CN104332071A - Safety prompt device and prompt method for on-ramp vehicle to merge into main road - Google Patents
Safety prompt device and prompt method for on-ramp vehicle to merge into main road Download PDFInfo
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- CN104332071A CN104332071A CN201410620594.6A CN201410620594A CN104332071A CN 104332071 A CN104332071 A CN 104332071A CN 201410620594 A CN201410620594 A CN 201410620594A CN 104332071 A CN104332071 A CN 104332071A
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Abstract
The invention relates to the technical field of traffic safety facilities, and discloses a safety prompt device and prompt method for an on-ramp vehicle to merge into a main road. The device comprises a microprocessor, a millimeter wave radar and a display screen, wherein the millimeter wave radar is used for detecting the speed of the on-ramp vehicle and the distance between the on-ramp vehicle and the radar; the display screen is used for displaying the safety for the on-ramp vehicle to merge into the main road in real time; an output end of the millimeter radar is electrically connected with an I/O (Input/Output) input end of the microprocessor; an input end of the display screen is electrically connected with an I/O output end of the microprocessor; the millimeter radar is arranged on a bracket which is arranged at a tail end of a speed-up road section of a ramp to enter the main road; a detection surface of the millimeter radar faces the speed-up road section; the display screen is arranged below the millimeter radar. The selected safety evaluation index is a TTC (Time to Collision) value after a speed factor is added.
Description
Technical field
The present invention relates to traffic safety facilities technical field, particularly a kind of ring road vehicle imports safety reminding device and the reminding method of major trunk roads.
Background technology
Ring road is that vehicle enters the transition section of high velocity from low regime, vehicle is when ring road enters major trunk roads, driver needs the transport information obtaining this car rear from rearview mirror or glass for vehicle window, and make security judgement, avoid import major trunk roads time and rear car collide, cause traffic hazards such as knocking into the back.The existing expressway ramp of China is in the design avoiding this type of traffic hazard to occur, and the design length of main consideration ring road and driver are to aspects such as the visualitys of front vehicle; But, present stage China's driver quality differ, on the one hand when importing major trunk roads through ring road, driver seldom notes front vehicle, and on ring road the acceleration time too short, just importing major trunk roads when not accelerating to safe speed, causing potential accident risk; On the other hand, the intelligent transportation infrastructure imperfection of ring road mouth, a lot of driver lacks the subjective judgement to this type of situation security, or error in judgement is comparatively large, and existing section is not considered to import vehicle on ring road, and whether safe major trunk roads are points out.This brings great inconvenience to driver safety trip.
Summary of the invention
The object of the present invention is to provide a kind of ring road vehicle to import safety reminding device and the reminding method of major trunk roads, few, the applicable large-scale promotion of this suggestion device investment cost, its reminding method is intelligent, robotization, and without the need to operation, and reliability is high.
For reaching above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved.
Scheme one:
A kind of ring road vehicle imports the safety reminding device of major trunk roads, it is characterized in that, comprising microprocessor, for detecting the millimetre-wave radar of the distance between the speed of ring road vehicle and ring road vehicle and radar, importing the display screen of the security of major trunk roads for showing ring road vehicle in real time;
The I/O input end of the output terminal electrical connection microprocessor of described millimetre-wave radar, the I/O output terminal of the input end electrical connection microprocessor of described display screen;
Described millimetre-wave radar is arranged on ring road and enters on the support at the end place in major trunk roads acceleration section, and the test surface of described millimetre-wave radar is towards acceleration section; Described display screen is arranged on the below of millimetre-wave radar.
Feature and further improvement of this programme are:
Described millimetre-wave radar is Delphi ESR millimetre-wave radar.
Described display screen is the outdoor red LED display screen of the P10 that has a showdown.
Described microprocessor is ARM9 processor, and concrete model is S3C2410.
Scheme two:
Ring road vehicle imports a safety instruction method for major trunk roads, imports the safety reminding device of major trunk roads, it is characterized in that, comprise the following steps based on above-mentioned a kind of ring road vehicle:
Step one, millimetre-wave radar collection are in the speed V of this car in the acceleration section of ring road
1, distance L between Ben Che and millimetre-wave radar
1and angle [alpha]
1, and the speed V of rear car on the nearest major trunk roads of distance ring road
2, distance L between rear car and millimetre-wave radar
2and angle [alpha]
2, and gathered data are sent to microprocessor;
Step 2, the microprocessor data to millimetre-wave radar collection process, rectangular coordinate system set up by microprocessor, the abscissa axis of this rectangular coordinate system is parallel with major trunk roads, the axis of ordinates of this coordinate system and abscissa axis in same level, and perpendicular to abscissa axis; Microprocessor is by the speed V of this car
1the speed component V obtained on abscissa axis is decomposed in this rectangular coordinate system
1xwith the speed component V on axis of ordinates
1y, microprocessor is by the speed V of rear car
2the speed component V obtained on abscissa axis is decomposed in this rectangular coordinate system
2xwith the speed component V on axis of ordinates
2y, then the speed component on abscissa axis is subtracted each other obtain V respectively
1x-V
2xvalue, the speed component on axis of ordinates subtracts each other and obtains V
1y-V
2yvalue, finally by V
1x-V
2xvalue and V
1y-V
2yvalue synthesis obtain the relative velocity V of Ben Che and rear car;
This car, rear car and millimetre-wave radar form a triangle, the angle [alpha] between Ben Che and millimetre-wave radar
1and the angle [alpha] between rear car and millimetre-wave radar
2difference be this leg-of-mutton take millimetre-wave radar as the angle of the interior angle on summit, L
1and L
2for the both sides length of side of this interior angle, the distance L between Ben Che and rear car can be tried to achieve according to the cosine law;
If the ratio of the relative velocity V of this car distance L and Ben Che with the rear car and rear car is TTC value, microprocessor calculates TTC value;
The speed of a motor vehicle of this car is divided into by step 3, microprocessor: 40km/h ~ 80km/h, two stages of >80km/h;
Within 40km/h ~ 80km/h stage, when this car distance L is with the rear car less than or equal to 4m, judge TTC value, when TTC value is greater than 3, microprocessor judges safety also sends safety signal to display screen, and display screen shows safe printed words, when TTC value is less than or equal to 3, microprocessor judges danger also sends distress signal to display screen, and display screen shows dangerous printed words; When this car distance L is with the rear car greater than 4m, judge TTC value, when TTC value is greater than 5.5, microprocessor judges safety also sends safety signal to display screen, display screen shows safe printed words, and when TTC value is greater than 3 and is less than or equal to 5.5, microprocessor judges is dangerous, and send unsafe signal to display screen, display screen shows dangerous printed words, and when TTC value is less than or equal to 3, microprocessor judges is dangerous, and sending distress signal to display screen, display screen shows dangerous printed words;
Within the >80km/h stage, when this car distance L is with the rear car less than or equal to 5m, judge TTC value, when TTC value is greater than 3, microprocessor judges safety also sends safety signal to display screen, and display screen shows safe printed words, when TTC value is less than or equal to 3, microprocessor judges danger also sends distress signal to display screen, and display screen shows dangerous printed words; When this car distance L is with the rear car greater than 5m, judge TTC value, when TTC value is greater than 5.5, microprocessor judges safety also sends safety signal to display screen, display screen shows safe printed words, and when TTC value is greater than 3 and is less than or equal to 5.5, microprocessor judges is dangerous, and send unsafe signal to display screen, display screen shows dangerous printed words, and when TTC value is less than or equal to 3, microprocessor judges is dangerous, and sending distress signal to display screen, display screen shows dangerous printed words.
The present invention and prior art ratio have the following advantages: the Safety Evaluation Index chosen is the TTC value after adding speed factor.Ring road vehicle of the present invention enters major trunk roads security prompt device and mainly adopts millimetre-wave radar, LED display and ARM9 processor, can to entering the vehicle of accelerating sections through ring road and detecting from the speed of vehicle on the nearest major trunk roads of accelerating sections and distance, and calculate TTC value, enter major trunk roads security to the vehicle being in accelerating sections to evaluate, the result evaluated is shown in real time in LED display.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is the scheme of installation that a kind of ring road vehicle of the present invention imports the safety reminding device of major trunk roads;
Fig. 2 is the circuit connection schematic block diagram that a kind of ring road vehicle of the present invention imports the safety reminding device of major trunk roads;
In figure: 1, millimetre-wave radar; 2, microprocessor; 3, display screen; 4, this car; 5, rear car; 6, ring road; 7, section is accelerated.
Embodiment
With reference to Fig. 1, for a kind of ring road vehicle of the present invention imports the scheme of installation of the safety reminding device of major trunk roads; This device comprises microprocessor 2, for detecting the speed of sending a car and sending a car and the millimetre-wave radar 1 of distance between radar, imports the display screen 3 of the security of major trunk roads for showing ring road vehicle in real time; Millimeter wave thunder 1 reach be arranged on ring road enter major trunk roads accelerate section end place support on, the test surface of millimetre-wave radar 1 is towards acceleration section, for ensureing the stability and high efficiency of system, do not have any shelter in radar front, display screen 3 is arranged on the below of millimetre-wave radar; The I/O input end of the output terminal electrical connection microprocessor 2 of millimetre-wave radar 1, the I/O output terminal of the input end electrical connection microprocessor 2 of display screen 3.
Wherein, millimetre-wave radar 1 is Delphi ESR millimetre-wave radar, and its effective scope of detection can reach 175 meters, and sweep angle ± 15 ° arrive ± 45 °, can meet actual needs completely.
Wherein, display screen 3 is the outdoor red LED display screen of the P10 that has a showdown.
Wherein, microprocessor 2 is ARM9 processor, and concrete model is S3C2410.
Ring road vehicle imports a safety instruction method for major trunk roads, imports the safety reminding device of major trunk roads, comprise the following steps based on above-mentioned a kind of ring road vehicle:
The collections of step one, millimetre-wave radar 1 are in the speed V of this car 4 in the acceleration section 7 of ring road 6
1, distance L between this car 4 and millimetre-wave radar
1and angle [alpha]
1, and the speed V of rear car 5 on the nearest major trunk roads of distance ring road 6
2, distance L between rear car 5 and millimetre-wave radar
2and angle [alpha]
2, and the data of described collection are sent to microprocessor.
The data that step 2, microprocessor 2 pairs of millimetre-wave radars 1 gather process, rectangular coordinate system set up by microprocessor 2, the abscissa axis of this rectangular coordinate system is parallel with major trunk roads, the axis of ordinates of this coordinate system and abscissa axis in same level, and perpendicular to abscissa axis; Microprocessor 2 is by the speed V of this car 4
1the speed component V obtained on abscissa axis is decomposed in this rectangular coordinate system
1xwith the speed component V on axis of ordinates
1y, microprocessor 2 is by the speed V of rear car 5
2the speed component V obtained on abscissa axis is decomposed in this rectangular coordinate system
2xwith the speed component V on axis of ordinates
2y, then the speed component on abscissa axis is subtracted each other obtain V respectively
1x-V
2xvalue, the speed component on axis of ordinates subtracts each other and obtains V
1y-V
2yvalue, finally by V
1x-V
2xvalue and V
1y-V
2yvalue synthesis obtain the relative velocity V of this car 4 and rear car 5;
This car 4, rear car 5 and millimetre-wave radar 1 form a triangle, the angle [alpha] between this car 4 and millimetre-wave radar 1
1and the angle [alpha] between rear car 5 and millimetre-wave radar 1
2difference be this leg-of-mutton take millimetre-wave radar as the angle of the interior angle on summit, L
1and L
2for the both sides length of side of this interior angle, the distance L between this car 4 and rear car 5 can be tried to achieve according to the cosine law;
If the ratio of the relative velocity V of the distance L between this car 4 and rear car 5 and this car 4 and rear car 5 is TTC value, microprocessor calculates TTC value;
The process that step 3, acceleration lane vehicle import major trunk roads is similar to the process of changing, therefore its safety evaluation is used for reference current vehicle-mounted active safety equipment and is changed the TTC (time-to-collision) extensively adopted in early warning system, it can be used as the important indicator of native system safety evaluation.The definition of TTC is the ratio of distance on Ben Che and Ben Che rear area target track between vehicle and the relative velocity between two cars, in research in the past, change whether safe threshold value generally to adopt TTC value to weigh, and according to a large amount of train experiments, when TTC value between two cars is less than 3, now front truck changes and traffic hazard will occur, and when TTC value is greater than 5.5, now front truck changes and generally traffic hazard can not occur, and TTC value is when being positioned between the two, likely can there is traffic hazard, now need to provide warning to driver.Due to TTC value exchange road security prompting existence leak, namely the relative velocity of current vehicle and target track front vehicle is less, and relative distance between two cars also little time, the TTC value calculated on the contrary can be very large, such as, on highway, front truck travels with the speed of a motor vehicle of 85 ㎞/h, and have a vehicle with 86km/h speeds apart from the rear, target track that front truck fore-and-aft distance is 3m, now for 10.8., to TTC value this carry out changing being easy to dangerous situations such as colliding, needs to carry out security prompting to driver.
The speed of a motor vehicle of this car is divided into by microprocessor: 40km/h ~ 80km/h, two stages of >80km/h.
Within 40km/h ~ 80km/h stage, when this car distance L is with the rear car less than or equal to 4m, judge TTC value, when TTC value is greater than 3, microprocessor judges safety also sends safety signal to display screen, and display screen shows safe printed words, when TTC value is less than or equal to 3, microprocessor judges danger also sends distress signal to display screen, and display screen shows dangerous printed words; When this car distance L is with the rear car greater than 4m, judge TTC value, when TTC value is greater than 5.5, microprocessor judges safety also sends safety signal to display screen, display screen shows safe printed words, and when TTC value is greater than 3 and is less than or equal to 5.5, microprocessor judges is dangerous, and send unsafe signal to display screen, display screen shows dangerous printed words, and when TTC value is less than or equal to 3, microprocessor judges is dangerous, and sending distress signal to display screen, display screen shows dangerous printed words.
Within the >80km/h stage, when this car distance L is with the rear car less than or equal to 5m, judge TTC value, when TTC value is greater than 3, microprocessor judges safety also sends safety signal to display screen, and display screen shows safe printed words, when TTC value is less than or equal to 3, microprocessor judges danger also sends distress signal to display screen, and display screen shows dangerous printed words; When this car distance L is with the rear car greater than 5m, judge TTC value, when TTC value is greater than 5.5, microprocessor judges safety also sends safety signal to display screen, display screen shows safe printed words, and when TTC value is greater than 3 and is less than or equal to 5.5, microprocessor judges is dangerous, and send unsafe signal to display screen, display screen shows dangerous printed words, and when TTC value is less than or equal to 3, microprocessor judges is dangerous, and sending distress signal to display screen, display screen shows dangerous printed words.
The Safety Evaluation Index that the present invention chooses is the TTC value after adding speed factor.Ring road vehicle of the present invention enters major trunk roads security prompt device and mainly adopts millimetre-wave radar, LED display and ARM9 processor, can to entering the vehicle of accelerating sections through ring road and detecting from the speed of vehicle on the nearest major trunk roads of accelerating sections and distance, and calculate TTC value, enter major trunk roads security to the vehicle being in accelerating sections to evaluate, the result evaluated is shown in real time in LED display.
Although be below described embodiment of the present invention by reference to the accompanying drawings, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art is under the enlightenment of instructions, and when not departing from the scope that the claims in the present invention are protected, can also make a variety of forms, these all belong to the row of the present invention's protection.
Claims (5)
1. the safety reminding device of ring road vehicle remittance major trunk roads, it is characterized in that, comprising microprocessor, for detecting the millimetre-wave radar of the distance between the speed of ring road vehicle and ring road vehicle and radar, importing the display screen of the security of major trunk roads for showing ring road vehicle in real time;
The I/O input end of the output terminal electrical connection microprocessor of described millimetre-wave radar, the I/O output terminal of the input end electrical connection microprocessor of described display screen;
Described millimetre-wave radar is arranged on ring road and enters on the support at the end place in major trunk roads acceleration section, and the test surface of described millimetre-wave radar is towards acceleration section; Described display screen is arranged on the below of millimetre-wave radar.
2. a kind of ring road vehicle according to claim 1 imports the safety reminding device of major trunk roads, and it is characterized in that, described millimetre-wave radar is Delphi ESR millimetre-wave radar.
3. a kind of ring road vehicle according to claim 1 imports the safety reminding device of major trunk roads, it is characterized in that, described display screen is the outdoor red LED display screen of the P10 that has a showdown.
4. a kind of ring road vehicle according to claim 1 imports the safety reminding device of major trunk roads, and it is characterized in that, described microprocessor is ARM9 processor, and concrete model is S3C2410.
5. ring road vehicle imports a safety instruction method for major trunk roads, imports the safety reminding device of major trunk roads, it is characterized in that, comprise the following steps based on ring road vehicle a kind of described in claim 1:
Step one, millimetre-wave radar collection are in the speed V of this car in the acceleration section of ring road
1, distance L between Ben Che and millimetre-wave radar
1and angle [alpha]
1, and the speed V of rear car on the nearest major trunk roads of distance ring road
2, distance L between rear car and millimetre-wave radar
2and angle [alpha]
2, and gathered data are sent to microprocessor;
Step 2, the microprocessor data to millimetre-wave radar collection process, rectangular coordinate system set up by microprocessor, the abscissa axis of this rectangular coordinate system is parallel with major trunk roads, the axis of ordinates of this coordinate system and abscissa axis in same level, and perpendicular to abscissa axis; Microprocessor is by the speed V of this car
1the speed component V obtained on abscissa axis is decomposed in this rectangular coordinate system
1xwith the speed component V on axis of ordinates
1y, microprocessor is by the speed V of rear car
2the speed component V obtained on abscissa axis is decomposed in this rectangular coordinate system
2xwith the speed component V on axis of ordinates
2y, then the speed component on abscissa axis is subtracted each other obtain V respectively
1x-V
2xvalue, the speed component on axis of ordinates subtracts each other and obtains V
1y-V
2yvalue, finally by V
1x-V
2xvalue and V
1y-V
2yvalue synthesis obtain the relative velocity V of Ben Che and rear car;
This car, rear car and millimetre-wave radar form a triangle, the angle [alpha] between Ben Che and millimetre-wave radar
1and the angle [alpha] between rear car and millimetre-wave radar
2difference be this leg-of-mutton take millimetre-wave radar as the angle of the interior angle on summit, L
1and L
2for the both sides length of side of this interior angle, the distance L between Ben Che and rear car can be tried to achieve according to the cosine law;
If the ratio of the relative velocity V of this car distance L and Ben Che with the rear car and rear car is TTC value, microprocessor calculates TTC value;
The speed of a motor vehicle of this car is divided into by step 3, microprocessor: 40km/h ~ 80km/h, two stages of >80km/h;
Within 40km/h ~ 80km/h stage, when this car distance L is with the rear car less than or equal to 4m, judge TTC value, when TTC value is greater than 3, microprocessor judges safety also sends safety signal to display screen, and display screen shows safe printed words, when TTC value is less than or equal to 3, microprocessor judges danger also sends distress signal to display screen, and display screen shows dangerous printed words; When this car distance L is with the rear car greater than 4m, judge TTC value, when TTC value is greater than 5.5, microprocessor judges safety also sends safety signal to display screen, display screen shows safe printed words, and when TTC value is greater than 3 and is less than or equal to 5.5, microprocessor judges is dangerous, and send unsafe signal to display screen, display screen shows dangerous printed words, and when TTC value is less than or equal to 3, microprocessor judges is dangerous, and sending distress signal to display screen, display screen shows dangerous printed words;
Within the >80km/h stage, when this car distance L is with the rear car less than or equal to 5m, judge TTC value, when TTC value is greater than 3, microprocessor judges safety also sends safety signal to display screen, and display screen shows safe printed words, when TTC value is less than or equal to 3, microprocessor judges danger also sends distress signal to display screen, and display screen shows dangerous printed words; When this car distance L is with the rear car greater than 5m, judge TTC value, when TTC value is greater than 5.5, microprocessor judges safety also sends safety signal to display screen, display screen shows safe printed words, and when TTC value is greater than 3 and is less than or equal to 5.5, microprocessor judges is dangerous, and send unsafe signal to display screen, display screen shows dangerous printed words, and when TTC value is less than or equal to 3, microprocessor judges is dangerous, and sending distress signal to display screen, display screen shows dangerous printed words.
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| CN201410620594.6A CN104332071B (en) | 2014-11-06 | 2014-11-06 | A kind of ring road vehicle imports the safety reminding device and reminding method of major trunk roads |
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| CN201410620594.6A CN104332071B (en) | 2014-11-06 | 2014-11-06 | A kind of ring road vehicle imports the safety reminding device and reminding method of major trunk roads |
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| CN105869439A (en) * | 2016-04-13 | 2016-08-17 | 重庆邮电大学 | Road intersection anti-collision early warning method, read-side equipment and anti-collision system |
| CN106601028A (en) * | 2017-01-25 | 2017-04-26 | 中国联合网络通信集团有限公司 | Vehicle lane changing prompting method and vehicle lane changing promoting system |
| CN109272748A (en) * | 2018-09-06 | 2019-01-25 | 东南大学 | Truck traffic combines ring road collaboration under auxiliary driving environment to import method and system |
| CN110097764A (en) * | 2019-04-26 | 2019-08-06 | 吉安市永安交通设施有限公司 | A kind of fork road safety warning system |
| CN110782704A (en) * | 2019-11-01 | 2020-02-11 | 北京星云互联科技有限公司 | Traffic guidance method, device and system based on vehicle-road cooperation and storage medium |
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| CN111275986A (en) * | 2020-01-22 | 2020-06-12 | 长安大学 | Risk decision device and method for vehicle to autonomously merge into main road in acceleration lane |
| CN112927512A (en) * | 2021-02-24 | 2021-06-08 | 山东科技大学 | Expressway ramp confluence control system and method |
| CN113002544A (en) * | 2021-04-13 | 2021-06-22 | 知行汽车科技（苏州）有限公司 | Ramp afflux point track planning method |
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| CN105006176A (en) * | 2015-07-30 | 2015-10-28 | 苏州佳世达光电有限公司 | Driving distance warning system |
| CN105006176B (en) * | 2015-07-30 | 2017-07-21 | 苏州佳世达光电有限公司 | A kind of running distance caution system |
| CN105206068A (en) * | 2015-09-29 | 2015-12-30 | 北京工业大学 | Method for conducting safety coordination control on highway confluence area based on vehicle-vehicle communication technology |
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| CN106601028A (en) * | 2017-01-25 | 2017-04-26 | 中国联合网络通信集团有限公司 | Vehicle lane changing prompting method and vehicle lane changing promoting system |
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| CN111276008B (en) * | 2020-01-22 | 2021-07-27 | 长安大学 | Device and method for conducting personalized guidance on vehicle speed in acceleration lane |
| CN112927512A (en) * | 2021-02-24 | 2021-06-08 | 山东科技大学 | Expressway ramp confluence control system and method |
| CN112927512B (en) * | 2021-02-24 | 2022-03-29 | 山东科技大学 | Expressway ramp confluence control system and method |
| CN113002544A (en) * | 2021-04-13 | 2021-06-22 | 知行汽车科技（苏州）有限公司 | Ramp afflux point track planning method |
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