CN104700629A - System and method for monitoring and early warning agglomerate fog of highway - Google Patents

System and method for monitoring and early warning agglomerate fog of highway Download PDF

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Publication number
CN104700629A
CN104700629A CN201410610850.3A CN201410610850A CN104700629A CN 104700629 A CN104700629 A CN 104700629A CN 201410610850 A CN201410610850 A CN 201410610850A CN 104700629 A CN104700629 A CN 104700629A
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module
data
controller
visibility
early warning
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CN201410610850.3A
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CN104700629B (en
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黄希
朱天成
王杰
朱龙彪
袁莉
王恒
陈红艳
曹艳华
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南通大学
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/01Detecting movement of traffic to be counted or controlled
    • G08G1/048Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01WMETEOROLOGY
    • G01W1/00Meteorology

Abstract

The invention discloses a system for monitoring and early warning agglomerate fog of a highway. The system comprises a visibility detecting unit, a sensor module, an information processing module, a data storing module, a GPRS data transmission module, a local display module, a voice alarm and a remote host computer; a solar power supply module supplies power to all the modules above; the visibility detecting unit and the sensor module are connected with the information processing module; the information processing module is connected with the data storing module, the GPRS data transmission module, the local display module and the voice alarm; the GPRS data transmission module is connected with the remote host computer; the visibility detection unit comprises an LED light source and a BH1750FVI digital light strength detection chip; the information processing module comprises a controller and an IO expansion board which are interconnected and matched with each other; the controller comprises a main controller and a secondary controller of which the cores are both the Atmega328 single-chip microcomputers. The system is fast to detect, low in cost, flexible to arrange, and convenient to maintain, and can be widely applied to the field of safety monitoring of the highway lines.

Description

A kind of monitor and early warning system of expressway fog and method
Technical field
The present invention relates to a kind of monitor and early warning system, be specifically related to a kind of monitor and early warning system for expressway fog and method.
Background technology
Group's mist is also mist in essence, and be the impact by some areas moist heat, in dense fog, tens of rice is in the subrange of up to a hundred meters, the mist that the fog of appearance is denseer, visibility is lower.The outer sight line of group's mist is good, and in group's mist, a slice is dim.Group's mist prediction is difficult, regional strong, easily causes major traffic accidents.Group's mist causes because of local steam raying cooling.When low layer water vapor condition is reasonable time, group's mist ratio is easier to occur, especially after rain one to two days, if weather is fine just than being easier to appearance.
The important traffic characteristic of highway is that the speed of a motor vehicle is fast, the volume of traffic large, once after there is traffic hazard, its miserable degree is comparatively large, and to roll into a ball mist be one of most terrible weather influence factor affect that highway passes through.Compared with urban district, more easily there is group's mist in the suburb why residing for highway and rural area, through expert research and analysis, draws following reason:
1, because a mist and Partial little climate environmental concerns are close, and express highway pavement day temperature is higher, and day and night temperature is larger, is more conducive to a mist to be formed;
2, the increase of some exhaust emission composition granules of near Highway, as autumn crop straw burning, industrial dust pollution, motor vehicle exhaust emission etc., the increase of particulates, is conducive to the group's of being formed mist.
Group's mist with have a dense fog different, its sphere of influence is smaller, and just as a cloud fallen to the ground, the outer sight line of group's mist is good, looks around dim in group's mist; Group's mist visibility is very low, generally only has ten to two ten meters; Its coverage is sectional form, and some places are few, and some places are dense; And area coverage size is also inconsistent, in general, large group's mist area coverage is about five kilometers, and little group's mist only has one kilometer.
Group's mist brings great potential safety hazard to driving, especially in road speed faster highway.The regionality occurred due to a mist is very strong, and prediction is difficult, and vehicle is difficult to be notified in advance or warn, and not yet possesses the way of the effectively group's of solution mist problem at present.On the thick fog weather that the larger mainly visibility of expressway operation management impact is less than 500 meters, the especially low visibility weather of less than 200 meters.Life due to mist disappears change very soon, and visibility drops to tens meters from a few km and only needs a few minutes sometimes, and artificial observation is difficult to Timeliness coverage and takes corresponding management measure.Realize intelligent transportation, automatic monitoring need be adopted.Because a mist prediction is difficult, regionality is very strong, vehicle is difficult to be notified in advance or warn, Deng driver recognize have mist time, enter Tuan Wu center, sometimes driver just from a mist out, but but next group mist come inadvertently, make people hard to guard against, usually lead to major traffic accidents, therefore group's mist is called as " the flowing killer " on highway.According to statistics, the likelihood ratio that the greasy weather, traffic hazard occurred exceeds several times, even tens times usually, and because thick fog, group's mist cause many cars continuous rear collision accident to occur repeatedly, loss is serious, has lethality.
In a mist detection technique, the detection technique of visibility is most important, and it is generally that the Lights section adopts infrared diode that traditional visibility detects, and modulates, and sends with infrared pulse form.The main PIN diode of light receiving part or other photosensitive parts, be converted to electric signal by light signal, and the main phase lock circuitry that adopts realizes weak signal extraction.The benefit of this detection method is that the light signal after modulating can not by the impact of bias light, and therefore visiometer can directly use usually under the spacious environment of air, and can accomplish 24 continuous throughout the twenty-four hour24s, and precision is high.But this detection method composition complex structure, usually need servicing unit, cost is high, and especially the signal extraction of receiving end is more difficult, the signal normally sinusoidal signal of extraction, just can determine visibility after needing conversion.
The existing expressway fog monitoring equipment of China can only forecast extensive area dense fog, but the life of group's mist disappears change quickly, expressway fog adopts personal monitoring's difficulty large, the automatic visiometer of weather monitoring station mostly is forward scattering type, only can monitor the meteorological situation of change near this point, can not the group's mist in the long and narrow banded space of highway be monitored reliably.Roll into a ball vaporific condition owing to can not grasp in time on highway, the vehicle travelled on road is the group's of providing mist information in time.The current freeway management department forbidden negative means that waits of can only taking to close a road to traffic managed a mist period of right time, although prevent the generation of traffic hazard, but sacrifice the traffic capacity of highway, reduce conevying efficiency, cause huge economic loss to highway owner.
The visiometer standard of comparison of meteorological department, domestic also have some mechanisms study and produce, compare at present accreditation and large area be that Visa is drawn, visiometer is also distinguished to some extent according to maximum range, the different price of subsidiary product, the price of 20km visibility range is at 70,000 yuan, if with weather situation monitoring, additional 30,000 yuan, namely 100,000 yuan.These checkout equipments are expensive, are difficult to promote the use of on a large scale.The layout density of expressway visibility automatic Observation instrument is different with the data transmission time interval.On the Shanghai-Nanjing freeway that facility is relatively advanced, about 10 kilometers, the interval of visibility automatic Observation space length, passes a data in every 1 minute, but group's mist apart from general less than 10 kilometers, so automatic observer can not the group's of monitoring mist completely.When visibility is below 200 meters, also may there is comparatively big error in automatic observer.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, provide a kind of with low cost, lay flexibly, the monitor and early warning system of expressway fog easy to maintenance and method, can be widely used in highway safety monitoring field along the line.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of monitor and early warning system of expressway fog, comprise visibility detecting unit, sensor assembly, message processing module, data memory module, GPRS data transport module, local display module, phonetic alarm, long-range host computer, concrete structure of the present invention is as follows:
Above-mentioned module is by solar powered module for power supply; Described visibility detecting unit, the output terminal of sensor assembly are connected with the input end of message processing module; The output terminal of described message processing module is connected respectively with the input end of data memory module, GPRS data transport module, local display module, phonetic alarm; Described GPRS data transport module is connected with long-range host computer;
Described visibility detecting unit comprises light source and integrated digital light-intensity test chip;
Described message processing module comprises the controller and IO expansion board that are connected to each other cooperation; Described controller comprises the master controller that connected by master & slave control line and from controller, described master controller and the core from controller are Atmega328 single-chip microcomputer.
Further, the distance of described light source and integrated digital light-intensity test chip is 50-60cm.
Further, described light source is 5VLED white light source.
Further, described sensor assembly comprises humidity sensor and air velocity transducer and wind transducer and atmosphere pressure sensor.
Further, described local display module is any one of the red green warning lamp of 24V or electronic caution board.
The invention also discloses a kind of method of monitor and early warning system of expressway fog as above, comprise following method step:
A. module initialization;
B. sensor assembly is started working, and forward scattering illuminance in detection current background illuminance, space, detects humidity, wind speed, wind direction, barometric pressure parameters;
C. start the data that master controller pick-up transducers detects, and data preparation is encapsulated;
D. master controller is by master & slave control line traffic control from the read-write of controller, storage, Presentation Function, and data are sent to from controller through data bus from master controller;
E., after controller receiving data, data are sent to data memory module respectively and GPRS data transport module stores and transmits;
F. start GPRS data transport module, every block module first configures before first use, and destination address is set to a certain port address under long-range host computer IP address, and the corresponding port numbers of each module, sends data;
G. judge visibility scale, whether threaten traffic safety, if reach early-warning conditions, start warning lamp or the warning sign of local display module, start phonetic alarm; If do not reach early-warning conditions, then return step b;
H., while starting GPRS data transport module, GPRS data transport module sends data to long-range host computer, operation monitoring interface;
I. detect port information, and read data;
J. decoded packet data, isolates the data that each sensor detects, and deliver to display control carry out data display;
K. determined the need of issue early warning information by Surveillance center professional artificial judgment.
Beneficial effect of the present invention is as follows:
1. detection speed of the present invention is fast, with low cost, lays flexibly, easy to maintenance, can be widely used in highway safety monitoring field along the line.
2. visibility detecting unit of the present invention adopts Forward scattering principle, utilizes LED white light source and digital optical intensity detection chip as core component to detect illuminance, simple, intuitive, without the need to light source and the signal deteching circuit design of complexity, judges that speed is fast.
3. the present invention uses multi-sensor collection technology to gather the highway environment parameter relevant to rolling into a ball mist, use the telecommunication mode that GPRS network combines with Ethernet, the data of highw ay m onitoring point collection are transferred to the host computer of traffic control center, if reach early-warning conditions, electronic display board near monitoring point and phonetic alarm device will reflect early warning information in time, remind vehicular traffic, command centre's work can take corresponding measure according to advanced warning grade, guarantees express way driving safety.
4. visibility detecting unit of the present invention adopts light source and integrated digital light-intensity test chip, the Atmega328 single-chip microcomputer that message processing module uses, all has with low cost, lays flexibly, advantage easy to maintenance, can be widely used in highway safety monitoring field along the line.
Accompanying drawing explanation
Fig. 1 is system principle diagram of the present invention.
Fig. 2 is the overall communication block diagram of present system.
Fig. 3 is Forward scattering schematic diagram of the present invention.
Fig. 4 is that visibility detecting unit of the present invention illumination under dark situation detects data plot.
Fig. 5 is that visibility detecting unit of the present invention is having illumination detection data plot under luminous environment.
Fig. 6 is principle of work block diagram of the present invention.
Fig. 7 is method of work process flow diagram of the present invention.
Accompanying drawing 3 label: 1, light source; 2, light-intensity test chip; 3, mist is rolled into a ball.
Embodiment
By particular specific embodiment, embodiments of the present invention are described below, person skilled in the art scholar the content disclosed by this instructions can understand other advantages of the present invention and effect easily.
As shown in Figure 1, the monitor and early warning system of a kind of expressway fog of the present invention, comprise visibility detecting unit, sensor assembly, message processing module, data memory module, GPRS data transport module, local display module, phonetic alarm and long-range host computer, concrete syndeton is as follows:
Above-mentioned module is by solar powered module for power supply, the output terminal of visibility detecting unit, sensor assembly is connected with the input end of message processing module, the output terminal of message processing module is connected respectively with the input end of data memory module, GPRS data transport module, local display module, phonetic alarm, and GPRS data transport module is connected with long-range host computer.
Innovative point of the present invention is that visibility detecting unit comprises light source and integrated digital light-intensity test chip, and light source scatters to detection chip through group's mist, forms forward-scattering angle; Above-mentioned visibility detecting unit, is responsible for detecting Visibility along Freeway.Message processing module comprises the controller and IO expansion board that are connected to each other cooperation, and controller comprises master controller and from controller, core is Atmega328 single-chip microcomputer.Data acquisition encapsulation is responsible for by master controller, is responsible for data sends, store and display from controller.
As shown in Figure 2, message processing module is responsible for the control and management of whole monitoring node and is communicated with sensor assembly, and process encapsulation is carried out to image data, and information is sent to local display module and phonetic alarm, be responsible for that information is sent to GPRS data transport module utilizes long-range host computer to realize telecommunication simultaneously, the information monitored can also be saved to data memory module.
As to further optimization of the present invention, the distance of light source and integrated digital light-intensity test chip is 50-60cm, this ensure that light source can be sent to integrated digital light-intensity test chip after a mist scattering, light source is 5VLED white light source, and integrated digital light-intensity test chip is BH1750FVI chip.Sensor assembly comprises humidity sensor, air velocity transducer, wind transducer and atmosphere pressure sensor.Local display module is any one of the red green warning lamp of 24V or electronic caution board.Long-range host computer is a kind of technology based on virtual instrument using LabView software development, is responsible for reception, stores, processes the data sent monitoring point, each monitoring point of management and control.
As shown in Figure 3, Forward scattering is a kind of visibility measuring method based on forward scattering coefficient.When light because of droplet effect generation scattering and absorption, and can be attended by energy attenuation by during group's mist 3, the BH1750FVI digital optical intensity detection chip 2 being positioned at light source 1 heteropleural can receive scattered signal.Scattered signal is stronger, and show that mist amount is larger, namely visibility is lower.When scattered signal reaches certain threshold value, can think that visibility is lower than warning value, need make corresponding Forewarning Measures.Mainly measure below 500m visibility low value for highway, the visibility weather of more than 500m is little for traffic safety impact, can not detect.Can obtain forward-scattering angle (scattering angle is the angle between scattering direction and the incident direction) scope of Forward scattering when 20-50 spend by repetition test, Detection results is best.
The detected object being used as visibility with illumination is relatively more directly perceived, and first illumination is a kind of unit weighing intensity of illumination, in visibility correlation theory, also has the corresponding mathematical relation between visibility to illumination.We adopt BH1750FVI chip to be one piece of integrated light intensity detection chip, and output quantity is directly unit of illuminance, without the need to conversion.Simultaneously better in visible light wave range sensitivity, the relatively normal vision receptive field of people.Because the light source of our employing is without modulation, and detection chip does not distinguish bias light and scattered signal, therefore there is the problem how determining scattered signal power, namely how to judge visibility size.We have proposed the method for an illumination contrast:
When 1, not starting light source, respectively at dark situation with under having luminous environment, detect the bias light illumination of current spatial, be recorded as X, as shown in Figure 4 and Figure 5;
When 2, starting light source, time delay some seconds, stable mainly for transmitting, respectively in the dark situation corresponding with step 1 and the scattered light illumination detecting now correspondence position under having luminous environment, be recorded as Y, as shown in Figure 4 and Figure 5;
3, X, Y are done difference, i.e. Y-X, obtain difference, judge threshold of visibility according to difference size.
4, repeat above step, realize continuous coverage.
By above-mentioned data, we can analyze, and usual difference, at 1-2 unit of illuminance, is thought without mist or mist, without the need to early warning; Be greater than 3-4 units and can think there is mist, need early warning; Be greater than more than 5 unit of illuminance and can think have a mist or doubtful mist, need early warning.Specifically whether really roll into a ball mist, need professional to judge in conjunction with other meteorologic parameters in upper command post, issue final early warning information.
The method simple, intuitive, without the need to light source and the signal deteching circuit design of complexity, judge that speed is fast, detection signal is easier to establish with the mapping relations ratio of visibility.Due to the characteristic of a mist, group's mist period of right time, therefore we did not need within 24 hours, detect a mist, can whole system work at times in night or stage at dawn (ambient lighting is less).
As shown in Figure 6, sensor assembly comprises humidity sensor, air velocity transducer, wind transducer, baroceptor to concrete design concept block diagram of the present invention.The light source open and close of visibility detecting unit is by host computer control, and detection chip, by IIC communication modes, is connected in parallel on iic bus.Baroceptor also adopts by IIC communication modes, is connected in parallel on iic bus.IIC communication is band address, therefore parallel way can connect each terminal.What humidity sensor, air velocity transducer, wind transducer adopted is analog sensor, operating voltage 5V, three-wire system (VCC, GND, Single).
Controller comprises Arduino UNO R3 development board and sensor special expansion board V6 version, and Arduino UNO R3 is primary controller, and its core single-chip microcomputer is ATmega328.Plate is loaded with 10bitAD conversion chip, has IIC communication function.The design adopts two pieces of Arduino development boards (containing expansion board) to build host-guest architecture, and object is expanded function mouth, improves compatible, provide convenience for changing functional module from now on, reduce single single-chip microcomputer load simultaneously, function is specialized, conveniently safeguards from now on.Wherein, master controller is responsible for being connected with sensor assembly, is responsible for data acquisition, and data is encapsulated.At slave computer end, simple analysis is carried out to measured data, judge whether to reach early-warning conditions.Master controller and adopt IIC communication from the data communication between controller, control signal is transmitted by master-slave controller digital I/O port with switching value form, namely the master & slave control line in Fig. 6, what this avoid on master-slave controller work schedule is inconsistent, from the effective management and control of work main controller of controller.Send from controller primary responsibility data receiver, storage, remote data, send early warning signal.Main controller controls, and when not accepting control signal, is in waiting status, after receiving signal, completes corresponding operation.
GPRS data transport module adopts 485 communications, and Arduino UNO development board itself does not possess 485 communication functions, but by adding expansion board, can increase by 485 functions.Expansion board plate is loaded with MAX485 chip, the TTL signal that Arduino uses can be converted into 485 signals.
Data memory module, namely SD card memory module is containing SD socket and SD card, and module is connected with master controller by SPI socket.
The electronic alarm lamp (board) of local display module and phonetic alarm, all pass through Control.General early warning is warning lamp (board) mainly, and due to a mist low visibility, once enter wherein sight line extreme difference, warning lamp (board) may not necessarily play good effect, and now, phonetic alarm then guides driver by speech form.
Solar powered module monitors point provides the power supply of DC9V, DC5V or DC24V.
As shown in Figure 7, the method for work of the monitor and early warning system of a kind of expressway fog of the present invention is as follows:
A. module initialization;
B. sensor assembly is started working, and forward scattering illuminance in detection current background illuminance, space, detects humidity, wind speed, wind direction, barometric pressure parameters;
C. start the data that master controller pick-up transducers detects, and data preparation is encapsulated;
D. master controller is by master & slave control line traffic control from the read-write of controller, storage, Presentation Function, and data are sent to from controller through data bus from master controller;
E., after controller receiving data, data are sent to data memory module respectively and GPRS data transport module stores and transmits;
F. start GPRS data transport module, every block module first configures before first use, and destination address is set to a certain port address under long-range host computer IP address, and the corresponding port numbers of each module, sends data;
G. judge visibility scale, whether threaten traffic safety, if reach early-warning conditions, start warning lamp or the warning sign of local display module, start phonetic alarm; If do not reach early-warning conditions, then return step b;
H., while starting GPRS data transport module, GPRS data transport module sends data to long-range host computer, operation monitoring interface;
I. detect port information, and read data;
J. decoded packet data, isolates the data that each sensor detects, and deliver to display control carry out data display;
K. determined the need of issue early warning information by Surveillance center professional artificial judgment.
A kind of expressway fog warning monitoring system analyzed based on visibility of the present invention, Forward scattering is adopted to realize group's mist threshold of visibility monitoring, and use multi-sensor collection technology to gather the highway environment parameter relevant to rolling into a ball mist, use the telecommunication mode that GPRS network combines with Ethernet, the data of highw ay m onitoring point collection are transferred to the long-range host computer of traffic control center, if reach early-warning conditions, electronic display board near monitoring point and phonetic alarm will reflect early warning information in time, remind vehicular traffic, command centre's work can take corresponding measure according to advanced warning grade, guarantee express way driving safety.The present invention has with low cost, and lay flexibly, advantage easy to maintenance, can be widely used in highway safety monitoring field along the line.

Claims (6)

1. a monitor and early warning system for expressway fog, is characterized in that: comprise visibility detecting unit, sensor assembly, message processing module, data memory module, GPRS data transport module, local display module, phonetic alarm, long-range host computer;
Above-mentioned module is by solar powered module for power supply; Described visibility detecting unit, the output terminal of sensor assembly are connected with the input end of message processing module; The output terminal of described message processing module is connected respectively with the input end of data memory module, GPRS data transport module, local display module, phonetic alarm; Described GPRS data transport module is connected with long-range host computer;
Described visibility detecting unit comprises light source and integrated digital light-intensity test chip;
Described message processing module comprises the controller and IO expansion board that are connected to each other cooperation; Described controller comprises the master controller that connected by master & slave control line and from controller, described master controller and the core from controller are Atmega328 single-chip microcomputer.
2. the monitor and early warning system of a kind of expressway fog according to claim 1, is characterized in that: the distance of described light source and integrated digital light-intensity test chip is 50-60cm.
3. the monitor and early warning system of a kind of expressway fog according to claim 1, is characterized in that: described light source is 5VLED white light source.
4. the monitor and early warning system of a kind of expressway fog according to claim 1, is characterized in that: described sensor assembly comprises humidity sensor and air velocity transducer and wind transducer and atmosphere pressure sensor.
5. the monitor and early warning system of a kind of expressway fog according to claim 1, is characterized in that: described local display module is any one of the red green warning lamp of 24V or electronic caution board.
6. a method for the monitor and early warning system of the expressway fog according to any one of claim 1-5, is characterized in that: comprise following method step:
A. module initialization;
B. sensor assembly is started working, and forward scattering illuminance in detection current background illuminance, space, detects humidity, wind speed, wind direction, barometric pressure parameters;
C. start the data that master controller pick-up transducers detects, and data preparation is encapsulated;
D. master controller is by master & slave control line traffic control from the read-write of controller, storage, Presentation Function, and data are sent to from controller through data bus from master controller;
E., after controller receiving data, data are sent to data memory module respectively and GPRS data transport module stores and transmits;
F. start GPRS data transport module, every block module first configures before first use, and destination address is set to a certain port address under long-range host computer IP address, and the corresponding port numbers of each module, sends data;
G. judge visibility scale, whether threaten traffic safety, if reach early-warning conditions, start warning lamp or the warning sign of local display module, start phonetic alarm; If do not reach early-warning conditions, then return step b;
H., while starting GPRS data transport module, GPRS data transport module sends data to long-range host computer, operation monitoring interface;
I. detect port information, and read data;
J. decoded packet data, isolates the data that each sensor detects, and deliver to display control carry out data display;
K. determined the need of issue early warning information by Surveillance center professional artificial judgment.
CN201410610850.3A 2014-11-04 2014-11-04 A kind of monitoring and pre-warning system and method for expressway fog CN104700629B (en)

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CN202275513U (en) * 2011-09-20 2012-06-13 浙江大学城市学院 Wireless network speedway auxiliary induction system based on GPRS/CDMA
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CN103413442A (en) * 2013-07-30 2013-11-27 刘伟 Highway agglomerate fog early warning system based on intervisibility distance monitoring and early warning method thereof
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CN105303844A (en) * 2015-10-26 2016-02-03 南京本来信息技术有限公司 Night highway agglomerate fog automatic detection device on the basis of laser and detection method thereof
CN105427645A (en) * 2015-12-21 2016-03-23 无锡信大气象传感网科技有限公司 Real-time speed limiting system with self-detection function for expressway severe weathers
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CN106375402A (en) * 2016-08-30 2017-02-01 孟玲 Expressway visibility monitoring and pre-warning system based on cloud computation platform
CN106251665A (en) * 2016-11-02 2016-12-21 安徽锦坤电子科技有限公司 A kind of traffic weather detection early warning system
CN106683453A (en) * 2017-02-24 2017-05-17 上海喆之信息科技有限公司 Expressway early warning system
CN106683453B (en) * 2017-02-24 2019-02-15 山东河山信息科技有限公司 A kind of Forewarning System of Freeway
CN106772691A (en) * 2017-03-15 2017-05-31 南京信息工程大学 A kind of multinode atmospheric environment detecting system and method
CN107610492A (en) * 2017-10-13 2018-01-19 长安大学 A kind of vcehicular tunnel inlet and outlet road surface visibility and icing accumulated snow safety pre-warning system
CN110769581A (en) * 2019-11-05 2020-02-07 长安大学 Intelligent automobile light control system and method for expressway fog
CN112150847A (en) * 2020-09-25 2020-12-29 徐宗程 Expressway agglomerate fog accurate warning and inducing system and method based on Internet of vehicles

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