410396057A CN 104157158 B CN104157158 B CN 104157158B
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Abstract
The invention discloses a kind of pedestrian's night safe and cross street alarm set, use and deceleration strip 1 is set on track, deceleration strip 2 and deceleration strip 3, pedestrian's induction installation is set on pavement, three described deceleration strips are vicarious light and remind deceleration strip, described pedestrian's induction installation is divided into pedestrian to wait induction zone and pedestrian's discriminating direction district, the pedestrian of described pedestrian's induction installation waits induction zone and pedestrian's discriminating direction district is sensor coil, described sensor coil is connected with control cabinet after connecting rosette, compared with prior art, the present invention is on pedestrian's induction installation, the method using analysis matrix sequence differentiates the direction of pedestrian's street crossing, improve the accuracy that street pedestrian is identified by induction installation.On speed-reduction prompting device, the present invention points out the mark combined, by the way of segmentation is reminded, on the premise of being not take up too much path space, it is achieved that the prompting effect of simple, intuitive with pedestrian's street crossing mark and limiting vehicle speed.
Description
Technical field
The present invention relates to a kind of traffic safety protection equipment, particularly relate to a kind of pedestrian's night safe and cross street prompting
Device.
Background technology
In recent years, urban road night traffic accident quantity remains high, and wherein street pedestrian's number of casualties is about
The 1/10 of occupied road Traffic Casualties sum.Night vehicle flowrate few, speed is high, intensity of illumination significantly reduces,
The safety of street pedestrian at night is constituted great threat.Reducing speed avoids night traffic conflict to occur
One of major measure, China's law on road traffic safety also specifies at night running or is being susceptible to danger
During sections of road, it should reduce travel speed, but at night, owing to pedestrian's flow is less, lack prison simultaneously
Pipe measure, vehicle, by the deceleration of crossing inconspicuous, even has hastening phenomenon, and this is to pedestrian at night
Cross street cause great potential safety hazard.
Both at home and abroad about the application of pedestrian's street crossing alarm set, it is broadly divided into two classes.One class is by road surface
On identifier marking is set, remind vehicle driver to note the street pedestrian in front, slow down.As
The crossing advance notice line of regulation in China's specification, and pedestrian island etc..Section, street is crossed at some by Chongqing City
Crossing at also laid red bituminous paving, abroad some living area roads are also provided with " deceleration strip type
Crossing ".Equations of The Second Kind is the device arranged specially for pedestrian's street crossing, as in the Cities of Foreign Countries such as London, New York
And " push button " cross-road passages for pedestrians that the domestic city such as Guangzhou, Lanzhou, Jinan has used.In Nanchang etc.
City is additionally provided with pedestrian's street crossing speech prompting device, built-in time control system, reminds when signal lights converts
Pedestrian ensures safety.In some countries, illuminate People's Bank of China by having inlayed runway lights on crossing road surface
Lateral road, reminds driver.Radar detedtor and electronic eye have been applied in some countries.
In sum, about the alarm set of pedestrian's street crossing, develop, but relatively simple,
Less with the device of intelligent transportation thought in combination with night conditions.
Summary of the invention
The purpose of the present invention is that provide a kind of pedestrian's night safe to cross street reminds to solve the problems referred to above
Device.
The present invention is achieved through the following technical solutions above-mentioned purpose:
The present invention arranges deceleration strip 1, deceleration strip 2 and deceleration strip 3 on track, arranges pedestrian on pavement
Induction installation, described deceleration strip 1, described deceleration strip 2 and described deceleration strip 3 are vicarious light and remind deceleration
Band, described pedestrian's induction installation is divided into pedestrian to wait induction zone and pedestrian's discriminating direction district, and described pedestrian senses
The pedestrian of device waits induction zone and pedestrian's discriminating direction district is sensor coil, and described sensor coil connects
Being connected with control cabinet after line box, the design of described deceleration strip 1, described deceleration strip 2 and described deceleration strip 3 is equal
Including deceleration reminder center position calculation and speed-reduction prompting device Design of length, described deceleration reminder center position
It is calculated as: set O, X, Y: set up rectangular coordinate with the zebra crossing lower left corner；Fi(y): the i-th track pedestrian
Cross the velocity function in street；Gi(x, y): the velocity function of the i-th track vehicle；Si: the peace of the i-th track vehicle
Full tip distance；LPeace: vehicle and the minimum safe tip distance of pedestrian；LHorizontal: lane width, tInstead: drive
Member's response time；δi: FiY () is at the Integral Mean Value in the i-th track；Ti: pedestrian by used by the i-th track time
Between；If the different vehicle in each track is advanced at a same speed, the VELOCITY DISTRIBUTION phase of different pedestrian's walkings
With, then there is an equation below:
S1=LPeace
Wherein:
Described speed-reduction prompting device Design of length is: set a length of X of speed-reduction prompting device, then:
X=F (α, β, γ, δ)
In formula: α, β, γ, δ represent the visual characteristic of driver, information processing, response characteristic and psychology respectively
Feature.
The beneficial effects of the present invention is:
The present invention is that a kind of pedestrian's night safe crosses street alarm set, and compared with prior art, the present invention is expert at
On people's induction installation, use the method for analysis matrix sequence to differentiate the direction of pedestrian's street crossing herein, improve
The accuracy that street pedestrian is identified by induction installation.On speed-reduction prompting device, the present invention is with pedestrian's street crossing mark
Know and limiting vehicle speed points out the mark combined, by the way of segmentation is reminded, empty being not take up too much road
On the premise of between, it is achieved that the prompting effect of simple, intuitive.
Accompanying drawing explanation
Fig. 1 is the pedestrian's street crossing device scheme of installation of the present invention；
Fig. 2 is the pedestrian's street crossing device workflow diagram of the present invention；
Fig. 3 is pedestrian's induction installation block plan of the present invention；
Fig. 4 is pedestrian's induction installation coil profile of the present invention；
Fig. 5 is pedestrian's induction installation workflow diagram of the present invention；
Fig. 6 is pedestrian's street crossing leg speed histogram frequency distribution diagram；
Fig. 7 is different age group pedestrian's street crossing leg speed distribution curve on track；
Fig. 8 is v-t curve chart；
Fig. 9 is outermost track vehicle speed curve figure；
Figure 10 is roadway segment schematic diagram；
Figure 11 is east orientation track 1 speed change curves figure；
Figure 12 is that west is to track 1 speed change curves figure；
Figure 13 is east orientation track 2 speed change curves figure；
Figure 14 is that west is to track 2 speed change curves figure；
Figure 15 is east orientation track 3 speed change curves figure；
Figure 16 is that west is to track 3 speed change curves figure；
Figure 17 is vehicle at the deceleration curve of each section；
Figure 18 is that schematic diagram laid by deceleration device；
Figure 19 is emulation overview flow chart.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings:
As shown in Figure 1: the present invention uses and arranges deceleration strip 1, deceleration strip 2 and deceleration strip 3 on track, exist
Arranging pedestrian's induction installation in footpath, described deceleration strip 1, described deceleration strip 2 and described deceleration strip 3 are
Vicarious light reminds deceleration strip, and described pedestrian's induction installation is divided into pedestrian to wait induction zone and pedestrian's discriminating direction
District, the pedestrian of described pedestrian's induction installation waits induction zone and pedestrian's discriminating direction district is sensor coil, institute
State sensor coil connect after rosette with control cabinet and be connected, described deceleration strip 1, described deceleration strip 2 and described
The design of deceleration strip 3 all includes deceleration reminder center position calculation and speed-reduction prompting device Design of length, described
Deceleration reminder center position calculation is: set O, X, Y: set up rectangular coordinate with the zebra crossing lower left corner；
Fi(y): the velocity function of the i-th track pedestrian's street crossing；Gi(x, y): the velocity function of the i-th track vehicle；Si:
The safety instruction distance of the i-th track vehicle；LPeace: vehicle and the minimum safe tip distance of pedestrian；LHorizontal:
Lane width, tInstead: time of driver's reaction；δi: FiY () is at the Integral Mean Value in the i-th track；Ti: pedestrian
By the time used by the i-th track；If the different vehicle in each track is advanced at a same speed, different row
The VELOCITY DISTRIBUTION of people's walking is identical, then have an equation below:
S1=LPeace
Wherein:
Described speed-reduction prompting device Design of length is: set speed-reduction prompting device width as X, then:
X=F (α, β, γ, δ)
In formula: α, β, γ, δ represent the visual characteristic of driver, information processing, response characteristic and psychology respectively
Feature.
The width of speed-reduction prompting device, the most relevant with the feature of driver.The feature of driver, mainly wraps
Include the visual characteristic of driver, the information processing of driver, the response characteristic of driver and the psychology of driver
Feature.
The visual characteristic of driver: the visual characteristic of driver is to affect a weight of speed-reduction prompting device width
The factor wanted.The adaptation of dynamic vision, night vision and driver affects the concrete of width with dazzling the eyes to constitute
Factor.Wherein, dynamic vision mainly appears time, age and quiet regards with Vehicle Speed, objective stimulation
Power is relevant, and the main observation with article size, object contrast, object color and road pavement of night vision has
Close, and adapt to and dazzle the eyes mainly and light source is relevant.
The information processing of driver: when driver vehicle normally travels on road, needs constantly to recognize
Know the inside story condition, determine measure and implement operation.Cognitive assessment determines that measure implements to operate this process, real
Matter is exactly to obtain information and the process of the information of process.It practice, the emotion of driver, physical qualification, fatigue
Degree, disease and medicine etc. all have substantial connection with safe driving.At night, the information processing of driver
Accuracy and response characteristic also can change.
The response characteristic of driver: person's development time and traffic safety have close relationship.Driver's
Response characteristic, main with stimulation, age and sex, emotion and attention, speed, driving fatigue and drink
Etc. relevant.
The psychological peculiarity of driver: the influence factor of driver psychology feature, mainly by sensation and consciousness, note
Meaning, emotion are relevant with emotion and personality.
Speed-reduction prompting device operation principle:
Unidirectional 3 track citings with Fig. 1, it is assumed that pedestrian direction is from top to bottom.
In the case of crossing street device without pedestrains safety:
When pedestrian is not in the case of safety crosses street device, and pedestrian is when roadside is waited, though there is People's Bank of China in front
Zebra crossing, if do not have other Pedestrians and vehicles substantially without giving way on investigation crossing.Because of this journey
People can spend the long period to find and suitably pass through chance.There is bold pedestrian, when current lane such as 1 track
In the case of safety, road can be entered, then stand in and observe between 1 track and 2 tracks and wait 2 tracks
Spend street opportunity, pass through 2 tracks the most again, until crossing street.Due to the aprosexia of nighttime driving person,
Driver is impacted by row human and environment, this Zhong Guo street method not only danger but also affect smooth traffic.
It is less that contrary timid pedestrian can find wagon flow, and the vehicle in 3 tracks is not constituted for oneself crossing street
Street is crossed in the case of threat.Although this kind of method safety, but compare for pedestrian and waste time.
In the case of having pedestrains safety to cross street device:
In the case of having pedestrains safety to cross street device, pedestrian started street, can stand in sensing waiting area and carry out
Wait and observe, selecting suitable to spend street opportunity.And now system can sense that pedestrian was waiting street system
The deceleration strip 3 in deceleration strip 2 and 3 track in deceleration strip 1,2 track that can allow 1 track is started working, and allows car
Prepare to slow down, createed for pedestrian and suitably spend street opportunity.And when pedestrian started street, enter 1 car
Road, the deceleration strip 3 in deceleration strip 2 and 3 track in deceleration strip 1,2 track in 1 track can point out driver front
Pedestrian's street crossing is had to slow down by it.When pedestrian arrives track 2, the deceleration strip in deceleration strip 1,2 track in 1 track
The deceleration strip 3 in 2 and 3 tracks quits work, and the deceleration strip 2 in deceleration strip 1 and 3 track in 2 tracks starts work
Making, prompting driver is slowed down, and allows pedestrian's street crossing.When last pedestrian arrives 3 track, deceleration strip 1 He in 2 tracks
The deceleration strip 2 in 3 tracks quits work, and the deceleration strip 1 in 3 tracks is started working, and prompting driver is slowed down, finally
Pedestrains safety is allowed to cross street.
The FB(flow block) of model work is as shown in Figure 2；
Pedestrian's induction installation is divided into two parts as shown in Figure 3: wait induction zone and pedestrian's discriminating direction district.Side
To differentiating that district is divided into again 1st district and 2nd district, they can gather pressure signal during pedestrian's street crossing.When pedestrian is accurate
For when crossing street, need to stand in curb limit and observe road vehicle operation conditions, to vehicle whether to oneself structure
Threat is become to be estimated.And when pedestrian stands in waiting induction zone, system can collect the signal of pedestrian's waiting,
System can allow the corresponding deceleration strip in each track work, thus createed the opportunity in street for pedestrian.When pedestrian enters
When entering track, pass by discriminating direction district, and system can analyze the direction of pedestrian's walking, simulates pedestrian's street crossing
Trend, thus command the deceleration strip in each corresponding track to be operated, prompting driver is slowed down, and allows pedestrian pacify
Quan Guo street.
Pedestrian's street crossing induction installation designs:
Pedestrian's street crossing induction installation working portion is divided into front end sensing, rear end transmission process two parts.Front end is felt
Should partly include three the bar shaped piezoresistive transducers being laid on crossing, two of which is respectively pedestrian
One district (sensors A) He Erqu (sensor B) in discriminating direction district, one in waiting induction zone (sensor C).
Sensor pressurized i.e. passes to rear end different electrical signals.Transmission process part in rear end receives from sensing part, front end
Signal sequence, it determines pedestrian's street crossing behavior, cross direction, street, control device switch.
Induction installation designs as shown in Figure 4；
Pedestrian's street crossing induction installation operation principle:
When pedestrian is in waiting area, system can collect the pressure signal P transmitted from waiting area, and now system is just
Each track deceleration warning banner accordingly can be allowed to start working, thus createed street opportunity for pedestrian.Work as row
During Ren Guo street, it is to be understood that to the direction of pedestrian's street crossing.When pedestrian passes by 1st district of induction zone and 2nd district,
System can distinguish the signal A of collecting sensorijAnd Bij, wherein A represents 1st district, and B represents 2nd district, and i represents
The force value of this pedestrian, j represents that this pedestrian passes by time in region.System when having a people or many people when
Collect is about AijAnd BijSequence.System can arrange according to the sequence sent back, and then sentences
That makes someone crosses direction, street.Set AB as advance, BA for retreat.When sequence it is the most only
AijBmnAnd i=m and Δ1≥n-j≥Δ2Time can determine that it is advance, in like manner can determine that a certain sequence for retreat.
Single crystal silicon material in pressure type sensor is after by the effect of power, and resistivity changes, by measuring
Circuit just can obtain being proportional to the signal of telecommunication output of power change.When people goes to the waiting of pressure sensitive district, pressure type
Sensor can be the pressure value P record of moment, when sensor C returns equal pressure value P i.e. generation continuously
Table will have one person-time of street behavior excessively will to occur or just terminate, and concrete direction can return according to sensors A
Data Aij, sensor B return data BijThe matrix constituted differentiates.Concrete principle is as shown in Figure 5；
As shown in Figure 6: population distribution characteristic: street pedestrian's leg speed is not in full conformity with normal distribution, individual diversity
Different bigger.When pedestrian's leg speed is in the range of 0-1.77m/s, and pace distribution rectangular histogram is similar to normal distribution；When
When leg speed is more than 1.77m/s, the frequency of appearance has risen, and this is owing to quite a few pedestrian takes to run
Cross what street mode caused.
Different sexes pedestrian crossing speed: theory analysis is thought, masculinity and femininity is for extraneous dangerous criminal
Difference, crossing speed has different.Actual count result shows, male crosses street average pace and is about
1.27m/s, women is 1.25m/s.
Pedestrian's leg speed statistical table in table 1 different sexes difference track
All ages and classes pedestrian crossing speed: the pedestrian of all ages and classes is different, to danger due to respective psychology characteristic
The perception of danger is different.Therefore leg speed when they cross street shows obvious diversity.
The pedestrian's street crossing leg speed statistical table of 2 points of age brackets of table
Single with go with crossing speed: by finding with the contrast of all ages and classes pedestrian's street crossing average speed, single
The speed relatively average speed of child and single young pedestrian is high, and single middle age and the speed of single old pedestrian
Low compared with average speed.
The single pedestrian of table 3 all ages and classes is distributed track average pace
As shown in Figure 7: different tracks correspondence pedestrian crossing speed:
1, the pedestrian of different age group reaches unanimity at different tracks speed law, but single old age is at several cars
Leg speed difference on road is minimum, and leg speed difference on different tracks of the single middle age is maximum.
2, for all groups, minimum by the leg speed of second lane, by first lane and third lane
Leg speed takes second place, and the leg speed by Four-Lane Road is the highest.This is primarily due to pedestrian and compels to cut through the psychological application in street
Pedestrian is promoted to leave hazardous area as early as possible.
Research about pedestrian's street crossing psychological security characteristic:
Due to pedestrian's difference in sex, age and number, the behavior characteristics shown when crossing street and psychology
State is significantly different, and these psychological behaviors are the Main Basiss of research pedestrian's street crossing, and concrete condition is summarized as follows:
1, pedestrian decides whether to start to cross the distance that the Main Basis of road is oneself and approaching garage.Root
According to external investigation, if speed is 30～39km/h, when pedestrian starts to cross road, put down with sailing capable automobile
All distances are 45km: when speed is 40～49km/h, and average distance is 50m；
2, when most pedestrians cross road, only notice that left traffic is ignored in right traffic, often make oneself to rush
Enter the space of driver, also result in vehicle accident.The most merely hide first car and ignore back also
There is second car, or do not notice that two-way dealing car brings himself into and causes in the crack that two wagon flows are met
Vehicle accident.
3, driving behavior is understood not by part pedestrian, and being mistakenly considered automobile will not thrust into, and does not knows that automobile is normal
Meeting is out of control and causes pedestrian accident.
4, shortest path principle.Cross street " to cut-off ", turn before crossing terminal, not according to road
Road sign will right angle is carried out.
5, pedestrian's is random big, and pedestrian, under the domination of shortcut psychology, swarms into the most suddenly motor vehicles
Space, the pedestrian that special time demand is bigger, show the most prominent.Pedestrian's street crossing security psychology distance is fixed
Justice is: before pedestrians travel track, it is judged that on this track when oneself nearest motor vehicles arrives crossing energy
The distance that enough safety is passed through.Formula is:
In formula: LPeace: pedestrian's street crossing security psychology distance；I-th track motor vehicles average speed, m/s；
LLateral road: crossing length, m；N: number of track-lines；vPeople: pedestrian's individuality is average crosses street leg speed, m/s；tInstead:
In pedestrian's response time, meansigma methods is 1.8s；lPeace: arrive the vehicle safe distance away from pedestrian, take 3m；
Vehicles traverse crosses the Analysis of Velocity Characteristic of street induction installation:
Vehicle deceleration specificity analysis:
Automobile in normal traveling, can slow down and reach suitable when there are deceleration prompting or speed(-)limit sign in front
Speed meet road conditions demand.Process from fast to slow can be experienced in moderating process, accelerate at the beginning of deceleration
Degree is by the least by 0, and the final acceleration of deceleration is gradually increased to 0.In urban road, driver when slowing down is
The comfort level driven making self improves will not take the bigger speed reduction, i.e. acceleration and comfort level to exist
Certain relation is there is during car deceleration.Human body can experience the acceleration of car body during running slowly
Degree；When acceleration absolute value more than a certain limit value time, people know from experience feel uncomfortable, and uncomfortable degree along with
The increase of acceleration absolute value and increase.Based on this we use Tongji University Pan to step on, the vehicle of Zheng Yingping double
Bent function achievement model, is described the summary process of vehicle.
Function describes: v=-(b+ Δ b) tanh (k (t-τ))-b+v0, v in formula0, b, k, τ be the constant more than 0；
Δ b is the Small variables constant more than 0；V is speed variables；T is time variable；With k=k1、k2(k1＞ k2＞ 0) do v-t song
Line, as shown in the figure.
As shown in Figure 8:
Being obtained by observation in figure, upper figure describes under the conditions of different value of K by initial velocity v0-Δ b near end speed v0-2b-Δ b is even
The vehicle deceleration characteristics of motion that speed travels, its figure is about point (τ, v0-b) symmetrical monotonic function.As t →-∞,
v→v0+Δb；As t →+∞, v → v0-2b-Δ b, can reach curvilinear motion by changing k value
The purpose of speed, i.e. k value not only reflect the efficiency that vehicle runs, and consistent level that vehicle run is also presented.It is not difficult simultaneously
Finding out, vehicle deceleration running is between two stable states (stable state is uniform motion or resting state): in [0, τ] period,
Vehicle acceleration is gradually reduced by 0, reaches acceleration minima during to τ；In [τ, 2 τ] period, vehicle acceleration is gradually increased,
It is 0 to 2 τ brief accelerations, say, that τ is the turning point (i.e. extreme point) of acceleration change trend in vehicle deceleration process.
According to different k value and time constant τ-value, it is possible to obtain vehicle by initial velocity v0-Δ b is decelerated to end speed v0-2b-Δb
Time 2 τ, correspondingly may determine that the operating range in vehicle deceleration process.
Comfortableness and the relation of K:
Acceleration is crossed conference and is caused the discomfort of human body in vehicle deceleration running.Vehicle can be obtained by formula
Acceleration is
Cosh [k (t-τ *)] >=1 in formula.
Thus obtain max (a)=(b+ Δ b) k.
Owing to b+ Δ b can determine in advance, it is clear that the value limiting k the most just defines the scope of acceleration, i.e. drives
Personnel or automatic vehicle Ore-controlling Role are according to the speed of vehicle, acceleration before and after under free travel speed or train tracing model
The current intelligences such as degree, spacing, select the most available corresponding target v-t curve of rational k value, thus realize
The deceleration of vehicle controls, and improves safety and comfortableness in moderating process simultaneously.
Time constant and the calculating of deceleration distance:
Assume vehicle developed muzzle velocity degree v0The corresponding moment is τ0If (k=k1V-t curve,Take k=k2
V-t curve,Time for corresponding with vehicle end speed in response curve), make τ=τ0+ τ *, brings formula intoThe timeconstantτ * under the conditions of different value of K can be derived.
The distance of walking when integration further in above formula be can get vehicle deceleration:
The response time of driver during deceleration:
For psychologic definition, response characteristic is meant that from being reacted to out that the things showed causes
Time required for initiating work, it is not the duration of reaction, but from stimulating to reaction action
Time away from.Therefore the response time of driver is also called the response latency, and it includes the time of sensory organ perception,
To the process time of brain, the time of nerve conduction, and the time of muscle response.Driver is specific to one
Stimulation make a response and include four-stage, perception, identify, judge, react.This series of continuous work
Dynamic used is referred to as sensitive and reactive-time total time.The response time of driver is divided into the simple reaction time with multiple
The miscellaneous response time.The former be with know in advance the signal that may occur as condition, visual stimulus is
0.25～0.3s, auditory stimulus is 0.2s, and tactual stimulation is 0.2s, and the time is the most comparatively short.Driver sees herein
See the speed-reduction prompting device in front and take to slow down, this period of perception-response time can be divided into the information Perception time and
Movement time.According to driver's deceleration characteristic, driver is seeing speed-reduction prompting device and is completing speed-down action
Whole process is about 0.5～0.7s.
Vehicles traverse is crossed the speed of street induction installation and is described:
According to above-mentioned vehicle deceleration characteristic and driver are slowed down time the description in response time, we can obtain
Go out driver from seeing first speed-reduction prompting device until passing through the VELOCITY DISTRIBUTION of crossing, at this I
First vehicles traverse can be crossed the whole process of street speed-reduction prompting device simply describe.Driver is first
When first seeing first speed-reduction prompting device, if car speed is unsatisfactory for the speed limit of alarm set, driver is accurate
Standby deceleration；First at the uniform velocity advance in the stage of reaction, Easy abeadl the most again；Then can see in moderating process
Second speed-reduction prompting device, takes again to slow down；Finally see the 3rd road speed-reduction prompting device again, the most again
Take deceleration measure.In order to make driver see speed-reduction prompting device and take deceleration measure during this period of time
Just arriving after end and accelerate alarm set, we can subtract before driver arrives speed-reduction prompting device in advance
The operating phase of speed alarm set.Driver at reaction next speed-reduction prompting device when, time vehicle
Also carrying out moderating process on last stage as shown in Figure 9.
Sample calculation analysis and emulation:
Experiment section describes: about vehicle speed characteristics research before crossing, we select actual tune
The method looked into.Control time is 2014.3.13 19:00-20:00 in evening, and investigation place is certain Road Inside Area street, city,
Choose no signal and cross street crossing, cross both sides, section, street far from crossing farther out, it is believed that signal lights for
The speed characteristics of vehicle do not affect.Traffic counts belongs to dual three-lane carriageway.During investigation, we are horizontal by People's Bank of China
Before road, the road of general about 90m is divided into four sections, as shown in Figure 10.From west to east: first surveys section: 20m
Second surveys section: 20m the 3rd surveys section: 24.6m the 4th survey section: 35m total: 99.6m；From east to west: first surveys
Section: 20m second section of survey: 20m the 3rd surveys section: 16.9m the 4th and surveys section: 26.2m total: 83.1m.
Analysis of experimental data data process: investigate the speed in each track of all directions between four survey sections respectively,
Survey result is as shown in the table:
Section all directions track speedometer surveyed by 4 four, table
The relation of speed and survey section is as shown in Figure 11 to Figure 16；It can be seen that measure section night
The travel speed of vehicle is higher, and on road, the slowing effect of original rhombus reduce-speed sign is not it is obvious that have
A little vehicles even have hastening phenomenon.This night for cross street pedestrian be extremely dangerous.Therefore in this section
Laying deceleration device is necessary.
Model parameter is demarcated:
Section is applied this model emulate, in conjunction with the survey data in this section, it is stipulated that some are assumed:
1, vehicle speed when by deceleration reminder flag line (i.e. Article 1 markings), takes the 85%th
Speed；
2, vehicle speed when by reduce-speed sign line (i.e. Article 2 markings), is averaged speed；
3, vehicle speed when by pedestrian's street crossing safety sign line (i.e. Article 3 markings), takes the 15%th
The speed of position；
4, pedestrian all makees uniform motion in each track, in first lane and the speed of third lane, takes 1.2m/s,
In the speed of second lane, take l.lm/s；
5, pedestrian can wait at central strip line, crosses before street characteristic and waiting completely after waiting
Identical.
By the deceleration characteristic of vehicle, the deceleration curve that vehicle is at each section can be drawn, as shown in figure 17；In figure
East represents east orientation, and 1-1 represents that first lane slows down for the first time, by that analogy.By the time of pedestrian's street crossing to subtracting
Speed function is integrated, and carries out Calculation of Safety Distance with the formula of psychology safe distance, obtains this section
Schematic diagram laid by deceleration device, as shown in figure 18；In figure, dotted line represents driveway demarcation line, and solid line represents friendship
Through-flow demarcation line, thick line represents the region of crossing, and fine rule represents that reduce-speed sign line, numeral represent adjacent
Distance between two lines, unit is rice.By calculating it is found that the total length up to 116 of decelerating area
Rice is the most suitable with the measurement scope of speed before.The width of deceleration strip, owing to lacking relevant actual measurement number
According to, it is referred to the deceleration reminder flag line set on section, takes and be advisable about 2-3 rice.
Simulation Example:
Emulation platform brief introduction:
We use the Visual Studio platform self-programming under C# to emulate.Visual Studio is that Microsoft is public
The NET development environment that department releases, Visual studio is current most popular windows platform application program
Development environment.C# is that the one that Microsoft issues is OO, runs on NETFramework
High-level programming language, C# seems to have to Java surprising similar；It includes the most single continuing
Hold, interface and Java almost as grammer and be compiled into the process that intermediate code is reruned.
Emulation module is introduced:
Traffic simulation, as a kind of analytical tool, assists the planning of Traffic Systems, design and operational management.
For realizing the integrated environment of system emulation, and in view of the development of following microscopic simulation, system constructing uses
Modularization idea.Emulation module includes that vehicle travels module, pedestrian goes on a journey module, speed-reduction prompting device module
Three modules.Vehicle travels module and includes two parts.One is the part of dispatching a car of vehicle, and this part is basis
The traffic data vehicle of actual measurement is dispatched a car with random Poisson distribution.Two is the traveling part of vehicle；When vehicle exists
The lower order that will be slowed down of prompting of speed-reduction prompting device, slows down according to hyperbolic tangent function.
Pedestrian's module of going on a journey includes two parts.One is the appearance part of pedestrian, and this part is the row according to actual measurement
Personal data, occurs according to certain rule.Two is the running gear of pedestrian, pedestrian in each track according to actual measurement
Speed walking.
Speed-reduction prompting device module is the key of whole emulation.Speed-reduction prompting device module is divided into three work rank
Section part.One is pedestrian when waiting, the corresponding deceleration in this module when pedestrian is in holding areas
Warning banner can work.Two be pedestrian spend the street discriminating direction stage, trespass when celebrating a festival induction zone according to pedestrian
The order produced differentiates that pedestrian's crosses direction, street.Three is that system is according to pedestrian's when pedestrian enters in track
Velocity distribution function judges to arrive the time in each track, and then the deceleration opening bright corresponding each track is reminded
The order of mark.
Simulation flow and content:
First it is that vehicle traveling vehicle module is dispatched a car at random according to Poisson distribution, and according to normal without pedestrian's state
Travel.Then pedestrian's module of going on a journey produces pedestrian's street crossing, two processes then crossing street to be seen such as carries out.
Last speed-reduction prompting device is operated according to the state servo-actuated commander deceleration warning banner of pedestrian.Vehicle travels
According to the scope of deceleration warning banner effect, module commands whether vehicle slows down.Observe pedestrian to go on a journey the row of module
People's the most all safety crosses street.
Whole simulation process needs to simulate the most special several state, thus pedestrian go on a journey module can produce with
Under several situations.Single street situation of crossing a: pedestrian's street crossing, and be all a people to beginning to whole footpath.
Two people are relative crosses street situation: when a Ge Renguo street, road opposite also has another person to prepare street.Before two people
Hou Guo street situation: two people one in front and one in back cross street.Two people are also drained through street situation: two people together and are drained through street (such as figure
Shown in 19).
Simulated program is illustrated: analysis of simulation result:
By to the reading of data after emulation and calculate the average speed of vehicle, by itself and former average speed data
Compare, be listed as follows:
Speed comparison sheet after table 5 laying apparatus
To sum up, by subsection setup deceleration reminder flag, can on the premise of being not take up too much path space,
Not only make driver slow down fully before arriving crossing, make pedestrian have the sufficient time to cross safely street,
And also improving the average overall travel speed of whole road, this lifting is especially apparent for second lane.This
Allowing for while the delay of pedestrian's street crossing greatly reduces, the traffic capacity of road is effectively improved, car
The delay in section, Liang Guo street also can be reduced.
Modifying model:
Environmental impact factor: different environment like rain, the adverse weather such as snow, mist and cross the ring around at street
Border has opposite impacts on for the speed characteristics of vehicle and pedestrian, therefore the result calculated for model also should
Carry out certain correction.As haze weather may slow down the travel speed of vehicle, accelerate the walking speed of pedestrian
Degree, and haze weather also can affect the visual field of driver, thus have influence on the effect of alarm set.
Road traffic condition: the transportation condition of road influences whether the ride characteristic of vehicle, thus has influence on mould
The actual application of type.If there being parking on track, the vehicle in traveling occur lane change, turn around, the situation such as turning,
Then the application of model is it is possible that some deviations.Pedestrian not in crossing Chu Guo street for the application of model
Also there is certain impact.
The signal lights impact on traffic flow: the impact of signal lights makes vehicular traffic stream have certain periodicity,
Therefore, when crossing distance crossing, both sides, section, street and being nearer, model may need to carry out certain correction.Simultaneously
Owing to intersection traffic stream may be caused large effect by being designed with of deceleration reminder flag, answering of model
With being also subject to certain restrictions.
The feature of driver: it has been noted that every spy of driver in the length of above-mentioned speed-reduction prompting device
Levying all relevant with model, some of which feature such as psychological peculiarity etc. is difficult to demarcate, some feature such as response feature
Can only describe with rough data field, the precision of model can be affected by this.
The ultimate principle of the present invention and principal character and advantages of the present invention have more than been shown and described.The industry
Skilled person will appreciate that, the present invention is not limited by examples detailed above, described in examples detailed above and description
The principle that the present invention is simply described, without departing from the spirit and scope of the present invention, the present invention also can
Having various changes and modifications, these changes and improvements both fall within scope of the claimed invention.The present invention
Claimed scope is defined by appending claims and equivalent thereof.
Claims (1)
1. pedestrian's night safe crosses street alarm set, it is characterised in that: arrange on track deceleration strip 1,
Deceleration strip 2 and deceleration strip 3, arrange pedestrian's induction installation on pavement, described deceleration strip 1, described in subtract
Speed belt 2 and described deceleration strip 3 are vicarious light and remind deceleration strip, and described pedestrian's induction installation is divided into row
People waits induction zone and pedestrian's discriminating direction district, and the pedestrian of described pedestrian's induction installation waits induction zone and row
People's discriminating direction district is sensor coil, and described sensor coil is connected with control cabinet after connecting rosette；
In the case of having pedestrains safety to cross street device, pedestrian started street, can stand in sensing waiting area and carry out
Treat and observe, selecting suitable to spend street opportunity；And now system can sense that pedestrian was waiting street, it is
System can allow the deceleration strip 3 in deceleration strip 2 and 3 track in deceleration strip 1,2 track in 1 track start working,
Allow vehicle prepare to slow down, createed for pedestrian and suitably spend street opportunity；And when pedestrian started street, enter
Entering 1 track, the deceleration strip 3 in deceleration strip 2 and 3 track in deceleration strip 1,2 track in 1 track can be pointed out and be driven
The person of sailing front has pedestrian's street crossing to slow down by it；When pedestrian arrives 2 track, deceleration strip 1,2 car in 1 track
The deceleration strip 3 in deceleration strip 2 and 3 track in road quits work, subtracting of deceleration strip 1 and 3 track in 2 tracks
Speed belt 2 is started working, and prompting driver is slowed down, and allows pedestrian's street crossing；When last pedestrian arrives 3 track, 2 cars
The deceleration strip 2 in deceleration strip 1 and 3 track in road quits work, and the deceleration strip 1 in 3 tracks is started working, and carries
Show that driver is slowed down, finally allow pedestrains safety cross street；
The design of described deceleration strip 1, described deceleration strip 2 and described deceleration strip 3 all includes deceleration reminder center position
Calculating and speed-reduction prompting device Design of length, described deceleration reminder center position calculation is: set O, X, Y:
Rectangular coordinate is set up with the zebra crossing lower left corner；Fi(y): the velocity function of the i-th track pedestrian's street crossing；
Gi(x, y): the velocity function of the i-th track vehicle；Si: the safety instruction distance of the i-th track vehicle；LPeace:
Vehicle and the minimum safe tip distance of pedestrian；LHorizontal: lane width；tInstead: time of driver's reaction；
δi: FiY () is at the Integral Mean Value in the i-th track；Ti: pedestrian is by the time used by the i-th track；If each
The different vehicle in track is advanced at a same speed, and the VELOCITY DISTRIBUTION of different pedestrian's walkings is identical, then have
Equation below:
S1=LPeace
Wherein:
Described speed-reduction prompting device Design of length is: set a length of X of speed-reduction prompting device, then:
X=F (α, β, γ, δ)
In formula: α, β, γ, δ represent the visual characteristic of driver, information processing, response characteristic and psychology respectively
Feature.
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| CN106683447B (en) * | 2015-11-11 | 2019-11-19 | 中国移动通信集团公司 | A kind of traffic lamp control method and device |
| CN105788299A (en) * | 2016-03-29 | 2016-07-20 | 苏州玄禾物联网科技有限公司 | Traffic control system |
| CN106875748B (en) * | 2017-03-16 | 2023-03-07 | 上海市城市建设设计研究总院（集团）有限公司 | Control method of pedestrian crossing intelligent anti-collision system |
| CN109243184B (en) * | 2018-11-09 | 2023-07-14 | 东北林业大学 | Right-turning vehicle pedestrian avoidance safety early warning device based on single-chip microcomputer |
| CN109584577A (en) * | 2018-11-29 | 2019-04-05 | 北京博纳菲德科技有限公司 | A kind of pavement warning device that auxiliary pedestrian goes across the road |
| CN110556001A (en) * | 2019-07-17 | 2019-12-10 | 王征宇 | Human-vehicle interaction safety system for suburb remote roads and operation method thereof |
| CN110599802A (en) * | 2019-08-16 | 2019-12-20 | 同济大学 | Pedestrian crossing early warning implementation method and early warning system |
| CN110493924A (en) * | 2019-08-28 | 2019-11-22 | 广东长海建设工程有限公司 | A kind of lighting control of cities system |
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